+ python -m lidar_slam --no-model /working/9728eb7f-2b66-49fc-a60f-784f8e062227 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/9728eb7f-2b66-49fc-a60f-784f8e062227 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 0.004391418 Adjusted end_distance from 9.223372036854776e+18 to 378.224391418 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004391418 meters Centerline goodness : 0.449689 Centerline is valid? [0, False] SLAMing on 0.034391418 meters Centerline goodness : 0.439444 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99994187e-01 3.40526744e-03 1.76313103e-04 -4.49264675e-04] [-3.40574126e-03 9.99990390e-01 2.76065240e-03 3.29482635e-03] [-1.66910648e-04 -2.76123683e-03 9.99996174e-01 9.62514246e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06439141799999999 meters Centerline goodness : 0.435365 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.00 [[ 9.99995008e-01 3.15707654e-03 1.32369930e-04 -3.80543254e-04] [-3.15727886e-03 9.99993803e-01 1.55716154e-03 6.97456127e-03] [-1.27453032e-04 -1.55757169e-03 9.99998779e-01 1.51958059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09439141799999999 meters Centerline goodness : 0.435365 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.00 [[ 9.99995008e-01 3.15707654e-03 1.32369930e-04 -3.80543254e-04] [-3.15727886e-03 9.99993803e-01 1.55716154e-03 6.97456127e-03] [-1.27453032e-04 -1.55757169e-03 9.99998779e-01 1.51958059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12439141799999999 meters Centerline goodness : 0.413949 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.00 [[ 9.99980361e-01 6.25856877e-03 -3.27131594e-04 7.59428095e-04] [-6.25709023e-03 9.99971004e-01 4.34059099e-03 1.08226577e-02] [ 3.54287996e-04 -4.33845886e-03 9.99990526e-01 1.64591813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.154391418 meters Centerline goodness : 0.383046 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.00 [[ 9.99981462e-01 6.04314817e-03 -7.45727266e-04 2.12724995e-03] [-6.04063041e-03 9.99976199e-01 3.33354251e-03 1.40468364e-02] [ 7.65854608e-04 -3.32897605e-03 9.99994166e-01 1.14108188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.184391418 meters Centerline goodness : 0.326568 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.9999801 0.00614636 -0.00142176 0.00540956] [-0.00614247 0.99997742 0.00272649 0.01779073] [ 0.00143849 -0.0027177 0.99999527 -0.00101236] [ 0. 0. 0. 1. ]] SLAMing on 0.214391418 meters Centerline goodness : 0.318533 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99998044 0.00598488 -0.00181471 0.00693941] [-0.00598092 0.99997974 0.00217895 0.02001097] [ 0.00182771 -0.00216805 0.99999598 -0.00182845] [ 0. 0. 0. 1. ]] SLAMing on 0.244391418 meters Centerline goodness : 0.318610 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 9.99983547e-01 5.39505254e-03 -1.94911137e-03 7.29660639e-03] [-5.39316582e-03 9.99984984e-01 9.71953006e-04 2.34166041e-02] [ 1.95432585e-03 -9.61425133e-04 9.99997628e-01 -1.68628114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.274391418 meters Centerline goodness : 0.316475 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99986453e-01 4.71267414e-03 -2.21008076e-03 7.69087903e-03] [-4.71320250e-03 9.99988865e-01 -2.33917791e-04 2.67802697e-02] [ 2.20895377e-03 2.44331181e-04 9.99997530e-01 -1.29455993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30439141799999997 meters Centerline goodness : 0.314785 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99998931 0.00381788 -0.00261005 0.00915295] [-0.00382129 0.99999185 -0.00130224 0.03036665] [ 0.00260505 0.0013122 0.99999575 -0.0016526 ] [ 0. 0. 0. 1. ]] SLAMing on 0.33439141799999994 meters Centerline goodness : 0.313779 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99998964 0.00344844 -0.0029719 0.01039669] [-0.00345249 0.99999312 -0.00135733 0.0307523 ] [ 0.0029672 0.00136758 0.99999466 -0.00225884] [ 0. 0. 0. 1. ]] SLAMing on 0.36439141799999997 meters Centerline goodness : 0.313785 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99999113 0.00280965 -0.00313655 0.01088065] [-0.00281481 0.99999469 -0.00163992 0.03107329] [ 0.00313193 0.00164873 0.99999374 -0.00233508] [ 0. 0. 0. 1. ]] SLAMing on 0.394391418 meters Centerline goodness : 0.309960 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.9999926 0.00136936 -0.00359558 0.012265 ] [-0.00137625 0.99999722 -0.00191446 0.03151626] [ 0.00359295 0.0019194 0.9999917 -0.00249671] [ 0. 0. 0. 1. ]] SLAMing on 0.42439141799999996 meters Centerline goodness : 0.310422 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99993219e-01 7.80261789e-04 -3.59917991e-03 1.23646275e-02] [-7.87806370e-04 9.99997495e-01 -2.09525328e-03 3.18770623e-02] [ 3.59753605e-03 2.09807453e-03 9.99991328e-01 -2.29377568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45439141799999994 meters Centerline goodness : 0.313589 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99992334e-01 4.40628201e-04 -3.89063485e-03 1.33789207e-02] [-4.48839720e-04 9.99997673e-01 -2.10996503e-03 3.25973833e-02] [ 3.88969609e-03 2.11169513e-03 9.99990205e-01 -2.42437290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48439141799999996 meters Centerline goodness : 0.316439 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99991458e-01 1.75316870e-04 -4.12960962e-03 1.44347321e-02] [-1.84348755e-04 9.99997592e-01 -2.18682455e-03 3.36116632e-02] [ 4.12921628e-03 2.18756716e-03 9.99989082e-01 -2.65303401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.514391418 meters Centerline goodness : 0.907600 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.00 [[ 9.99992271e-01 -2.08279808e-04 -3.92610595e-03 1.48960972e-02] [ 1.97195199e-04 9.99995995e-01 -2.82348444e-03 3.70187434e-02] [ 3.92667830e-03 2.82268841e-03 9.99988307e-01 -1.99791495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544391418 meters Centerline goodness : 0.906175 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.00 [[ 9.99991269e-01 -2.03725753e-04 -4.17385750e-03 1.61623083e-02] [ 1.91052189e-04 9.99995371e-01 -3.03658904e-03 3.94431433e-02] [ 4.17445682e-03 3.03576511e-03 9.99986679e-01 -2.21509552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5743914179999999 meters Centerline goodness : 0.903848 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.00 [[ 9.99988427e-01 1.99016502e-03 -4.38000719e-03 1.80616762e-02] [-1.99264231e-03 9.99997857e-01 -5.61298358e-04 4.37821535e-02] [ 4.37888073e-03 5.70019650e-04 9.99990250e-01 -2.35867694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.604391418 meters Centerline goodness : 0.903791 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.00 [[ 0.99998835 0.00129691 -0.00464997 0.01886201] [-0.00130424 0.99999791 -0.00157432 0.04719875] [ 0.00464792 0.00158036 0.99998795 -0.0019191 ] [ 0. 0. 0. 1. ]] SLAMing on 0.634391418 meters Centerline goodness : 0.901662 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.00 [[ 0.99998708 0.00107094 -0.00497017 0.02090847] [-0.00107937 0.99999798 -0.00169299 0.04910917] [ 0.00496835 0.00169834 0.99998622 -0.00299923] [ 0. 0. 0. 1. ]] SLAMing on 0.6643914179999999 meters Centerline goodness : 0.086106 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.00 [[ 9.99985485e-01 -5.05983056e-04 -5.36408804e-03 2.36582436e-02] [ 4.93175267e-04 9.99997025e-01 -2.38874584e-03 5.13291526e-02] [ 5.36528075e-03 2.38606573e-03 9.99982760e-01 -4.19854652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6943914179999999 meters Centerline goodness : 0.337639 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.01 [[ 0.99999128 0.00229434 -0.00348818 0.06143306] [-0.0023052 0.99999249 -0.00311478 0.05383857] [ 0.00348101 0.0031228 0.99998907 -0.00786188] [ 0. 0. 0. 1. ]] SLAMing on 0.724391418 meters Centerline goodness : 0.893296 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.01 [[ 0.99999283 0.0011442 -0.00361118 0.06262126] [-0.00115672 0.99999332 -0.00346667 0.0549511 ] [ 0.00360719 0.00347082 0.99998747 -0.00810227] [ 0. 0. 0. 1. ]] SLAMing on 0.754391418 meters Centerline goodness : 0.891321 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.01 [[ 9.99992906e-01 -3.76426009e-03 1.38884922e-04 7.58375846e-02] [ 3.76377691e-03 9.99987375e-01 3.32910255e-03 5.49335282e-02] [-1.51414777e-04 -3.32855620e-03 9.99994449e-01 -1.36199477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.784391418 meters Centerline goodness : 0.073059 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-0.01 [[ 9.99958659e-01 -9.09236333e-03 -9.48152347e-05 7.60875263e-02] [ 9.09215363e-03 9.99956631e-01 -2.01704605e-03 5.95244802e-02] [ 1.13150838e-04 2.01610059e-03 9.99997961e-01 -1.23129339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8143914179999999 meters Centerline goodness : 0.892873 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:-0.01 [[ 9.99893516e-01 -1.45704160e-02 8.12482702e-04 1.25865389e-01] [ 1.45712721e-02 9.99893274e-01 -1.05787317e-03 6.42367384e-02] [-7.96982337e-04 1.06959943e-03 9.99999110e-01 -1.43845866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.844391418 meters Centerline goodness : 0.890673 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.02 [[ 9.99822427e-01 -1.88388863e-02 4.59025552e-04 1.28631085e-01] [ 1.88406610e-02 9.99813551e-01 -4.22997923e-03 6.72408485e-02] [-3.79251870e-04 4.23787644e-03 9.99990948e-01 -1.52729443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.874391418 meters Centerline goodness : 0.895218 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.02 [[ 9.99795061e-01 -2.02434476e-02 1.99174476e-04 1.30437484e-01] [ 2.02440805e-02 9.99787138e-01 -3.98201902e-03 6.68612419e-02] [-1.18522286e-04 3.98523505e-03 9.99992052e-01 -1.58241572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9043914179999999 meters Centerline goodness : 0.896569 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.02 [[ 9.99660973e-01 -2.60362631e-02 -2.26385916e-04 1.33937596e-01] [ 2.60337883e-02 9.99632109e-01 -7.60844645e-03 7.15802701e-02] [ 4.24398144e-04 7.59997330e-03 9.99971030e-01 -1.60107189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9343914179999999 meters Centerline goodness : 0.064898 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.02 [[ 9.99632569e-01 -2.71027605e-02 -4.08598719e-04 1.35155259e-01] [ 2.70987476e-02 9.99602269e-01 -7.80773755e-03 7.32228064e-02] [ 6.20047448e-04 7.79379623e-03 9.99969436e-01 -1.58128598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.964391418 meters Centerline goodness : 0.063885 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:-0.02 [[ 9.99608823e-01 -2.79602802e-02 -6.50440633e-04 1.36507958e-01] [ 2.79541890e-02 9.99577184e-01 -8.00098489e-03 7.51513423e-02] [ 8.73875396e-04 7.97967255e-03 9.99967780e-01 -1.58029923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.994391418 meters Centerline goodness : 0.902747 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:-0.02 [[ 0.99957691 -0.02906182 -0.00118831 0.1403216 ] [ 0.02905129 0.99954525 -0.00808155 0.07965302] [ 0.00142264 0.00804361 0.99996664 -0.01711979] [ 0. 0. 0. 1. ]] SLAMing on 1.024391418 meters Centerline goodness : 0.905529 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:-0.02 [[ 0.99958706 -0.02867785 -0.00181519 0.14366577] [ 0.0286631 0.99955959 -0.00768517 0.08228905] [ 0.00203479 0.00762997 0.99996882 -0.01877604] [ 0. 0. 0. 1. ]] SLAMing on 1.054391418 meters Centerline goodness : 0.902374 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:-0.02 [[ 9.99586264e-01 -2.87625594e-02 -1.24392941e-04 1.64766356e-01] [ 2.87620406e-02 9.99581547e-01 -3.07814067e-03 8.56930866e-02] [ 2.12876093e-04 3.07328934e-03 9.99995255e-01 -2.17261063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.084391418 meters Centerline goodness : 0.909775 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:-0.02 [[ 9.99665204e-01 -2.58730914e-02 -2.50387407e-04 1.68392887e-01] [ 2.58729346e-02 9.99665053e-01 -6.10357025e-04 9.25589334e-02] [ 2.66095363e-04 6.03674423e-04 9.99999782e-01 -2.36797635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1143914179999999 meters Centerline goodness : 0.087855 Centerline is valid? [False, False] Translation: X:0.17, Y:0.10, Z:-0.03 [[ 9.99737167e-01 -2.29185618e-02 -5.79629107e-04 1.71976035e-01] [ 2.29197712e-02 9.99734944e-01 2.17387653e-03 9.52838130e-02] [ 5.29653349e-04 -2.18659013e-03 9.99997469e-01 -2.63512381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1443914179999999 meters Centerline goodness : 0.063890 Centerline is valid? [False, False] Translation: X:0.17, Y:0.10, Z:-0.03 [[ 9.99801593e-01 -1.99103866e-02 -5.93330553e-04 1.73563488e-01] [ 1.99131650e-02 9.99788618e-01 5.11705766e-03 9.78226500e-02] [ 4.91322537e-04 -5.12785749e-03 9.99986732e-01 -2.75068805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.174391418 meters Centerline goodness : 0.104067 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.03 [[ 9.99836985e-01 -1.80329953e-02 -9.01987578e-04 1.75814099e-01] [ 1.80384371e-02 9.99816549e-01 6.44070954e-03 1.02201433e-01] [ 7.85676822e-04 -6.45593005e-03 9.99978852e-01 -2.85694646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.204391418 meters Centerline goodness : 0.104067 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.03 [[ 9.99836985e-01 -1.80329953e-02 -9.01987578e-04 1.75814099e-01] [ 1.80384371e-02 9.99816549e-01 6.44070954e-03 1.02201433e-01] [ 7.85676822e-04 -6.45593005e-03 9.99978852e-01 -2.85694646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.234391418 meters Centerline goodness : 0.102758 Centerline is valid? [False, False] Translation: X:0.18, Y:0.11, Z:-0.03 [[ 0.99977772 -0.02104071 -0.00133813 0.17781005] [ 0.02104634 0.99976906 0.00434456 0.10523875] [ 0.0012464 -0.00437176 0.99998967 -0.02755536] [ 0. 0. 0. 1. ]] SLAMing on 1.264391418 meters SLAMing on 1.294391418 meters SLAMing on 1.3243914179999998 meters SLAMing on 1.3543914179999998 meters SLAMing on 1.3843914179999999 meters SLAMing on 1.414391418 meters SLAMing on 1.444391418 meters Centerline goodness : 0.777979 Centerline is valid? [False, False] Translation: X:0.26, Y:0.12, Z:-0.03 [[ 0.99897626 -0.04515591 -0.00271731 0.26040503] [ 0.04516362 0.99897555 0.00284533 0.11932363] [ 0.00258604 -0.00296514 0.99999226 -0.03226378] [ 0. 0. 0. 1. ]] SLAMing on 1.474391418 meters Centerline goodness : 0.788693 Centerline is valid? [False, False] Translation: X:0.26, Y:0.12, Z:-0.03 [[ 0.99897627 -0.04513254 -0.00307524 0.26196282] [ 0.04514117 0.9989767 0.00279846 0.12047855] [ 0.00294579 -0.00293442 0.99999136 -0.0328463 ] [ 0. 0. 0. 1. ]] SLAMing on 1.504391418 meters Centerline goodness : 0.116257 Centerline is valid? [False, False] Translation: X:0.29, Y:0.13, Z:-0.03 [[ 0.99903451 -0.04390033 0.00167822 0.28695784] [ 0.0438966 0.99903367 0.00219568 0.12732228] [-0.00177299 -0.00211989 0.99999618 -0.03259649] [ 0. 0. 0. 1. ]] SLAMing on 1.534391418 meters Centerline goodness : 0.112198 Centerline is valid? [False, False] Translation: X:0.29, Y:0.13, Z:-0.03 [[ 0.99904025 -0.04378068 0.00135541 0.28889762] [ 0.04377802 0.99903941 0.00193193 0.12981143] [-0.00143869 -0.00187074 0.99999722 -0.03360486] [ 0. 0. 0. 1. ]] SLAMing on 1.564391418 meters Centerline goodness : 0.111044 Centerline is valid? [False, False] Translation: X:0.29, Y:0.13, Z:-0.03 [[ 0.99904434 -0.04369533 0.00106029 0.29074847] [ 0.04369351 0.99904356 0.0016834 0.13207515] [-0.00113283 -0.00163546 0.99999802 -0.03464469] [ 0. 0. 0. 1. ]] SLAMing on 1.5943914179999998 meters Centerline goodness : 0.110506 Centerline is valid? [False, False] Translation: X:0.29, Y:0.14, Z:-0.04 [[ 0.99904527 -0.04367404 0.00106514 0.29387737] [ 0.04367195 0.99904409 0.00191335 0.13573731] [-0.00114768 -0.00186501 0.9999976 -0.03667629] [ 0. 0. 0. 1. ]] SLAMing on 1.6243914179999999 meters Centerline goodness : 0.847429 Centerline is valid? [False, False] Translation: X:0.30, Y:0.14, Z:-0.04 [[ 9.99044732e-01 -4.36919984e-02 7.95328354e-04 2.96096561e-01] [ 4.36906018e-02 9.99043670e-01 1.69596127e-03 1.37511495e-01] [-8.68667695e-04 -1.65959280e-03 9.99998246e-01 -3.82669822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.654391418 meters Centerline goodness : 0.799438 Centerline is valid? [False, False] Translation: X:0.30, Y:0.14, Z:-0.04 [[ 9.99042899e-01 -4.37376577e-02 5.50701377e-04 2.97688459e-01] [ 4.37366890e-02 9.99041709e-01 1.66285384e-03 1.38450371e-01] [-6.22902977e-04 -1.63717646e-03 9.99998466e-01 -3.93680573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.684391418 meters SLAMing on 1.714391418 meters Centerline goodness : 0.132487 Centerline is valid? [False, False] Translation: X:0.34, Y:0.14, Z:-0.05 [[ 9.98985169e-01 -4.50396362e-02 -2.50759547e-04 3.41387481e-01] [ 4.50382307e-02 9.98869223e-01 1.52260874e-02 1.42649912e-01] [-4.35301442e-04 -1.52219292e-02 9.99884045e-01 -4.75901668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.744391418 meters Centerline goodness : 0.949118 Centerline is valid? [False, False] Translation: X:0.34, Y:0.15, Z:-0.05 [[ 9.98949501e-01 -4.58170137e-02 -8.33631106e-04 3.42416153e-01] [ 4.58242273e-02 9.98849198e-01 1.41569951e-02 1.45135692e-01] [ 1.84040524e-04 -1.41803237e-02 9.99899437e-01 -4.71048236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.774391418 meters Centerline goodness : 0.950682 Centerline is valid? [False, True] Translation: X:0.34, Y:0.15, Z:-0.05 [[ 0.99878876 -0.04917835 -0.00158159 0.3445984 ] [ 0.04919134 0.99874301 0.00962374 0.14973661] [ 0.00110632 -0.00968988 0.99995244 -0.04702715] [ 0. 0. 0. 1. ]] SLAMing on 1.8043914179999998 meters Centerline goodness : 0.952735 Centerline is valid? [True, True] Translation: X:0.38, Y:0.16, Z:-0.04 [[ 0.9986315 -0.05221108 -0.0030218 0.37600469] [ 0.05221912 0.99863215 0.00264507 0.15674736] [ 0.00287957 -0.00279925 0.99999194 -0.04257064] [ 0. 0. 0. 1. ]] SLAMing on 1.8343914179999998 meters Centerline goodness : 0.148424 Centerline is valid? [True, False] Translation: X:0.38, Y:0.16, Z:-0.04 [[ 0.99861622 -0.05245009 -0.00382576 0.378122 ] [ 0.05246072 0.99861925 0.00273254 0.15657674] [ 0.00367716 -0.00292946 0.99998895 -0.04334002] [ 0. 0. 0. 1. ]] SLAMing on 1.8643914179999999 meters Centerline goodness : 0.191649 Centerline is valid? [False, False] Translation: X:0.38, Y:0.16, Z:-0.04 [[ 0.99860653 -0.05257219 -0.00460064 0.38039077] [ 0.05258635 0.99861183 0.00301347 0.15632609] [ 0.00443583 -0.0032512 0.99998488 -0.04446007] [ 0. 0. 0. 1. ]] SLAMing on 1.8943914179999999 meters Centerline goodness : 0.163346 Centerline is valid? [False, False] Translation: X:0.38, Y:0.16, Z:-0.05 [[ 0.99856068 -0.05338284 -0.00518007 0.38304606] [ 0.05339973 0.99856816 0.00317817 0.15662413] [ 0.00500299 -0.00345021 0.99998153 -0.04568992] [ 0. 0. 0. 1. ]] SLAMing on 1.924391418 meters Centerline goodness : 0.165145 Centerline is valid? [False, False] Translation: X:0.38, Y:0.16, Z:-0.05 [[ 0.99855488 -0.0534138 -0.0059254 0.38487674] [ 0.05343228 0.99856695 0.00300688 0.15778466] [ 0.0057563 -0.00331914 0.99997792 -0.04617448] [ 0. 0. 0. 1. ]] SLAMing on 1.954391418 meters Centerline goodness : 0.172738 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:-0.05 [[ 0.99855983 -0.05322467 -0.00673863 0.38691144] [ 0.05324568 0.998577 0.00297857 0.15920424] [ 0.00657051 -0.00333308 0.99997286 -0.04672722] [ 0. 0. 0. 1. ]] SLAMing on 1.984391418 meters Centerline goodness : 0.166033 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:-0.05 [[ 0.99860052 -0.05237611 -0.00733171 0.38967853] [ 0.05240235 0.99862015 0.00343456 0.16224158] [ 0.0071417 -0.00381396 0.99996722 -0.04763163] [ 0. 0. 0. 1. ]] SLAMing on 2.0143914179999998 meters Centerline goodness : 0.964088 Centerline is valid? [False, True] Translation: X:0.39, Y:0.16, Z:-0.05 [[ 0.99861211 -0.05205379 -0.00801611 0.39140807] [ 0.05208142 0.99863747 0.0032764 0.1638181 ] [ 0.00783463 -0.00368935 0.9999625 -0.04808999] [ 0. 0. 0. 1. ]] SLAMing on 2.044391418 meters Centerline goodness : 0.960688 Centerline is valid? [True, True] Translation: X:0.41, Y:0.18, Z:-0.03 [[ 0.99894262 -0.04282328 -0.01672765 0.40925852] [ 0.04225154 0.99855672 -0.03315547 0.1826777 ] [ 0.01812333 0.03241364 0.99931021 -0.03445111] [ 0. 0. 0. 1. ]] SLAMing on 2.074391418 meters Centerline goodness : 0.962693 Centerline is valid? [True, True] Translation: X:0.44, Y:0.17, Z:-0.04 [[ 0.99887702 -0.04052022 -0.02455217 0.44495149] [ 0.04036026 0.99916084 -0.0069761 0.17071879] [ 0.02481424 0.00597734 0.99967421 -0.04403714] [ 0. 0. 0. 1. ]] SLAMing on 2.104391418 meters Centerline goodness : 0.967393 Centerline is valid? [True, True] Translation: X:0.48, Y:0.17, Z:-0.05 [[ 0.99878689 -0.04281259 -0.02432766 0.48472267] [ 0.04286856 0.99907913 0.00178377 0.17069568] [ 0.02422889 -0.00282449 0.99970245 -0.04727584] [ 0. 0. 0. 1. ]] SLAMing on 2.134391418 meters Centerline goodness : 0.966613 Centerline is valid? [True, True] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.99881877 -0.04052818 -0.02680536 0.50726021] [ 0.03990711 0.9989314 -0.02331272 0.18572493] [ 0.02772154 0.02221546 0.9993688 -0.03853905] [ 0. 0. 0. 1. ]] SLAMing on 2.164391418 meters Centerline goodness : 0.968333 Centerline is valid? [True, True] Translation: X:0.54, Y:0.18, Z:-0.04 [[ 0.99874771 -0.03978426 -0.03033525 0.53869055] [ 0.03955134 0.99918356 -0.00824041 0.17980374] [ 0.03063832 0.00703029 0.99950581 -0.04380474] [ 0. 0. 0. 1. ]] SLAMing on 2.194391418 meters Centerline goodness : 0.971092 Centerline is valid? [True, True] Translation: X:0.56, Y:0.17, Z:-0.04 [[ 0.99855456 -0.03841546 -0.03759057 0.56458899] [ 0.03875718 0.99921331 0.00840433 0.17199402] [ 0.03723814 -0.00984909 0.99925788 -0.04403137] [ 0. 0. 0. 1. ]] SLAMing on 2.2243914179999997 meters Centerline goodness : 0.972546 Centerline is valid? [True, True] Translation: X:0.60, Y:0.18, Z:-0.04 [[ 0.99861348 -0.03781194 -0.03662474 0.59570792] [ 0.037555 0.99926506 -0.0076785 0.18431769] [ 0.03688816 0.00629241 0.99929959 -0.03648213] [ 0. 0. 0. 1. ]] SLAMing on 2.254391418 meters Centerline goodness : 0.971231 Centerline is valid? [True, True] Translation: X:0.63, Y:0.19, Z:-0.03 [[ 0.99844755 -0.03668269 -0.04191493 0.62950345] [ 0.03590247 0.99917049 -0.01921808 0.19296077] [ 0.04258514 0.0176834 0.99893634 -0.0251676 ] [ 0. 0. 0. 1. ]] SLAMing on 2.284391418 meters Centerline goodness : 0.973012 Centerline is valid? [True, True] Translation: X:0.65, Y:0.19, Z:-0.02 [[ 0.99829123 -0.04152552 -0.04111275 0.65202591] [ 0.0409893 0.99906426 -0.0138012 0.194323 ] [ 0.04164738 0.01209243 0.99905919 -0.02416557] [ 0. 0. 0. 1. ]] SLAMing on 2.314391418 meters Centerline goodness : 0.972365 Centerline is valid? [True, True] Translation: X:0.68, Y:0.20, Z:-0.02 [[ 0.99817248 -0.03875643 -0.0463642 0.67855886] [ 0.03795242 0.99911565 -0.01809779 0.1958992 ] [ 0.0470246 0.01630508 0.99876065 -0.01725876] [ 0. 0. 0. 1. ]] SLAMing on 2.344391418 meters Centerline goodness : 0.978726 Centerline is valid? [True, True] Translation: X:0.72, Y:0.18, Z:-0.03 [[ 0.99824839 -0.04397579 -0.03957618 0.7216168 ] [ 0.04484854 0.99876367 0.02144131 0.18335408] [ 0.03858435 -0.02317869 0.99898648 -0.03478079] [ 0. 0. 0. 1. ]] SLAMing on 2.374391418 meters Centerline goodness : 0.977826 Centerline is valid? [True, True] Translation: X:0.73, Y:0.22, Z:-0.01 [[ 0.9982643 -0.04925928 -0.03227868 0.73078218] [ 0.0474933 0.997445 -0.05336538 0.22329735] [ 0.03482495 0.05173973 0.99805322 -0.00588344] [ 0. 0. 0. 1. ]] SLAMing on 2.404391418 meters Centerline goodness : 0.980705 Centerline is valid? [True, True] Translation: X:0.78, Y:0.20, Z:-0.02 [[ 0.99812594 -0.04553835 -0.04087629 0.7830249 ] [ 0.04530556 0.99895135 -0.0066039 0.19887325] [ 0.04113416 0.0047396 0.99914239 -0.0215469 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4343914179999997 meters Centerline goodness : 0.981463 Centerline is valid? [True, True] Translation: X:0.81, Y:0.20, Z:-0.02 [[ 0.99799962 -0.04712281 -0.04214503 0.81280746] [ 0.04682754 0.99887122 -0.0079665 0.20188942] [ 0.04247286 0.00597702 0.99907974 -0.01901675] [ 0. 0. 0. 1. ]] SLAMing on 2.464391418 meters Centerline goodness : 0.982750 Centerline is valid? [True, True] Translation: X:0.84, Y:0.20, Z:-0.02 [[ 0.99771153 -0.0448605 -0.05058899 0.84292959] [ 0.04504242 0.99898204 0.00246112 0.1964464 ] [ 0.05042709 -0.00473414 0.99871652 -0.01686425] [ 0. 0. 0. 1. ]] SLAMing on 2.4943914179999997 meters Centerline goodness : 0.984258 Centerline is valid? [True, True] Translation: X:0.87, Y:0.20, Z:-0.01 [[ 0.99762254 -0.04562098 -0.0516527 0.87465439] [ 0.04536158 0.99895149 -0.0061839 0.20485993] [ 0.05188066 0.00382615 0.99864596 -0.01319583] [ 0. 0. 0. 1. ]] SLAMing on 2.524391418 meters Centerline goodness : 0.985757 Centerline is valid? [True, True] Translation: X:0.90, Y:0.21, Z:-0.01 [[ 0.99781743 -0.04200426 -0.05095105 0.90117157] [ 0.04189218 0.9991168 -0.00326618 0.20555157] [ 0.05104325 0.0011246 0.99869581 -0.011898 ] [ 0. 0. 0. 1. ]] SLAMing on 2.554391418 meters Centerline goodness : 0.989100 Centerline is valid? [True, True] Translation: X:0.93, Y:0.21, Z:-0.01 [[ 0.99781411 -0.04005148 -0.05256316 0.93322137] [ 0.04020932 0.99918938 0.00194845 0.20957302] [ 0.05244252 -0.00405772 0.9986157 -0.01204284] [ 0. 0. 0. 1. ]] SLAMing on 2.584391418 meters Centerline goodness : 0.991209 Centerline is valid? [True, True] Translation: X:0.98, Y:0.21, Z:-0.01 [[ 0.99762273 -0.04165572 -0.054897 0.979504 ] [ 0.04291584 0.99883692 0.02197825 0.20570243] [ 0.05391763 -0.02428195 0.99825011 -0.01461198] [ 0. 0. 0. 1. ]] SLAMing on 2.614391418 meters Centerline goodness : 0.991067 Centerline is valid? [True, True] Translation: X:0.99, Y:0.23, Z:0.00 [[ 0.99804551 -0.03180433 -0.05379261 0.98882848] [ 0.0306213 0.99927381 -0.02267572 0.22675335] [ 0.05447474 0.02098421 0.99829463 0.00370084] [ 0. 0. 0. 1. ]] SLAMing on 2.6443914179999997 meters Centerline goodness : 0.990509 Centerline is valid? [True, True] Translation: X:1.02, Y:0.23, Z:0.00 [[ 0.99813002 -0.024401 -0.05604505 1.01911679] [ 0.02362896 0.99961712 -0.0143971 0.22640667] [ 0.0563749 0.01304589 0.99832443 0.00491794] [ 0. 0. 0. 1. ]] SLAMing on 2.674391418 meters Centerline goodness : 0.992698 Centerline is valid? [True, True] Translation: X:1.05, Y:0.22, Z:0.01 [[ 0.99797334 -0.02650346 -0.05785129 1.05404342] [ 0.026635 0.99964409 0.00150364 0.22254342] [ 0.05779085 -0.00304146 0.99832408 0.00690557] [ 0. 0. 0. 1. ]] SLAMing on 2.7043914179999997 meters Centerline goodness : 0.992631 Centerline is valid? [True, True] Translation: X:1.08, Y:0.24, Z:0.01 [[ 0.99839897 -0.02554602 -0.05046684 1.08246555] [ 0.02443249 0.9994469 -0.02255973 0.23880992] [ 0.05101524 0.02129058 0.99847091 0.01045475] [ 0. 0. 0. 1. ]] SLAMing on 2.734391418 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:1.10, Y:0.24, Z:0.01 [[ 0.99845131 -0.02859785 -0.04771938 1.10009849] [ 0.02776024 0.99945029 -0.01812427 0.24321559] [ 0.04821147 0.0167715 0.99869634 0.00748671] [ 0. 0. 0. 1. ]] SLAMing on 2.7643914179999998 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:1.13, Y:0.23, Z:0.01 [[ 0.9980116 -0.02961624 -0.05563918 1.13363472] [ 0.03033929 0.99946525 0.01219582 0.23133177] [ 0.05524824 -0.01385962 0.99837645 0.00610758] [ 0. 0. 0. 1. ]] SLAMing on 2.794391418 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:1.16, Y:0.25, Z:0.01 [[ 0.99827163 -0.03347334 -0.04830419 1.16356162] [ 0.03292782 0.99938514 -0.01204559 0.2475427 ] [ 0.0486777 0.01043422 0.99876004 0.00729874] [ 0. 0. 0. 1. ]] SLAMing on 2.824391418 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:1.21, Y:0.24, Z:0.01 [[ 0.99825409 -0.02899722 -0.05145814 1.205683 ] [ 0.02919146 0.99956926 0.00302702 0.23643195] [ 0.0513482 -0.00452387 0.99867056 0.006634 ] [ 0. 0. 0. 1. ]] SLAMing on 2.854391418 meters Centerline goodness : 0.996795 Centerline is valid? [True, True] Translation: X:1.24, Y:0.24, Z:0.01 [[ 9.98133423e-01 -3.39265210e-02 -5.07805133e-02 1.23641760e+00] [ 3.39523309e-02 9.99423391e-01 -3.54514306e-04 2.40581919e-01] [ 5.07632602e-02 -1.37026421e-03 9.98709775e-01 7.27299094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.884391418 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:1.25, Y:0.25, Z:0.02 [[ 0.998213 -0.0337941 -0.04928252 1.25271395] [ 0.03276378 0.99923041 -0.02156676 0.25395392] [ 0.04997342 0.01991354 0.99855201 0.01615682] [ 0. 0. 0. 1. ]] SLAMing on 2.9143914179999997 meters Centerline goodness : 0.997050 Centerline is valid? [True, True] Translation: X:1.29, Y:0.25, Z:0.01 [[ 0.9981244 -0.03324992 -0.05140151 1.28748794] [ 0.03270729 0.99940039 -0.01136227 0.25223851] [ 0.05174849 0.00965975 0.99861343 0.01434722] [ 0. 0. 0. 1. ]] SLAMing on 2.944391418 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:1.34, Y:0.24, Z:0.01 [[ 0.99788399 -0.03691258 -0.0535258 1.33575495] [ 0.03823831 0.99898139 0.02395872 0.24044425] [ 0.0525869 -0.02595476 0.998279 0.00609927] [ 0. 0. 0. 1. ]] SLAMing on 2.9743914179999997 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:1.35, Y:0.26, Z:0.03 [[ 0.99815198 -0.02932345 -0.05322374 1.35420272] [ 0.02831222 0.99940587 -0.01965535 0.25772397] [ 0.05376848 0.01811214 0.99838915 0.02592639] [ 0. 0. 0. 1. ]] SLAMing on 3.004391418 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:1.39, Y:0.26, Z:0.01 [[ 9.98174152e-01 -3.72754960e-02 -4.75278808e-02 1.39164053e+00] [ 3.73567111e-02 9.99301657e-01 8.21381225e-04 2.58244557e-01] [ 4.74640726e-02 -2.59536682e-03 9.98869574e-01 1.23279050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.034391418 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:1.42, Y:0.27, Z:0.04 [[ 0.99784522 -0.032538 -0.05697546 1.41976424] [ 0.03108283 0.99917224 -0.0262431 0.27008514] [ 0.0577822 0.02441559 0.99803061 0.03555622] [ 0. 0. 0. 1. ]] SLAMing on 3.064391418 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:1.45, Y:0.26, Z:0.02 [[ 0.99805326 -0.03464342 -0.05186064 1.45375153] [ 0.03507876 0.99935635 0.00750762 0.25779486] [ 0.05156717 -0.00931221 0.99862611 0.01972362] [ 0. 0. 0. 1. ]] SLAMing on 3.094391418 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:1.48, Y:0.27, Z:0.03 [[ 0.99808496 -0.0347976 -0.05114237 1.4806367 ] [ 0.034504 0.99938268 -0.00661292 0.26730616] [ 0.05134091 0.00483564 0.99866948 0.02688327] [ 0. 0. 0. 1. ]] SLAMing on 3.124391418 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:1.52, Y:0.24, Z:0.01 [[ 0.99831978 -0.03792169 -0.04381271 1.52447498] [ 0.04010832 0.99793566 0.05015719 0.23772241] [ 0.04182022 -0.05183017 0.99777989 0.01387993] [ 0. 0. 0. 1. ]] SLAMing on 3.154391418 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:1.55, Y:0.28, Z:0.04 [[ 0.99862516 -0.03983738 -0.03407021 1.54545297] [ 0.03871135 0.99870223 -0.03309498 0.28003587] [ 0.03534441 0.03173058 0.99887133 0.03836073] [ 0. 0. 0. 1. ]] SLAMing on 3.1843914179999997 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:1.58, Y:0.25, Z:0.02 [[ 0.99836684 -0.04098725 -0.03979581 1.58103823] [ 0.0419944 0.99880975 0.02481045 0.2522897 ] [ 0.03873153 -0.02644113 0.99889976 0.02461988] [ 0. 0. 0. 1. ]] SLAMing on 3.214391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:1.61, Y:0.29, Z:0.06 [[ 0.99760826 -0.04872706 -0.04902485 1.60901557] [ 0.04599984 0.99740967 -0.05529885 0.29077852] [ 0.05159241 0.05291145 0.99726556 0.06171389] [ 0. 0. 0. 1. ]] SLAMing on 3.2443914179999997 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:1.64, Y:0.26, Z:0.02 [[ 0.99822402 -0.04636533 -0.03740411 1.63651688] [ 0.04712337 0.99869587 0.01964547 0.25560175] [ 0.03644446 -0.02137318 0.9991071 0.02067541] [ 0. 0. 0. 1. ]] SLAMing on 3.274391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:1.66, Y:0.27, Z:0.03 [[ 0.99813558 -0.04934558 -0.03592176 1.66426009] [ 0.04920506 0.99877723 -0.00478623 0.26878197] [ 0.03611401 0.00300978 0.99934314 0.03022974] [ 0. 0. 0. 1. ]] SLAMing on 3.304391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:1.70, Y:0.26, Z:0.03 [[ 0.99772523 -0.05365859 -0.04080588 1.69709838] [ 0.05471306 0.99818462 0.02517836 0.25512005] [ 0.03938077 -0.0273537 0.9988498 0.02797529] [ 0. 0. 0. 1. ]] SLAMing on 3.334391418 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:1.72, Y:0.28, Z:0.04 [[ 0.99754459 -0.0605283 -0.03522933 1.72140286] [ 0.05965821 0.99789954 -0.02524696 0.27977892] [ 0.03668349 0.02308325 0.9990603 0.03803164] [ 0. 0. 0. 1. ]] SLAMing on 3.364391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:1.75, Y:0.27, Z:0.03 [[ 0.99723603 -0.06365729 -0.03831523 1.75343698] [ 0.06351022 0.99796844 -0.00504458 0.271409 ] [ 0.03855852 0.00259723 0.99925297 0.03129888] [ 0. 0. 0. 1. ]] SLAMing on 3.3943914179999997 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:1.78, Y:0.27, Z:0.03 [[ 0.99709026 -0.06640893 -0.03742814 1.78241568] [ 0.06620725 0.99778404 -0.0066037 0.2737722 ] [ 0.03778375 0.00410647 0.9992775 0.03165182] [ 0. 0. 0. 1. ]] SLAMing on 3.424391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:1.81, Y:0.27, Z:0.03 [[ 9.96773666e-01 -7.08307488e-02 -3.77526774e-02 1.81234995e+00] [ 7.07572020e-02 9.97488168e-01 -3.28236983e-03 2.71516990e-01] [ 3.78903417e-02 6.00505981e-04 9.99281723e-01 3.16799820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4543914179999997 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:1.84, Y:0.27, Z:0.03 [[ 0.9966371 -0.07297028 -0.03728028 1.84367465] [ 0.07280535 0.99732951 -0.00576439 0.2741666 ] [ 0.03760136 0.0030308 0.99928822 0.03334213] [ 0. 0. 0. 1. ]] SLAMing on 3.484391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:1.88, Y:0.26, Z:0.04 [[ 0.99631625 -0.07403404 -0.04327684 1.87952304] [ 0.07481907 0.99705546 0.01680833 0.26362691] [ 0.04190503 -0.01998434 0.99892172 0.03847495] [ 0. 0. 0. 1. ]] SLAMing on 3.5143914179999998 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:1.91, Y:0.29, Z:0.05 [[ 0.99676515 -0.07412203 -0.03106696 1.90623753] [ 0.07299007 0.99667867 -0.03611189 0.29344434] [ 0.03364046 0.03372749 0.99886474 0.04804154] [ 0. 0. 0. 1. ]] SLAMing on 3.544391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:1.94, Y:0.26, Z:0.04 [[ 0.99657922 -0.07210179 -0.0403879 1.94402297] [ 0.07326424 0.99691717 0.02808035 0.26408624] [ 0.03823875 -0.03094328 0.99878942 0.03646376] [ 0. 0. 0. 1. ]] SLAMing on 3.574391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:1.97, Y:0.28, Z:0.05 [[ 9.96802388e-01 -7.10516118e-02 -3.65604674e-02 1.97322364e+00] [ 7.09607204e-02 9.97471951e-01 -3.77933624e-03 2.83358259e-01] [ 3.67365686e-02 1.17289428e-03 9.99324296e-01 4.89479647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6043914179999996 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:2.00, Y:0.29, Z:0.05 [[ 9.96868317e-01 -6.99971940e-02 -3.67960804e-02 2.00477938e+00] [ 6.99045660e-02 9.97546448e-01 -3.79945647e-03 2.86826827e-01] [ 3.69717506e-02 1.21534375e-03 9.99315572e-01 4.99319080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.634391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:2.04, Y:0.29, Z:0.05 [[ 9.96972319e-01 -6.85663296e-02 -3.66722577e-02 2.03634168e+00] [ 6.84734547e-02 9.97645762e-01 -3.78403910e-03 2.89977857e-01] [ 3.68453801e-02 1.26150605e-03 9.99320182e-01 5.01755855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6643914179999997 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:2.06, Y:0.31, Z:0.05 [[ 0.99716127 -0.06735852 -0.03364857 2.06315807] [ 0.06656365 0.99748841 -0.02421068 0.30530742] [ 0.03519485 0.02190218 0.99914044 0.0504286 ] [ 0. 0. 0. 1. ]] SLAMing on 3.694391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:2.10, Y:0.29, Z:0.05 [[ 0.99733777 -0.06051564 -0.04068439 2.0976034 ] [ 0.06120773 0.99799704 0.01598524 0.2872191 ] [ 0.03963555 -0.01843288 0.99904417 0.04522693] [ 0. 0. 0. 1. ]] SLAMing on 3.7243914179999997 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:2.13, Y:0.30, Z:0.05 [[ 9.97657929e-01 -5.71456525e-02 -3.75903045e-02 2.12510485e+00] [ 5.70399579e-02 9.98364360e-01 -3.87909995e-03 3.01187216e-01] [ 3.77504940e-02 1.72586544e-03 9.99285706e-01 5.35287071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.754391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:2.15, Y:0.31, Z:0.06 [[ 9.98112677e-01 -4.83395574e-02 -3.78730945e-02 2.15367959e+00] [ 4.82259165e-02 9.98828805e-01 -3.90894291e-03 3.06817315e-01] [ 3.80176943e-02 2.07510078e-03 9.99274912e-01 5.50120067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.784391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:2.18, Y:0.31, Z:0.06 [[ 0.99833583 -0.0434174 -0.03795395 2.18118425] [ 0.04329963 0.99905444 -0.00391974 0.31038634] [ 0.03808825 0.00226982 0.9992718 0.05557837] [ 0. 0. 0. 1. ]] SLAMing on 3.814391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:2.21, Y:0.31, Z:0.06 [[ 0.99859854 -0.03840247 -0.03641703 2.20757509] [ 0.03829041 0.99925954 -0.00376974 0.31385627] [ 0.03653483 0.00237004 0.99932957 0.05505275] [ 0. 0. 0. 1. ]] SLAMing on 3.844391418 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:2.23, Y:0.32, Z:0.06 [[ 0.99892858 -0.02939964 -0.03574017 2.23382976] [ 0.02928583 0.99956422 -0.00370382 0.31886351] [ 0.03583349 0.00265317 0.99935425 0.05715838] [ 0. 0. 0. 1. ]] SLAMing on 3.8743914179999996 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:2.26, Y:0.32, Z:0.06 [[ 0.9990721 -0.02518421 -0.0349385 2.26186593] [ 0.02507272 0.99967906 -0.00362535 0.32244731] [ 0.03501858 0.00274599 0.99938289 0.05780746] [ 0. 0. 0. 1. ]] SLAMing on 3.904391418 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:2.29, Y:0.33, Z:0.06 [[ 0.99915843 -0.02166683 -0.03482794 2.28935571] [ 0.02155361 0.99976113 -0.00362315 0.32608355] [ 0.03489812 0.00286944 0.99938676 0.05921879] [ 0. 0. 0. 1. ]] SLAMing on 3.9343914179999997 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:2.32, Y:0.33, Z:0.06 [[ 0.99933235 -0.01571895 -0.03298131 2.31630957] [ 0.01561394 0.99987218 -0.00343906 0.32891354] [ 0.03303116 0.00292179 0.99945005 0.06065943] [ 0. 0. 0. 1. ]] SLAMing on 3.964391418 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:2.34, Y:0.33, Z:0.06 [[ 0.99936157 -0.01365461 -0.0330152 2.34255274] [ 0.01354814 0.99990228 -0.00344639 0.33182898] [ 0.03305903 0.00299689 0.99944891 0.06306203] [ 0. 0. 0. 1. ]] SLAMing on 3.9943914179999997 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:2.37, Y:0.33, Z:0.06 [[ 0.99942377 -0.01207747 -0.03172156 2.37031391] [ 0.01197829 0.99992276 -0.00331492 0.33397131] [ 0.03175915 0.00293304 0.99949125 0.06380168] [ 0. 0. 0. 1. ]] SLAMing on 4.0243914179999996 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:2.40, Y:0.33, Z:0.06 [[ 0.99947705 -0.009309 -0.0309671 2.3980516 ] [ 0.00921292 0.9999523 -0.00324387 0.33251518] [ 0.03099582 0.00295688 0.99951514 0.0627089 ] [ 0. 0. 0. 1. ]] SLAMing on 4.054391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:2.43, Y:0.33, Z:0.06 [[ 0.99947187 -0.00901635 -0.03121983 2.42623242] [ 0.00891844 0.99995487 -0.00327391 0.33266958] [ 0.03124794 0.00299375 0.99950718 0.0622462 ] [ 0. 0. 0. 1. ]] SLAMing on 4.084391418 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:2.45, Y:0.33, Z:0.06 [[ 0.99946794 -0.00933627 -0.0312516 2.45435848] [ 0.00923807 0.99995193 -0.00328518 0.33300941] [ 0.03128077 0.00299473 0.99950615 0.06270088] [ 0. 0. 0. 1. ]] SLAMing on 4.114391417999999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:2.48, Y:0.33, Z:0.06 [[ 0.99945768 -0.01048593 -0.03121518 2.4830094 ] [ 0.01038822 0.99994063 -0.00329094 0.33065368] [ 0.03124783 0.00296488 0.99950727 0.06440522] [ 0. 0. 0. 1. ]] SLAMing on 4.144391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:2.51, Y:0.33, Z:0.06 [[ 0.99948394 -0.01129728 -0.03007047 2.5108296 ] [ 0.01120669 0.99993215 -0.00317939 0.33021082] [ 0.03010435 0.00284075 0.99954272 0.06452355] [ 0. 0. 0. 1. ]] SLAMing on 4.174391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:2.54, Y:0.33, Z:0.07 [[ 0.99949128 -0.01148774 -0.02975251 2.53782019] [ 0.01139885 0.99993005 -0.00315542 0.32930847] [ 0.02978668 0.00281467 0.99955232 0.06545355] [ 0. 0. 0. 1. ]] SLAMing on 4.204391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:2.57, Y:0.33, Z:0.07 [[ 0.99949676 -0.01148615 -0.02956846 2.56640637] [ 0.01139825 0.99993011 -0.00313973 0.32542755] [ 0.02960246 0.00280112 0.99955783 0.0680184 ] [ 0. 0. 0. 1. ]] SLAMing on 4.2343914179999995 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:2.59, Y:0.32, Z:0.07 [[ 0.99953583 -0.01031329 -0.02866622 2.59379072] [ 0.01022993 0.99994301 -0.0030533 0.32467648] [ 0.02869607 0.00275863 0.99958438 0.06803984] [ 0. 0. 0. 1. ]] SLAMing on 4.264391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:2.62, Y:0.32, Z:0.07 [[ 0.99952059 -0.00993127 -0.02932515 2.62223997] [ 0.00984375 0.99994666 -0.00312737 0.32438686] [ 0.02935464 0.00283721 0.99956503 0.06966261] [ 0. 0. 0. 1. ]] SLAMing on 4.294391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:2.65, Y:0.32, Z:0.07 [[ 0.99953852 -0.00838661 -0.02919601 2.64987448] [ 0.00829891 0.99996068 -0.00312366 0.31882544] [ 0.02922106 0.00287992 0.99956882 0.06900137] [ 0. 0. 0. 1. ]] SLAMing on 4.324391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:2.68, Y:0.32, Z:0.07 [[ 0.99951947 -0.00788321 -0.02997801 2.67772748] [ 0.00779039 0.9999645 -0.00321194 0.31687888] [ 0.03000226 0.00297686 0.9995454 0.06985866] [ 0. 0. 0. 1. ]] SLAMing on 4.354391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:2.71, Y:0.31, Z:0.07 [[ 0.99954666 -0.00709268 -0.02926026 2.70591733] [ 0.00700361 0.99997053 -0.0031454 0.31381251] [ 0.02928171 0.00293905 0.99956688 0.06846298] [ 0. 0. 0. 1. ]] SLAMing on 4.384391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:2.73, Y:0.31, Z:0.07 [[ 0.9995311 -0.00523283 -0.03016935 2.7346723 ] [ 0.00513696 0.99998151 -0.00325443 0.30601462] [ 0.03018582 0.00309793 0.9995395 0.06914623] [ 0. 0. 0. 1. ]] SLAMing on 4.414391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:2.76, Y:0.30, Z:0.07 [[ 0.99951641 -0.00402468 -0.03083416 2.7627202 ] [ 0.00392361 0.99998673 -0.00333757 0.30442059] [ 0.03084718 0.00321497 0.99951894 0.06962703] [ 0. 0. 0. 1. ]] SLAMing on 4.4443914179999995 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:2.79, Y:0.30, Z:0.07 [[ 0.99949754 -0.00344473 -0.03150888 2.79060155] [ 0.00333854 0.99998857 -0.0034222 0.30352911] [ 0.0315203 0.00331529 0.99949761 0.07144873] [ 0. 0. 0. 1. ]] SLAMing on 4.474391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:2.82, Y:0.30, Z:0.07 [[ 9.99503910e-01 -2.10274005e-03 -3.14247025e-02 2.81757057e+00] [ 1.99610254e-03 9.99992144e-01 -3.42441560e-03 3.01530350e-01] [ 3.14316563e-02 3.35998986e-03 9.99500256e-01 7.18762254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:2.85, Y:0.29, Z:0.07 [[ 9.99509990e-01 -1.70504579e-03 -3.12549605e-02 2.84634394e+00] [ 1.59920890e-03 9.99992904e-01 -3.41092793e-03 2.94373335e-01] [ 3.12605545e-02 3.35927333e-03 9.99505624e-01 7.30418859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.534391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:2.87, Y:0.28, Z:0.07 [[ 0.999528 -0.00348906 -0.03052217 2.87479512] [ 0.00338861 0.99998867 -0.00334206 0.2839244 ] [ 0.03053348 0.00323705 0.9995285 0.07073841] [ 0. 0. 0. 1. ]] SLAMing on 4.564391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:2.90, Y:0.28, Z:0.07 [[ 0.99952273 -0.00509889 -0.0304682 2.90358116] [ 0.00499939 0.99998192 -0.00334093 0.28057227] [ 0.03048469 0.00318702 0.99953015 0.07133946] [ 0. 0. 0. 1. ]] SLAMing on 4.594391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:2.93, Y:0.28, Z:0.07 [[ 0.9995223 -0.0068432 -0.03013887 2.9305355 ] [ 0.00674629 0.99997175 -0.00331587 0.27783763] [ 0.03016071 0.00311096 0.99954022 0.07228073] [ 0. 0. 0. 1. ]] SLAMing on 4.624391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:2.96, Y:0.28, Z:0.07 [[ 0.99952844 -0.00793691 -0.02966304 2.95933616] [ 0.00784339 0.9999639 -0.00326789 0.27524041] [ 0.0296879 0.00303369 0.99955461 0.07277962] [ 0. 0. 0. 1. ]] SLAMing on 4.6543914179999994 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:2.99, Y:0.27, Z:0.07 [[ 9.99545708e-01 -8.44593098e-03 -2.89317149e-02 2.98695468e+00] [ 8.35688513e-03 9.99959969e-01 -3.19732914e-03 2.67347817e-01] [ 2.89575611e-02 2.95409760e-03 9.99576277e-01 7.36110700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:3.02, Y:0.26, Z:0.07 [[ 9.99552501e-01 -8.02387382e-03 -2.88169096e-02 3.01567979e+00] [ 7.93524866e-03 9.99963432e-01 -3.18850135e-03 2.64790797e-01] [ 2.88414400e-02 2.95840516e-03 9.99579621e-01 7.35444330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:3.04, Y:0.26, Z:0.07 [[ 9.99546776e-01 -7.63330489e-03 -2.91200144e-02 3.04425813e+00] [ 7.54235303e-03 9.99966333e-01 -3.23190940e-03 2.62074423e-01] [ 2.91437041e-02 3.01081119e-03 9.99570698e-01 7.36961692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:3.07, Y:0.25, Z:0.08 [[ 0.99951705 -0.00570395 -0.0305472 3.07312532] [ 0.00560264 0.99997852 -0.00340104 0.25303631] [ 0.03056594 0.00322825 0.99952754 0.07575974] [ 0. 0. 0. 1. ]] SLAMing on 4.7743914179999996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:3.10, Y:0.25, Z:0.08 [[ 0.99951457 -0.00474686 -0.03079097 3.10180604] [ 0.00464313 0.99998331 -0.00343954 0.25037992] [ 0.03080678 0.0032949 0.99951993 0.07589088] [ 0. 0. 0. 1. ]] SLAMing on 4.804391418 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:3.13, Y:0.25, Z:0.08 [[ 0.99952408 -0.00492454 -0.0304527 3.13017709] [ 0.00482282 0.99998255 -0.00341284 0.2487623 ] [ 0.03046898 0.00326434 0.99953038 0.07940065] [ 0. 0. 0. 1. ]] SLAMing on 4.834391418 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:3.16, Y:0.24, Z:0.08 [[ 9.99576287e-01 -5.09380027e-03 -2.86583272e-02 3.15907154e+00] [ 5.00350552e-03 9.99982293e-01 -3.22156319e-03 2.40865442e-01] [ 2.86742297e-02 3.07680607e-03 9.99584074e-01 8.03209570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864391417999999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:3.19, Y:0.24, Z:0.08 [[ 9.99583711e-01 -6.73890869e-03 -2.80533829e-02 3.18612155e+00] [ 6.65273360e-03 9.99972865e-01 -3.16402807e-03 2.38475396e-01] [ 2.80739438e-02 2.97607924e-03 9.99601419e-01 8.25249402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:3.22, Y:0.23, Z:0.08 [[ 9.99488402e-01 -1.12807309e-02 -2.99278977e-02 3.21513671e+00] [ 1.11845196e-02 9.99931738e-01 -3.38023237e-03 2.28905639e-01] [ 2.99639862e-02 3.04377389e-03 9.99546345e-01 8.23677366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:3.24, Y:0.23, Z:0.08 [[ 9.99425760e-01 -1.41025978e-02 -3.08101634e-02 3.24215930e+00] [ 1.40016084e-02 9.99895878e-01 -3.49109793e-03 2.26487982e-01] [ 3.08561890e-02 3.05770136e-03 9.99519157e-01 8.24316500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.27, Y:0.23, Z:0.08 [[ 9.99332704e-01 -1.76032733e-02 -3.20042276e-02 3.27070413e+00] [ 1.74959082e-02 9.99840339e-01 -3.63168994e-03 2.25312392e-01] [ 3.20630474e-02 3.06932350e-03 9.99481136e-01 8.49352026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9843914179999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.30, Y:0.22, Z:0.09 [[ 9.99236162e-01 -2.10298193e-02 -3.29369051e-02 3.29847403e+00] [ 2.09175611e-02 9.99774174e-01 -3.74919165e-03 2.24248233e-01] [ 3.30083119e-02 3.05736815e-03 9.99450401e-01 8.59400061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.33, Y:0.23, Z:0.09 [[ 9.99229457e-01 -2.13479499e-02 -3.29356397e-02 3.32668407e+00] [ 2.12355007e-02 9.99767430e-01 -3.76027639e-03 2.27704254e-01] [ 3.30082540e-02 3.05797414e-03 9.99450401e-01 8.68255515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044391418 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:3.36, Y:0.22, Z:0.08 [[ 9.99005888e-01 -2.81546273e-02 -3.45623071e-02 3.35530184e+00] [ 2.80344193e-02 9.99599123e-01 -3.95780438e-03 2.23304254e-01] [ 3.46598824e-02 2.98493567e-03 9.99394708e-01 8.49218907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074391417999999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:3.38, Y:0.22, Z:0.09 [[ 9.98879983e-01 -3.16788236e-02 -3.51458648e-02 3.38202802e+00] [ 3.15562501e-02 9.99493825e-01 -4.03694751e-03 2.22643080e-01] [ 3.52559606e-02 2.92335436e-03 9.99374040e-01 8.64240339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.41, Y:0.22, Z:0.09 [[ 9.98747591e-01 -3.55040530e-02 -3.52521281e-02 3.40980223e+00] [ 3.53828721e-02 9.99365601e-01 -4.05567124e-03 2.22092752e-01] [ 3.53737569e-02 2.80327034e-03 9.99370221e-01 8.86344587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:3.44, Y:0.22, Z:0.09 [[ 9.98554987e-01 -4.12640521e-02 -3.44269571e-02 3.43820801e+00] [ 4.11514588e-02 9.99145021e-01 -3.97298563e-03 2.17238590e-01] [ 3.45614643e-02 2.55052511e-03 9.99399320e-01 8.79129163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:3.46, Y:0.22, Z:0.09 [[ 9.98471258e-01 -4.38991179e-02 -3.35859260e-02 3.46484114e+00] [ 4.37930503e-02 9.99033060e-01 -3.88758170e-03 2.17861354e-01] [ 3.37241119e-02 2.41080844e-03 9.99428273e-01 8.91750158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1943914179999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.49, Y:0.22, Z:0.09 [[ 9.98326609e-01 -4.70903302e-02 -3.35631202e-02 3.49322812e+00] [ 4.69860010e-02 9.98887970e-01 -3.89085673e-03 2.18603210e-01] [ 3.37090187e-02 2.30734900e-03 9.99429026e-01 9.18801655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.52, Y:0.22, Z:0.09 [[ 9.98270301e-01 -4.75425501e-02 -3.45848482e-02 3.52124109e+00] [ 4.74315969e-02 9.98866391e-01 -4.02201633e-03 2.20653692e-01] [ 3.47368595e-02 2.37464487e-03 9.99393672e-01 9.23555889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:3.55, Y:0.22, Z:0.09 [[ 9.98239378e-01 -4.72876763e-02 -3.58052974e-02 3.54956644e+00] [ 4.71681114e-02 9.98878231e-01 -4.17715443e-03 2.23174388e-01] [ 3.59626601e-02 2.48093179e-03 9.99350055e-01 9.23930252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284391417999999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:3.58, Y:0.23, Z:0.09 [[ 9.98210546e-01 -4.51833207e-02 -3.91685230e-02 3.57615390e+00] [ 4.50380530e-02 9.98974756e-01 -4.58371342e-03 2.25257006e-01] [ 3.93354731e-02 2.81143707e-03 9.99222106e-01 9.18703462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.60, Y:0.23, Z:0.09 [[ 9.98234916e-01 -4.39354162e-02 -3.99591265e-02 3.60430642e+00] [ 4.37827877e-02 9.99030079e-01 -4.68716194e-03 2.28411090e-01] [ 4.01263017e-02 2.92936675e-03 9.99190322e-01 9.49979113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344391418 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:3.63, Y:0.23, Z:0.09 [[ 9.98268827e-01 -4.24886313e-02 -4.06702025e-02 3.63144091e+00] [ 4.23288160e-02 9.99092285e-01 -4.78301598e-03 2.31759246e-01] [ 4.08365094e-02 3.05321423e-03 9.99161177e-01 9.32438144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:3.66, Y:0.24, Z:0.10 [[ 9.98369607e-01 -4.00507069e-02 -4.06702441e-02 3.65890189e+00] [ 3.98885489e-02 9.99192648e-01 -4.79114503e-03 2.36551225e-01] [ 4.08292976e-02 3.16105656e-03 9.99161136e-01 9.63939432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4043914179999994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:3.69, Y:0.24, Z:0.10 [[ 9.98416900e-01 -3.91413348e-02 -4.03936767e-02 3.68651592e+00] [ 3.89800602e-02 9.99228590e-01 -4.77277635e-03 2.40828481e-01] [ 4.05493295e-02 3.19067263e-03 9.99172443e-01 9.81654243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:0.24, Z:0.10 [[ 9.98522750e-01 -3.77422366e-02 -3.90875999e-02 3.71354329e+00] [ 3.75896966e-02 9.99282530e-01 -4.63037919e-03 2.44419500e-01] [ 3.92343166e-02 3.15424795e-03 9.99225059e-01 1.02434941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:3.74, Y:0.25, Z:0.10 [[ 9.98631591e-01 -3.63606335e-02 -3.75878918e-02 3.74128254e+00] [ 3.62183434e-02 9.99333949e-01 -4.45977667e-03 2.47635061e-01] [ 3.77250167e-02 3.09230270e-03 9.99283374e-01 1.02364857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:3.77, Y:0.25, Z:0.10 [[ 9.98801845e-01 -3.33480728e-02 -3.58159216e-02 3.76873332e+00] [ 3.32165115e-02 9.99439091e-01 -4.26219968e-03 2.51033111e-01] [ 3.59379683e-02 3.06741294e-03 9.99349315e-01 1.03369274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5243914179999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.80, Y:0.26, Z:0.11 [[ 9.98839146e-01 -3.24580324e-02 -3.55926540e-02 3.79507115e+00] [ 3.23271177e-02 9.99468316e-01 -4.24762899e-03 2.55324156e-01] [ 3.57115996e-02 3.09209019e-03 9.99357354e-01 1.07187618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554391418 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.82, Y:0.26, Z:0.11 [[ 9.98883618e-01 -3.17391086e-02 -3.49878069e-02 3.82278830e+00] [ 3.16119491e-02 9.99491470e-01 -4.18174998e-03 2.59918812e-01] [ 3.51027396e-02 3.07104877e-03 9.99378990e-01 1.05441770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:3.85, Y:0.26, Z:0.11 [[ 9.98828951e-01 -3.18458681e-02 -3.64220833e-02 3.84930324e+00] [ 3.17076779e-02 9.99487651e-01 -4.36562666e-03 2.64838892e-01] [ 3.65424497e-02 3.20565461e-03 9.99326960e-01 1.07637694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614391417999999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:3.88, Y:0.27, Z:0.11 [[ 9.98745195e-01 -3.36319768e-02 -3.71069579e-02 3.87696558e+00] [ 3.34894953e-02 9.99429141e-01 -4.45482945e-03 2.68661201e-01] [ 3.72355998e-02 3.20654621e-03 9.99301370e-01 1.06447312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:3.90, Y:0.27, Z:0.11 [[ 9.98491142e-01 -3.95656477e-02 -3.80788596e-02 3.90445163e+00] [ 3.94193495e-02 9.99212234e-01 -4.58542998e-03 2.72036231e-01] [ 3.82302878e-02 3.07746734e-03 9.99264216e-01 1.09007636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674391418 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:3.93, Y:0.28, Z:0.11 [[ 9.98341109e-01 -4.29301786e-02 -3.83670293e-02 3.93155829e+00] [ 4.27836390e-02 9.99073620e-01 -4.63271204e-03 2.75673261e-01] [ 3.85303700e-02 2.98354575e-03 9.99252975e-01 1.08190640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:3.96, Y:0.28, Z:0.11 [[ 9.98175410e-01 -4.68493754e-02 -3.80918181e-02 3.95898849e+00] [ 4.67074786e-02 9.98897986e-01 -4.60703007e-03 2.79638264e-01] [ 3.82656769e-02 2.81945135e-03 9.99263623e-01 1.09316605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7343914179999995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:3.99, Y:0.29, Z:0.11 [[ 9.97874095e-01 -5.30095069e-02 -3.79115006e-02 3.98519412e+00] [ 5.28728709e-02 9.98590664e-01 -4.59835362e-03 2.85365771e-01] [ 3.81018270e-02 2.58408808e-03 9.99270521e-01 1.13107989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:4.01, Y:0.29, Z:0.11 [[ 9.97749914e-01 -5.54103244e-02 -3.77466017e-02 4.01303354e+00] [ 5.52761950e-02 9.98460558e-01 -4.58861508e-03 2.90485446e-01] [ 3.79427497e-02 2.49180178e-03 9.99276808e-01 1.12827110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:4.04, Y:0.30, Z:0.11 [[ 9.97689479e-01 -5.66557012e-02 -3.74944755e-02 4.03987470e+00] [ 5.65237671e-02 9.98390793e-01 -4.57034554e-03 2.95373054e-01] [ 3.76930753e-02 2.44045666e-03 9.99286383e-01 1.12920834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824391417999999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:4.07, Y:0.30, Z:0.11 [[ 9.97685423e-01 -5.72298858e-02 -3.67224289e-02 4.06731672e+00] [ 5.71034647e-02 9.98358200e-01 -4.48312955e-03 3.00311716e-01] [ 3.69187070e-02 2.37577508e-03 9.99315448e-01 1.14581132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:4.09, Y:0.31, Z:0.11 [[ 9.97834059e-01 -5.36617677e-02 -3.80474226e-02 4.09337883e+00] [ 5.35229936e-02 9.98555756e-01 -4.65737405e-03 3.06712980e-01] [ 3.82423958e-02 2.61087449e-03 9.99265081e-01 1.14570815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:4.12, Y:0.31, Z:0.12 [[ 9.97969857e-01 -5.07297825e-02 -3.85052481e-02 4.11985026e+00] [ 5.05852445e-02 9.98708596e-01 -4.71937513e-03 3.12883978e-01] [ 3.86949351e-02 2.76199673e-03 9.99247253e-01 1.16933903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:4.15, Y:0.32, Z:0.12 [[ 9.98143524e-01 -4.71918429e-02 -3.85023991e-02 4.14677763e+00] [ 4.70444230e-02 9.98881616e-01 -4.72640902e-03 3.19587621e-01] [ 3.86823865e-02 2.90631141e-03 9.99247330e-01 1.18114546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9443914179999995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:4.17, Y:0.33, Z:0.12 [[ 9.98321760e-01 -4.28613470e-02 -3.89431496e-02 4.17411765e+00] [ 4.27067061e-02 9.99076148e-01 -4.79456407e-03 3.26848474e-01] [ 3.91126734e-02 3.12338399e-03 9.99229925e-01 1.18205381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:4.20, Y:0.34, Z:0.12 [[ 9.98720559e-01 -3.33833708e-02 -3.79841378e-02 4.20112362e+00] [ 3.32289264e-02 9.99436761e-01 -4.69027390e-03 3.36720228e-01] [ 3.81193209e-02 3.42210085e-03 9.99267335e-01 1.20359986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:4.23, Y:0.34, Z:0.12 [[ 9.98887937e-01 -2.85995705e-02 -3.74827255e-02 4.22799231e+00] [ 2.84453813e-02 9.99584576e-01 -4.64057163e-03 3.41711054e-01] [ 3.75998727e-02 3.56920059e-03 9.99286501e-01 1.20212376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034391417999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.26, Y:0.35, Z:0.12 [[ 9.99103550e-01 -2.10409331e-02 -3.67338451e-02 4.25539929e+00] [ 2.08875342e-02 9.99771456e-01 -4.55478479e-03 3.46734191e-01] [ 3.68212867e-02 3.78342220e-03 9.99314704e-01 1.22371129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:4.28, Y:0.35, Z:0.12 [[ 9.99183512e-01 -1.77527809e-02 -3.62925416e-02 4.28274888e+00] [ 1.76004248e-02 9.99834914e-01 -4.51321066e-03 3.50323452e-01] [ 3.63666723e-02 3.87076153e-03 9.99331017e-01 1.23568462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.31, Y:0.35, Z:0.12 [[ 9.99254014e-01 -1.51900765e-02 -3.55060047e-02 4.30966880e+00] [ 1.50422335e-02 9.99877057e-01 -4.42732901e-03 3.53852662e-01] [ 3.55688909e-02 3.88993668e-03 9.99359656e-01 1.24997279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:4.34, Y:0.36, Z:0.12 [[ 9.99293460e-01 -1.36113595e-02 -3.50330103e-02 4.33725715e+00] [ 1.34662499e-02 9.99899756e-01 -4.37471890e-03 3.57311440e-01] [ 3.50890444e-02 3.89986472e-03 9.99376581e-01 1.24827759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1543914179999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:0.36, Z:0.13 [[ 9.99294450e-01 -1.25909773e-02 -3.53845948e-02 4.36359592e+00] [ 1.24418713e-02 9.99912780e-01 -4.43091601e-03 3.60524048e-01] [ 3.54372982e-02 3.98753920e-03 9.99363946e-01 1.27037752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.39, Y:0.36, Z:0.13 [[ 9.99256765e-01 -1.26903043e-02 -3.63988153e-02 4.39082317e+00] [ 1.25322740e-02 9.99911041e-01 -4.56651788e-03 3.62508063e-01] [ 3.64535278e-02 4.10696395e-03 9.99326910e-01 1.27992297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:4.42, Y:0.36, Z:0.13 [[ 9.99240859e-01 -1.43380930e-02 -3.62232607e-02 4.41894184e+00] [ 1.41824122e-02 9.99889067e-01 -4.55112598e-03 3.64287131e-01] [ 3.62844968e-02 4.03393782e-03 9.99333359e-01 1.27095361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.45, Y:0.37, Z:0.13 [[ 9.99227568e-01 -1.62753223e-02 -3.57684513e-02 4.44597940e+00] [ 1.61243215e-02 9.99859841e-01 -4.50605275e-03 3.65016280e-01] [ 3.58367755e-02 3.92583012e-03 9.99349945e-01 1.29998879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2743914179999996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:4.47, Y:0.36, Z:0.13 [[ 9.99142547e-01 -2.14620787e-02 -3.54054993e-02 4.47428450e+00] [ 2.13170269e-02 9.99762777e-01 -4.46932842e-03 3.63312377e-01] [ 3.54930214e-02 3.71075620e-03 9.99363035e-01 1.28712468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:4.50, Y:0.37, Z:0.13 [[ 9.99069315e-01 -2.45953949e-02 -3.54340391e-02 4.50214054e+00] [ 2.44516115e-02 9.99690952e-01 -4.48549101e-03 3.65221900e-01] [ 3.55334107e-02 3.61489708e-03 9.99361951e-01 1.31647721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.53, Y:0.37, Z:0.13 [[ 9.98950953e-01 -2.98743759e-02 -3.47061260e-02 4.53014127e+00] [ 2.97391654e-02 9.99547984e-01 -4.40569348e-03 3.65017208e-01] [ 3.48220557e-02 3.36894048e-03 9.99387850e-01 1.34420724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364391417999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.56, Y:0.37, Z:0.14 [[ 9.98913494e-01 -3.14942425e-02 -3.43503127e-02 4.55790608e+00] [ 3.13623104e-02 9.99498515e-01 -4.37298840e-03 3.65628092e-01] [ 3.44708105e-02 3.29093195e-03 9.99400287e-01 1.35476155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:4.59, Y:0.37, Z:0.14 [[ 9.98909429e-01 -3.22830744e-02 -3.37306404e-02 4.58564087e+00] [ 3.21558957e-02 9.99473589e-01 -4.30625995e-03 3.65847583e-01] [ 3.38519035e-02 3.21692471e-03 9.99421683e-01 1.35412670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:4.61, Y:0.36, Z:0.14 [[ 9.98989753e-01 -2.99426485e-02 -3.35098774e-02 4.61384631e+00] [ 2.98154138e-02 9.99546214e-01 -4.29031731e-03 3.64036438e-01] [ 3.36231345e-02 3.28687217e-03 9.99429178e-01 1.36293795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.64, Y:0.37, Z:0.14 [[ 9.99081899e-01 -2.73679361e-02 -3.29599060e-02 4.64045321e+00] [ 2.72430799e-02 9.99619883e-01 -4.23135399e-03 3.65591444e-01] [ 3.30631808e-02 3.32953982e-03 9.99447718e-01 1.38906400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4843914179999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.67, Y:0.37, Z:0.14 [[ 9.99140737e-01 -2.48127200e-02 -3.31981422e-02 4.66795765e+00] [ 2.46844641e-02 9.99686183e-01 -4.26769959e-03 3.67480482e-01] [ 3.32936173e-02 3.44455416e-03 9.99439678e-01 1.39814904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.70, Y:0.37, Z:0.14 [[ 9.99273493e-01 -1.82100147e-02 -3.34795665e-02 4.69666931e+00] [ 1.80755009e-02 9.99827309e-01 -4.31609713e-03 3.66314011e-01] [ 3.35523811e-02 3.70780152e-03 9.99430083e-01 1.40544210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:4.72, Y:0.37, Z:0.14 [[ 9.99321239e-01 -1.50826610e-02 -3.36091518e-02 4.72486781e+00] [ 1.49449445e-02 9.99878877e-01 -4.34505913e-03 3.67181237e-01] [ 3.36706160e-02 3.83982297e-03 9.99425608e-01 1.39658405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574391417999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.75, Y:0.37, Z:0.14 [[ 9.99371472e-01 -1.20047852e-02 -3.33548536e-02 4.75172029e+00] [ 1.18670698e-02 9.99920236e-01 -4.32370904e-03 3.67501197e-01] [ 3.34040983e-02 3.92516710e-03 9.99434220e-01 1.42846288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.78, Y:0.37, Z:0.14 [[ 9.99411695e-01 -9.55449843e-03 -3.29389662e-02 4.77946964e+00] [ 9.41870466e-03 9.99946504e-01 -4.27529212e-03 3.67405375e-01] [ 3.29780524e-02 3.96253455e-03 9.99448221e-01 1.43622010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.81, Y:0.36, Z:0.15 [[ 9.99399514e-01 -6.96565243e-03 -3.39424676e-02 4.80768339e+00] [ 6.81958292e-03 9.99966990e-01 -4.41731713e-03 3.62798995e-01] [ 3.39721167e-02 4.18319112e-03 9.99414026e-01 1.46036182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:4.84, Y:0.36, Z:0.14 [[ 9.99430055e-01 -6.08851596e-03 -3.32038314e-02 4.83589408e+00] [ 5.94807903e-03 9.99972950e-01 -4.32667892e-03 3.60873856e-01] [ 3.32292763e-02 4.12671394e-03 9.99439235e-01 1.44857762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6943914179999995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:4.86, Y:0.36, Z:0.15 [[ 9.99411810e-01 -6.14969327e-03 -3.37374405e-02 4.86326132e+00] [ 6.00433616e-03 9.99972258e-01 -4.40810512e-03 3.59824165e-01] [ 3.37636130e-02 4.20294138e-03 9.99421009e-01 1.46737412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:4.89, Y:0.36, Z:0.15 [[ 9.99405603e-01 -6.20388413e-03 -3.39109470e-02 4.89112444e+00] [ 6.05676855e-03 9.99971804e-01 -4.43929742e-03 3.59273414e-01] [ 3.39375317e-02 4.23126796e-03 9.99414999e-01 1.47341754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.92, Y:0.36, Z:0.15 [[ 0.99945199 -0.00718464 -0.03231248 4.9181448 ] [ 0.00697242 0.99995341 -0.00667568 0.35725158] [ 0.03235894 0.00644673 0.99945552 0.14829324] [ 0. 0. 0. 1. ]] SLAMing on 6.784391417999999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:4.95, Y:0.35, Z:0.15 [[ 9.99369753e-01 -6.17334611e-03 -3.49569388e-02 4.94796038e+00] [ 6.09339370e-03 9.99978571e-01 -2.39324353e-03 3.52619032e-01] [ 3.49709640e-02 2.17872881e-03 9.99385954e-01 1.49066939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.98, Y:0.35, Z:0.15 [[ 9.99307649e-01 -7.02422235e-03 -3.65360452e-02 4.97625761e+00] [ 6.85288077e-03 9.99964937e-01 -4.81277855e-03 3.46200500e-01] [ 3.65685702e-02 4.55906926e-03 9.99320747e-01 1.49914921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:0.34, Z:0.15 [[ 9.99275673e-01 -7.67641495e-03 -3.72719890e-02 5.00436507e+00] [ 7.49827506e-03 9.99959799e-01 -4.91689613e-03 3.44408997e-01] [ 3.73082348e-02 4.63385907e-03 9.99293062e-01 1.51148591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.03, Y:0.34, Z:0.15 [[ 9.99274186e-01 -8.43022029e-03 -3.71487784e-02 5.03271180e+00] [ 8.25328246e-03 9.99953868e-01 -4.91373553e-03 3.42689779e-01] [ 3.71884885e-02 4.60356972e-03 9.99297665e-01 1.51621921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9043914179999994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.06, Y:0.35, Z:0.15 [[ 9.99272358e-01 -8.65129993e-03 -3.71471408e-02 5.06090843e+00] [ 8.47406037e-03 9.99951961e-01 -4.92608694e-03 3.46595139e-01] [ 3.71879733e-02 4.60771540e-03 9.99297665e-01 1.52507671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.09, Y:0.34, Z:0.16 [[ 9.99347664e-01 -1.03280104e-02 -3.46060401e-02 5.08923122e+00] [ 1.01749377e-02 9.99937670e-01 -4.59649381e-03 3.39909576e-01] [ 3.46513557e-02 4.24138106e-03 9.99390461e-01 1.55078479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.12, Y:0.34, Z:0.16 [[ 9.99362992e-01 -1.15580571e-02 -3.37642176e-02 5.11778881e+00] [ 1.14127523e-02 9.99924778e-01 -4.49308072e-03 3.38129144e-01] [ 3.38136091e-02 4.10487593e-03 9.99419727e-01 1.56961643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994391417999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.15, Y:0.34, Z:0.16 [[ 9.99362472e-01 -1.25353469e-02 -3.34292567e-02 5.14609291e+00] [ 1.23930578e-02 9.99913255e-01 -4.46024550e-03 3.35946041e-01] [ 3.34822676e-02 4.04311126e-03 9.99431134e-01 1.58377547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0243914179999996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:5.17, Y:0.33, Z:0.16 [[ 9.99297899e-01 -1.41818746e-02 -3.46782999e-02 5.17413511e+00] [ 1.40292967e-02 9.99890822e-01 -4.63919824e-03 3.28261691e-01] [ 3.47403063e-02 4.14942889e-03 9.99387759e-01 1.58012093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.20, Y:0.33, Z:0.16 [[ 9.99268995e-01 -1.48673896e-02 -3.52198317e-02 5.20216693e+00] [ 1.47101048e-02 9.99880657e-01 -4.72073833e-03 3.27184336e-01] [ 3.52858136e-02 4.19920003e-03 9.99368440e-01 1.59032232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:5.23, Y:0.33, Z:0.16 [[ 9.99216655e-01 -1.51453894e-02 -3.65608117e-02 5.23064323e+00] [ 1.49755850e-02 9.99875785e-01 -4.91384497e-03 3.26069618e-01] [ 3.66306924e-02 4.36247619e-03 9.99319349e-01 1.58823275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114391417999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.26, Y:0.32, Z:0.16 [[ 9.99233881e-01 -1.48911315e-02 -3.61926018e-02 5.25807272e+00] [ 1.47241308e-02 9.99879703e-01 -4.87640380e-03 3.20260618e-01] [ 3.62608631e-02 4.33976329e-03 9.99332936e-01 1.62008833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:5.29, Y:0.32, Z:0.16 [[ 9.99186044e-01 -1.46703652e-02 -3.75769949e-02 5.28613224e+00] [ 1.44898095e-02 9.99882149e-01 -5.07280823e-03 3.18992592e-01] [ 3.76469863e-02 4.52419568e-03 9.99280859e-01 1.60999461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.31, Y:0.32, Z:0.16 [[ 9.99237506e-01 -1.40170344e-02 -3.64407590e-02 5.31408952e+00] [ 1.38463793e-02 9.99891974e-01 -4.93125389e-03 3.18117686e-01] [ 3.65059440e-02 4.42292127e-03 9.99323648e-01 1.63579233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204391417999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.34, Y:0.32, Z:0.16 [[ 9.99272033e-01 -1.31680968e-02 -3.58051042e-02 5.34235882e+00] [ 1.30023776e-02 9.99903668e-01 -4.85729344e-03 3.16892991e-01] [ 3.58656163e-02 4.38820600e-03 9.99346987e-01 1.64872646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2343914179999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.37, Y:0.31, Z:0.17 [[ 9.99312060e-01 -1.13987875e-02 -3.52912908e-02 5.37170193e+00] [ 1.12362824e-02 9.99925352e-01 -4.79960084e-03 3.10541790e-01] [ 3.53433660e-02 4.39975609e-03 9.99365543e-01 1.67054637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:5.40, Y:0.31, Z:0.17 [[ 9.99332126e-01 -1.12574415e-02 -3.47645282e-02 5.39969097e+00] [ 1.10992588e-02 9.99927168e-01 -4.73976475e-03 3.09522476e-01] [ 3.48153538e-02 4.35073869e-03 9.99384292e-01 1.68092224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:5.43, Y:0.31, Z:0.17 [[ 9.99294988e-01 -1.15695600e-02 -3.57165671e-02 5.42788035e+00] [ 1.14023404e-02 9.99923073e-01 -4.88200255e-03 3.08893321e-01] [ 3.57703022e-02 4.47130822e-03 9.99350035e-01 1.68214274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324391417999999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:5.46, Y:0.30, Z:0.17 [[ 9.99289489e-01 -1.22253097e-02 -3.56519262e-02 5.45591801e+00] [ 1.20587112e-02 9.99915362e-01 -4.88421494e-03 3.04257718e-01] [ 3.57086198e-02 4.45082837e-03 9.99352333e-01 1.68720896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:5.48, Y:0.30, Z:0.17 [[ 9.99262168e-01 -1.28903497e-02 -3.61795439e-02 5.48407838e+00] [ 1.27189795e-02 9.99906795e-01 -4.96283833e-03 3.03837957e-01] [ 3.62401445e-02 4.49900971e-03 9.99332983e-01 1.69048072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:0.30, Z:0.17 [[ 9.99291334e-01 -1.38130628e-02 -3.50147090e-02 5.51226354e+00] [ 1.36527444e-02 9.99895211e-01 -4.81358230e-03 2.98825637e-01] [ 3.50775302e-02 4.33212421e-03 9.99375205e-01 1.71908203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414391418 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:5.54, Y:0.30, Z:0.17 [[ 9.99204349e-01 -1.43088809e-02 -3.72280085e-02 5.54107159e+00] [ 1.41277229e-02 9.99887066e-01 -5.12470995e-03 2.98829741e-01] [ 3.72971330e-02 4.59468549e-03 9.99293657e-01 1.69955218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4443914179999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.57, Y:0.30, Z:0.17 [[ 9.99221475e-01 -1.46549823e-02 -3.66288861e-02 5.56795584e+00] [ 1.44794381e-02 9.99882399e-01 -5.05320763e-03 2.99416649e-01] [ 3.66986332e-02 4.51890789e-03 9.99316161e-01 1.73456565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.60, Y:0.30, Z:0.17 [[ 9.99126203e-01 -1.52963547e-02 -3.88954034e-02 5.59649609e+00] [ 1.50985809e-02 9.99871571e-01 -5.37344903e-03 3.00181513e-01] [ 3.89726023e-02 4.78148834e-03 9.99228839e-01 1.71975614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.62, Y:0.30, Z:0.17 [[ 9.99072598e-01 -1.67509028e-02 -3.96654809e-02 5.62446950e+00] [ 1.65458231e-02 9.99848020e-01 -5.49290000e-03 2.95994867e-01] [ 3.97514636e-02 4.83150785e-03 9.99197917e-01 1.74721748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534391417999999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.65, Y:0.30, Z:0.17 [[ 9.99015845e-01 -1.84020996e-02 -4.03572135e-02 5.65327445e+00] [ 1.81906895e-02 9.99818856e-01 -5.59947411e-03 2.95794891e-01] [ 4.04529451e-02 4.85983782e-03 9.99169626e-01 1.74392036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564391418 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:5.68, Y:0.29, Z:0.18 [[ 9.98986079e-01 -2.14915434e-02 -3.95591620e-02 5.68048023e+00] [ 2.12903370e-02 9.99758204e-01 -5.50053505e-03 2.93513017e-01] [ 3.96678117e-02 4.65273005e-03 9.99202090e-01 1.75652121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.71, Y:0.30, Z:0.18 [[ 9.98999450e-01 -2.35387095e-02 -3.80266855e-02 5.70882250e+00] [ 2.33540008e-02 9.99713239e-01 -5.29432178e-03 2.95278169e-01] [ 3.81404025e-02 4.40094930e-03 9.99262699e-01 1.77278786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:5.74, Y:0.30, Z:0.18 [[ 9.98963308e-01 -2.50091009e-02 -3.80375240e-02 5.73602358e+00] [ 2.48248774e-02 9.99677724e-01 -5.30790232e-03 2.96727935e-01] [ 3.81580113e-02 4.35812279e-03 9.99262214e-01 1.77545904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6543914179999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:0.30, Z:0.18 [[ 9.98980282e-01 -2.60721951e-02 -3.68596993e-02 5.76310894e+00] [ 2.58996412e-02 9.99651276e-01 -5.15121596e-03 2.98601226e-01] [ 3.69811489e-02 4.19131018e-03 9.99307174e-01 1.80213865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:5.79, Y:0.30, Z:0.18 [[ 9.98888535e-01 -2.74906045e-02 -3.82878700e-02 5.79164655e+00] [ 2.73051783e-02 9.99612787e-01 -5.35757811e-03 2.97323082e-01] [ 3.84203275e-02 4.30616624e-03 9.99252388e-01 1.77915495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.82, Y:0.30, Z:0.18 [[ 9.98891778e-01 -2.81219711e-02 -3.77408397e-02 5.81941904e+00] [ 2.79417904e-02 9.99595537e-01 -5.29326074e-03 2.98634988e-01] [ 3.78744318e-02 4.23284800e-03 9.99273541e-01 1.79999781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744391417999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.85, Y:0.30, Z:0.18 [[ 9.98857952e-01 -2.90432520e-02 -3.79378478e-02 5.84786617e+00] [ 2.88613612e-02 9.99569195e-01 -5.33345662e-03 2.98663551e-01] [ 3.80764050e-02 4.23242763e-03 9.99265867e-01 1.81117331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7743914179999996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.87, Y:0.30, Z:0.18 [[ 9.98856066e-01 -2.91426689e-02 -3.79112622e-02 5.87456931e+00] [ 2.89606562e-02 9.99566280e-01 -5.34147517e-03 3.00926402e-01] [ 3.80504842e-02 4.23742985e-03 9.99266834e-01 1.81831266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:5.90, Y:0.30, Z:0.18 [[ 9.98816804e-01 -2.94645383e-02 -3.86889276e-02 5.90185333e+00] [ 2.92749888e-02 9.99556501e-01 -5.45686063e-03 3.03448287e-01] [ 3.88325530e-02 4.31778617e-03 9.99236403e-01 1.81019339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.93, Y:0.30, Z:0.18 [[ 9.98872271e-01 -3.12387877e-02 -3.57536549e-02 5.93028756e+00] [ 3.10778504e-02 9.99504218e-01 -5.04835506e-03 3.04853175e-01] [ 3.58936333e-02 3.93151515e-03 9.99347883e-01 1.84646930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864391417999999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:5.96, Y:0.31, Z:0.18 [[ 9.98768690e-01 -3.30946853e-02 -3.69573385e-02 5.95791711e+00] [ 3.29235268e-02 9.99444187e-01 -5.23043702e-03 3.07797727e-01] [ 3.71098968e-02 4.00723080e-03 9.99303156e-01 1.83914282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.99, Y:0.31, Z:0.18 [[ 9.98701339e-01 -3.50586897e-02 -3.69665141e-02 5.98519171e+00] [ 3.48883191e-02 9.99377459e-01 -5.24402396e-03 3.11391305e-01] [ 3.71273495e-02 3.94751421e-03 9.99302745e-01 1.84484299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:0.32, Z:0.19 [[ 9.98651385e-01 -3.74013133e-02 -3.60076770e-02 6.01328605e+00] [ 3.72408598e-02 9.99293219e-01 -5.11675747e-03 3.15384899e-01] [ 3.61736009e-02 3.76890008e-03 9.99338414e-01 1.87153193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.954391417999999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:6.04, Y:0.32, Z:0.19 [[ 9.98473664e-01 -4.17008342e-02 -3.62130268e-02 6.04105241e+00] [ 4.15409297e-02 9.99123493e-01 -5.15722897e-03 3.18078582e-01] [ 3.63963466e-02 3.64503450e-03 9.99330786e-01 1.85990899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9843914179999995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:6.07, Y:0.32, Z:0.19 [[ 9.98384465e-01 -4.40945874e-02 -3.58347250e-02 6.06838249e+00] [ 4.39391130e-02 9.99021116e-01 -5.11504057e-03 3.22005479e-01] [ 3.60251925e-02 3.53223102e-03 9.99344640e-01 1.86974347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:6.10, Y:0.33, Z:0.19 [[ 9.98254061e-01 -4.66162626e-02 -3.62733288e-02 6.09615146e+00] [ 4.64581564e-02 9.98906755e-01 -5.18993744e-03 3.26167346e-01] [ 3.64756086e-02 3.49568414e-03 9.99328430e-01 1.87203075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:0.33, Z:0.19 [[ 9.98044867e-01 -5.00489464e-02 -3.74372259e-02 6.12358082e+00] [ 4.98824315e-02 9.98740664e-01 -5.36933904e-03 3.30102171e-01] [ 3.76588096e-02 3.49138141e-03 9.99284556e-01 1.89140277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074391418000001 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:6.15, Y:0.33, Z:0.19 [[ 9.97929821e-01 -5.10785412e-02 -3.90775553e-02 6.15006906e+00] [ 5.08974131e-02 9.98688093e-01 -5.61664105e-03 3.33765941e-01] [ 3.93131790e-02 3.61606712e-03 9.99220395e-01 1.88197490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.18, Y:0.34, Z:0.19 [[ 9.97909821e-01 -5.21499057e-02 -3.81625034e-02 6.17774403e+00] [ 5.19776796e-02 9.98633145e-01 -5.49197219e-03 3.38089435e-01] [ 3.83967467e-02 3.49689461e-03 9.99256454e-01 1.90372567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:6.21, Y:0.34, Z:0.19 [[ 9.97818209e-01 -5.35691994e-02 -3.85896596e-02 6.20560637e+00] [ 5.33936354e-02 9.98558027e-01 -5.56657999e-03 3.42399595e-01] [ 3.88322116e-02 3.49399266e-03 9.99239637e-01 1.89081759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164391418000001 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:6.23, Y:0.35, Z:0.19 [[ 9.97827030e-01 -5.37572177e-02 -3.80969791e-02 6.23207868e+00] [ 5.35857873e-02 9.98548061e-01 -5.50748612e-03 3.46661945e-01] [ 3.83377318e-02 3.45406190e-03 9.99258869e-01 1.90099589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.26, Y:0.35, Z:0.19 [[ 9.97917138e-01 -5.36604650e-02 -3.58041915e-02 6.25837008e+00] [ 5.35088087e-02 9.98553935e-01 -5.18127274e-03 3.51391704e-01] [ 3.60304458e-02 3.25464124e-03 9.99345393e-01 1.93187896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:6.29, Y:0.36, Z:0.19 [[ 9.97952639e-01 -5.36972894e-02 -3.47437943e-02 6.28572764e+00] [ 5.35543039e-02 9.98552251e-01 -5.03371520e-03 3.57318988e-01] [ 3.49637909e-02 3.16272965e-03 9.99383575e-01 1.92369222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.31, Y:0.36, Z:0.19 [[ 9.98035386e-01 -5.31309223e-02 -3.32035118e-02 6.31375524e+00] [ 5.29996617e-02 9.98582890e-01 -4.82154115e-03 3.61912552e-01] [ 3.34126317e-02 3.05229379e-03 9.99436981e-01 1.94724005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.34, Y:0.37, Z:0.20 [[ 9.98088002e-01 -5.27193326e-02 -3.22647214e-02 6.34026400e+00] [ 5.25948367e-02 9.98604893e-01 -4.69577825e-03 3.65805083e-01] [ 3.24672670e-02 2.98984218e-03 9.99468327e-01 1.95366222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.37, Y:0.37, Z:0.20 [[ 9.98158974e-01 -5.16128281e-02 -3.18555775e-02 6.36816780e+00] [ 5.14907547e-02 9.98662687e-01 -4.64115434e-03 3.69282550e-01] [ 3.20525197e-02 2.99234213e-03 9.99481707e-01 1.95469607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:6.40, Y:0.37, Z:0.20 [[ 9.98152910e-01 -5.13391259e-02 -3.24817287e-02 6.39501305e+00] [ 5.12116937e-02 9.98676555e-01 -4.74359840e-03 3.73691616e-01] [ 3.26822731e-02 3.07139220e-03 9.99461073e-01 1.95145953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:0.38, Z:0.20 [[ 9.98190314e-01 -5.05953482e-02 -3.24993505e-02 6.42202909e+00] [ 5.04671440e-02 9.98714409e-01 -4.75359941e-03 3.78730238e-01] [ 3.26980796e-02 3.10484749e-03 9.99460452e-01 1.96310196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:6.45, Y:0.38, Z:0.20 [[ 9.98190407e-01 -5.00184376e-02 -3.33776495e-02 6.44964103e+00] [ 4.98827044e-02 9.98743124e-01 -4.88751156e-03 3.84255067e-01] [ 3.35801637e-02 3.21369973e-03 9.99430860e-01 1.95988557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:6.48, Y:0.39, Z:0.20 [[ 9.98259938e-01 -4.83427370e-02 -3.37650184e-02 6.47649530e+00] [ 4.82025029e-02 9.98825291e-01 -4.95544861e-03 3.91684889e-01] [ 3.39649143e-02 3.31926742e-03 9.99417514e-01 1.95402034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.50, Y:0.40, Z:0.20 [[ 9.98330414e-01 -4.75658861e-02 -3.27699703e-02 6.50384467e+00] [ 4.74330322e-02 9.98862790e-01 -4.82011548e-03 3.97315567e-01] [ 3.29619770e-02 3.25768883e-03 9.99451297e-01 1.97914092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.53, Y:0.40, Z:0.20 [[ 9.98380579e-01 -4.66115598e-02 -3.26126101e-02 6.53164922e+00] [ 4.64791052e-02 9.98907690e-01 -4.80824961e-03 4.02458739e-01] [ 3.28011070e-02 3.28465809e-03 9.99456502e-01 1.98770309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.56, Y:0.41, Z:0.20 [[ 9.98410623e-01 -4.60090914e-02 -3.25483036e-02 6.55813184e+00] [ 4.58764844e-02 9.98935541e-01 -4.80968991e-03 4.07238798e-01] [ 3.27349467e-02 3.30884375e-03 9.99458591e-01 1.99377418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.59, Y:0.41, Z:0.20 [[ 9.98358290e-01 -4.67034461e-02 -3.31589051e-02 6.58545038e+00] [ 4.65660155e-02 9.98903171e-01 -4.90525304e-03 4.11505460e-01] [ 3.33516276e-02 3.35312195e-03 9.99438055e-01 2.00058622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.61, Y:0.42, Z:0.20 [[ 9.98318218e-01 -4.79333140e-02 -3.26057217e-02 6.61234133e+00] [ 4.78007464e-02 9.98845195e-01 -4.83364268e-03 4.16156547e-01] [ 3.27997610e-02 3.26693571e-03 9.99456604e-01 2.00572996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:6.64, Y:0.42, Z:0.20 [[ 9.98227468e-01 -5.07176980e-02 -3.11389933e-02 6.64013070e+00] [ 5.05980012e-02 9.98708413e-01 -4.62047795e-03 4.22264410e-01] [ 3.13331146e-02 3.03671719e-03 9.99504384e-01 1.99686535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644391418000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:6.67, Y:0.43, Z:0.20 [[ 9.98157533e-01 -5.23015787e-02 -3.07584717e-02 6.66805615e+00] [ 5.21853403e-02 9.98626959e-01 -4.57031556e-03 4.26922841e-01] [ 3.09552738e-02 2.95675359e-03 9.99516397e-01 2.00519795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.70, Y:0.43, Z:0.20 [[ 9.98106355e-01 -5.35203976e-02 -3.03194804e-02 6.69524162e+00] [ 5.34077036e-02 9.98562582e-01 -4.51518326e-03 4.30616141e-01] [ 3.05175530e-02 2.88733929e-03 9.99530061e-01 2.02309234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:6.72, Y:0.43, Z:0.20 [[ 9.97956980e-01 -5.51703459e-02 -3.22195305e-02 6.72322863e+00] [ 5.50437599e-02 9.98472389e-01 -4.80337908e-03 4.32259957e-01] [ 3.24353157e-02 3.02008157e-03 9.99469274e-01 2.01961809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:6.75, Y:0.44, Z:0.20 [[ 9.97929812e-01 -5.58716400e-02 -3.18504420e-02 6.75127133e+00] [ 5.57479596e-02 9.98433533e-01 -4.75874387e-03 4.36211673e-01] [ 3.20664282e-02 2.97329522e-03 9.99481317e-01 2.03163987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:6.78, Y:0.44, Z:0.20 [[ 9.97985561e-01 -5.48361988e-02 -3.19031558e-02 6.77936660e+00] [ 5.47112348e-02 9.98490789e-01 -4.77749208e-03 4.40627120e-01] [ 3.21169867e-02 3.02240707e-03 9.99479547e-01 2.03209039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.81, Y:0.45, Z:0.21 [[ 9.98111404e-01 -5.37121453e-02 -2.98099252e-02 6.80622190e+00] [ 5.36022535e-02 9.98552343e-01 -4.47394990e-03 4.45120656e-01] [ 3.00070762e-02 2.86762125e-03 9.99545573e-01 2.06080617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824391418000001 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:6.83, Y:0.45, Z:0.21 [[ 9.98194123e-01 -5.20817778e-02 -2.99329330e-02 6.83407857e+00] [ 5.19701187e-02 9.98638516e-01 -4.49679196e-03 4.50072937e-01] [ 3.01263807e-02 2.93305323e-03 9.99541794e-01 2.05769828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854391418 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:6.86, Y:0.45, Z:0.21 [[ 9.98183782e-01 -5.22804427e-02 -2.99314747e-02 6.86223379e+00] [ 5.21685844e-02 9.98628124e-01 -4.50647707e-03 4.54481196e-01] [ 3.01260131e-02 2.93680966e-03 9.99541794e-01 2.06654953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:6.89, Y:0.46, Z:0.21 [[ 9.98284415e-01 -5.05827164e-02 -2.94892346e-02 6.88983070e+00] [ 5.04732368e-02 9.98715519e-01 -4.44562955e-03 4.59357207e-01] [ 2.96762283e-02 2.94958558e-03 9.99555212e-01 2.07793952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:0.46, Z:0.21 [[ 9.98485513e-01 -4.71865945e-02 -2.82861260e-02 6.91744222e+00] [ 4.70842600e-02 9.98881780e-01 -4.27340134e-03 4.63950129e-01] [ 2.84561431e-02 2.93509802e-03 9.99590733e-01 2.10147532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.95, Y:0.47, Z:0.21 [[ 9.98517014e-01 -4.58121537e-02 -2.94111966e-02 6.94508816e+00] [ 4.57006171e-02 9.98945253e-01 -4.45373562e-03 4.68255060e-01] [ 2.95842104e-02 3.10302096e-03 9.99557475e-01 2.10828558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.97, Y:0.47, Z:0.21 [[ 9.98546447e-01 -4.45849623e-02 -3.02849004e-02 6.97248545e+00] [ 4.44658214e-02 9.99000332e-01 -4.59648886e-03 4.72630604e-01] [ 3.04595598e-02 3.24316465e-03 9.99530738e-01 2.11188838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.00, Y:0.48, Z:0.21 [[ 9.98575981e-01 -4.21352747e-02 -3.27204775e-02 7.00000170e+00] [ 4.19945058e-02 9.99105441e-01 -4.97784512e-03 4.77170404e-01] [ 3.29009500e-02 3.59667629e-03 9.99452146e-01 2.11003964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.03, Y:0.48, Z:0.21 [[ 9.98614216e-01 -4.10614997e-02 -3.29181022e-02 7.02682657e+00] [ 4.09180794e-02 9.99149899e-01 -5.01904637e-03 4.81265085e-01] [ 3.30962080e-02 3.66514554e-03 9.99445450e-01 2.11733046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.05, Y:0.49, Z:0.21 [[ 9.98669139e-01 -4.10367941e-02 -3.12399016e-02 7.05403252e+00] [ 4.09073997e-02 9.99151555e-01 -4.77014919e-03 4.85237977e-01] [ 3.14091479e-02 3.48585765e-03 9.99500532e-01 2.13422192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:0.49, Z:0.21 [[ 9.98642349e-01 -4.22423276e-02 -3.04802247e-02 7.08200764e+00] [ 4.21193919e-02 9.99101697e-01 -4.66442561e-03 4.89031605e-01] [ 3.06498804e-02 3.37428442e-03 9.99524486e-01 2.14831104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.11, Y:0.49, Z:0.22 [[ 9.98585147e-01 -4.43926235e-02 -2.92745348e-02 7.10999451e+00] [ 4.42798492e-02 9.99009078e-01 -4.48970864e-03 4.92161139e-01] [ 2.94448359e-02 3.18708438e-03 9.99561326e-01 2.15967710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154391418000001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:7.14, Y:0.49, Z:0.22 [[ 9.98458050e-01 -4.67268696e-02 -2.99686978e-02 7.13724011e+00] [ 4.66093986e-02 9.98902568e-01 -4.60683432e-03 4.94404161e-01] [ 3.01510722e-02 3.20290783e-03 9.99540221e-01 2.16037507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:7.17, Y:0.50, Z:0.22 [[ 9.98116642e-01 -5.39683071e-02 -2.91649000e-02 7.16528019e+00] [ 5.38599978e-02 9.98538415e-01 -4.48716478e-03 4.96179738e-01] [ 2.93644377e-02 2.90789239e-03 9.99564542e-01 2.16183097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.19, Y:0.50, Z:0.22 [[ 9.97901897e-01 -5.82861685e-02 -2.81873615e-02 7.19218228e+00] [ 5.81864334e-02 9.98296273e-01 -4.34636398e-03 4.99321071e-01] [ 2.83926708e-02 2.69712282e-03 9.99593208e-01 2.17185212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.22, Y:0.50, Z:0.22 [[ 9.97373662e-01 -6.54990190e-02 -3.09136976e-02 7.22001751e+00] [ 6.53823282e-02 9.97848877e-01 -4.77168675e-03 4.99702001e-01] [ 3.11597392e-02 2.73794516e-03 9.99510667e-01 2.16246077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.25, Y:0.50, Z:0.22 [[ 9.97093068e-01 -6.86217913e-02 -3.31128770e-02 7.24662274e+00] [ 6.84892473e-02 9.97638707e-01 -5.12191616e-03 5.01533517e-01] [ 3.33861629e-02 2.83915107e-03 9.99438494e-01 2.16052935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.27, Y:0.50, Z:0.22 [[ 9.96898831e-01 -7.14702276e-02 -3.29351908e-02 7.27496446e+00] [ 7.13404708e-02 9.97438986e-01 -5.09969163e-03 5.04159554e-01] [ 3.32153194e-02 2.73426461e-03 9.99444479e-01 2.16717260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334391418000001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:7.30, Y:0.51, Z:0.22 [[ 9.96680559e-01 -7.36408645e-02 -3.47114830e-02 7.30197359e+00] [ 7.34976290e-02 9.97280846e-01 -5.38627867e-03 5.06819866e-01] [ 3.50137473e-02 2.81718753e-03 9.99382860e-01 2.16643084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.33, Y:0.51, Z:0.22 [[ 9.96595627e-01 -7.53943603e-02 -3.33593597e-02 7.32892873e+00] [ 7.51430847e-02 9.97134592e-01 -8.72484058e-03 5.11096923e-01] [ 3.39215753e-02 6.18841277e-03 9.99405338e-01 2.18329785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.36, Y:0.51, Z:0.22 [[ 9.96435198e-01 -7.74144216e-02 -3.35246836e-02 7.35848007e+00] [ 7.73943971e-02 9.96998752e-01 -1.89652358e-03 5.12275004e-01] [ 3.35708860e-02 -7.04859828e-04 9.99436090e-01 2.19360530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:7.39, Y:0.52, Z:0.22 [[ 9.96364094e-01 -7.83424592e-02 -3.34820891e-02 7.38652780e+00] [ 7.82111651e-02 9.96923174e-01 -5.21521915e-03 5.17553877e-01] [ 3.37876437e-02 2.57758391e-03 9.99425711e-01 2.19337499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:7.41, Y:0.52, Z:0.22 [[ 9.96367860e-01 -7.86748788e-02 -3.25783932e-02 7.41438952e+00] [ 7.85503946e-02 9.96897173e-01 -5.08545023e-03 5.21446237e-01] [ 3.28774053e-02 2.50793352e-03 9.99456245e-01 2.20629779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484391418000001 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:7.44, Y:0.53, Z:0.22 [[ 9.96376110e-01 -7.87969002e-02 -3.20264952e-02 7.44156508e+00] [ 7.86763180e-02 9.96887625e-01 -5.00994778e-03 5.25427501e-01] [ 3.23215851e-02 2.47206556e-03 9.99474464e-01 2.21156000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.47, Y:0.53, Z:0.22 [[ 9.96390498e-01 -7.96221857e-02 -2.94326712e-02 7.46901703e+00] [ 7.95205973e-02 9.96822573e-01 -4.60795444e-03 5.28809220e-01] [ 2.97060465e-02 2.25081842e-03 9.99556144e-01 2.22052011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.50, Y:0.53, Z:0.22 [[ 9.96260965e-01 -8.11846601e-02 -2.95489364e-02 7.49570811e+00] [ 8.10826307e-02 9.96696597e-01 -4.63686811e-03 5.31915310e-01] [ 2.98277669e-02 2.22362521e-03 9.99552580e-01 2.22368572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.52, Y:0.54, Z:0.22 [[ 9.95910076e-01 -8.51435202e-02 -3.02274875e-02 7.52392834e+00] [ 8.50384203e-02 9.96366360e-01 -4.74798677e-03 5.35041266e-01] [ 3.05219120e-02 2.15807008e-03 9.99531768e-01 2.22588072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:7.55, Y:0.54, Z:0.22 [[ 9.95596727e-01 -8.82166237e-02 -3.17015004e-02 7.55100323e+00] [ 8.81021978e-02 9.96098937e-01 -4.99109933e-03 5.38914801e-01] [ 3.20181288e-02 2.17615029e-03 9.99484919e-01 2.22713137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:0.54, Z:0.22 [[ 9.95370632e-01 -9.11754864e-02 -3.04028950e-02 7.57843472e+00] [ 9.10714838e-02 9.95832833e-01 -4.79107315e-03 5.42241348e-01] [ 3.07130295e-02 2.00005675e-03 9.99526243e-01 2.23504474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.61, Y:0.55, Z:0.22 [[ 9.95024814e-01 -9.45419048e-02 -3.14236930e-02 7.60508500e+00] [ 9.44321141e-02 9.95518932e-01 -4.96311277e-03 5.45437934e-01] [ 3.17521034e-02 1.97101460e-03 9.99493831e-01 2.23879951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:7.63, Y:0.55, Z:0.22 [[ 9.94450310e-01 -1.00620390e-01 -3.07265067e-02 7.63334058e+00] [ 1.00518088e-01 9.94923361e-01 -4.86007221e-03 5.47866265e-01] [ 3.10595417e-02 1.74453062e-03 9.99516014e-01 2.24594253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.66, Y:0.55, Z:0.23 [[ 9.94233773e-01 -1.03378817e-01 -2.84960385e-02 7.66061356e+00] [ 1.03291699e-01 9.94640853e-01 -4.51636010e-03 5.52195041e-01] [ 2.88102200e-02 1.54691351e-03 9.99583702e-01 2.25832491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754391418 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:7.69, Y:0.56, Z:0.22 [[ 9.93776332e-01 -1.07288007e-01 -2.99647453e-02 7.68866445e+00] [ 1.07193117e-01 9.94226824e-01 -4.75998198e-03 5.57494712e-01] [ 3.03024426e-02 1.51834298e-03 9.99539622e-01 2.24512850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:7.72, Y:0.56, Z:0.23 [[ 9.93652490e-01 -1.08730905e-01 -2.88499505e-02 7.71550458e+00] [ 1.08643266e-01 9.94070193e-01 -4.59270971e-03 5.62697070e-01] [ 2.91782453e-02 1.42920458e-03 9.99573203e-01 2.25074758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814391418000001 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:7.74, Y:0.57, Z:0.23 [[ 9.93579481e-01 -1.09365152e-01 -2.89668560e-02 7.74300802e+00] [ 1.09276954e-01 9.94000627e-01 -4.61528991e-03 5.67716116e-01] [ 2.92978249e-02 1.42024757e-03 9.99569718e-01 2.25047175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.77, Y:0.57, Z:0.23 [[ 9.93614039e-01 -1.09462550e-01 -2.73695506e-02 7.76968718e+00] [ 1.09383596e-01 9.93990006e-01 -4.36998498e-03 5.72906681e-01] [ 2.76834095e-02 1.34829856e-03 9.99615832e-01 2.25101464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.80, Y:0.58, Z:0.23 [[ 9.93646649e-01 -1.08958230e-01 -2.81858376e-02 7.79751687e+00] [ 1.08874185e-01 9.94045334e-01 -4.50407767e-03 5.78097062e-01] [ 2.85087567e-02 1.40675159e-03 9.99592553e-01 2.25351001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904391418000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.83, Y:0.58, Z:0.22 [[ 9.93647962e-01 -1.08610441e-01 -2.94533383e-02 7.82502867e+00] [ 1.08518208e-01 9.94083271e-01 -4.71679700e-03 5.83763884e-01] [ 2.97913643e-02 1.49061222e-03 9.99555027e-01 2.24991923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:7.85, Y:0.59, Z:0.22 [[ 9.93746635e-01 -1.07257778e-01 -3.10386054e-02 7.85198513e+00] [ 1.07154353e-01 9.94229918e-01 -4.98137329e-03 5.91229850e-01] [ 3.13938012e-02 1.62430127e-03 9.99505773e-01 2.23719169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.88, Y:0.60, Z:0.23 [[ 9.93898786e-01 -1.06594097e-01 -2.83355282e-02 7.87879514e+00] [ 1.06507386e-01 9.94301472e-01 -4.55632358e-03 5.97049015e-01] [ 2.86597346e-02 1.51058144e-03 9.99588084e-01 2.25206420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.91, Y:0.61, Z:0.23 [[ 0.99416296 -0.10419367 -0.0279943 7.9052624 ] [ 0.10365672 0.99441211 -0.01999611 0.61070545] [ 0.02992134 0.01697759 0.99940806 0.22547866] [ 0. 0. 0. 1. ]] SLAMing on 10.024391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:7.94, Y:0.60, Z:0.23 [[ 0.9942729 -0.10295052 -0.02868089 7.93711036] [ 0.10327942 0.99459979 0.01022867 0.60226498] [ 0.02747296 -0.01313223 0.99953628 0.22797614] [ 0. 0. 0. 1. ]] SLAMing on 10.054391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:7.96, Y:0.62, Z:0.23 [[ 9.94401520e-01 -1.02577691e-01 -2.53660180e-02 7.96265913e+00] [ 1.02506633e-01 9.94723915e-01 -4.08935036e-03 6.15290234e-01] [ 2.56516608e-02 1.46627112e-03 9.99669867e-01 2.26473810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084391418000001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:7.99, Y:0.62, Z:0.23 [[ 9.94490666e-01 -1.01861806e-01 -2.47484909e-02 7.99022231e+00] [ 1.01793889e-01 9.94797501e-01 -3.99208504e-03 6.21116425e-01] [ 2.50263779e-02 1.45084618e-03 9.99685738e-01 2.26986406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:8.02, Y:0.63, Z:0.23 [[ 9.94670374e-01 -1.00156651e-01 -2.44845262e-02 8.01797880e+00] [ 1.00089448e-01 9.94970570e-01 -3.95805427e-03 6.27638589e-01] [ 2.47578085e-02 1.48631660e-03 9.99692374e-01 2.26687188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.04, Y:0.63, Z:0.24 [[ 9.94549634e-01 -9.95557392e-02 -3.09787116e-02 8.04442140e+00] [ 9.97340974e-02 9.95004995e-01 4.26267968e-03 6.29612675e-01] [ 3.03995985e-02 -7.32908035e-03 9.99510955e-01 2.35217845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:0.65, Z:0.23 [[ 0.99491099 -0.09800612 -0.02338625 8.0692072 ] [ 0.09730078 0.99481466 -0.0296033 0.65125118] [ 0.02616628 0.02717715 0.99928811 0.22857652] [ 0. 0. 0. 1. ]] SLAMing on 10.204391418 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:8.10, Y:0.64, Z:0.23 [[ 0.99482766 -0.09791651 -0.02702376 8.10186943] [ 0.09826141 0.99509137 0.01174148 0.63935272] [ 0.02574142 -0.01433615 0.99956583 0.23178087] [ 0. 0. 0. 1. ]] SLAMing on 10.234391418000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.13, Y:0.64, Z:0.24 [[ 0.99474988 -0.09813637 -0.02901608 8.12876104] [ 0.09862017 0.9950007 0.01573736 0.64411916] [ 0.02732661 -0.01851631 0.99945505 0.23852786] [ 0. 0. 0. 1. ]] SLAMing on 10.264391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:8.15, Y:0.67, Z:0.23 [[ 0.9948544 -0.09956292 -0.01876007 8.15455145] [ 0.09911312 0.99479744 -0.02355082 0.66948554] [ 0.02100726 0.02157026 0.99954661 0.22979551] [ 0. 0. 0. 1. ]] SLAMing on 10.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.18, Y:0.66, Z:0.24 [[ 9.94559626e-01 -1.01725014e-01 -2.24314993e-02 8.18164850e+00] [ 1.01848055e-01 9.94790193e-01 4.40972985e-03 6.64833547e-01] [ 2.18660557e-02 -6.67034385e-03 9.99738657e-01 2.35899708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324391418000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.21, Y:0.68, Z:0.23 [[ 0.99454996 -0.10260909 -0.01848672 8.21058222] [ 0.10241427 0.99467882 -0.01119655 0.67663706] [ 0.01953722 0.00924222 0.99976641 0.23238538] [ 0. 0. 0. 1. ]] SLAMing on 10.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.24, Y:0.68, Z:0.23 [[ 9.94415150e-01 -1.03784227e-01 -1.91662060e-02 8.23772189e+00] [ 1.03742914e-01 9.94599190e-01 -3.14003805e-03 6.78273899e-01] [ 1.93885794e-02 1.13414335e-03 9.99811381e-01 2.34063688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:0.69, Z:0.23 [[ 0.99435041 -0.10417068 -0.02038942 8.26133542] [ 0.10377283 0.99440616 -0.01968734 0.69060115] [ 0.02232621 0.01746025 0.99959826 0.23395812] [ 0. 0. 0. 1. ]] SLAMing on 10.414391418000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.29, Y:0.69, Z:0.24 [[ 9.93845631e-01 -1.07900764e-01 -2.50656596e-02 8.29358572e+00] [ 1.08102121e-01 9.94116414e-01 6.81808826e-03 6.86336591e-01] [ 2.41825067e-02 -9.48577820e-03 9.99662556e-01 2.36259045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.32, Y:0.70, Z:0.24 [[ 9.93748638e-01 -1.09315006e-01 -2.26688026e-02 8.31996868e+00] [ 1.09367206e-01 9.94000837e-01 1.07213334e-03 6.95502910e-01] [ 2.24156085e-02 -3.54465464e-03 9.99742455e-01 2.35025455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.34, Y:0.72, Z:0.24 [[ 0.9937013 -0.10931936 -0.02463753 8.34217191] [ 0.10850612 0.99357312 -0.03223165 0.71585448] [ 0.02800273 0.02935531 0.99917672 0.23682834] [ 0. 0. 0. 1. ]] SLAMing on 10.504391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:8.38, Y:0.70, Z:0.24 [[ 0.99329839 -0.11103592 -0.03208333 8.3773117 ] [ 0.11177578 0.99348403 0.02226355 0.6971939 ] [ 0.02940223 -0.02570048 0.99923721 0.24275855] [ 0. 0. 0. 1. ]] SLAMing on 10.534391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:8.40, Y:0.72, Z:0.24 [[ 9.93262859e-01 -1.13545243e-01 -2.31596774e-02 8.40239414e+00] [ 1.13486933e-01 9.93532141e-01 -3.82099933e-03 7.15881332e-01] [ 2.34437402e-02 1.16693595e-03 9.99724477e-01 2.37042842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.43, Y:0.72, Z:0.24 [[ 9.93014067e-01 -1.15497246e-01 -2.41546972e-02 8.42878145e+00] [ 1.15567975e-01 9.93298367e-01 1.54831744e-03 7.20910370e-01] [ 2.38139949e-02 -4.32901044e-03 9.99707034e-01 2.39931469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.46, Y:0.73, Z:0.24 [[ 9.93035316e-01 -1.15246984e-01 -2.44743680e-02 8.45727440e+00] [ 1.15294904e-01 9.93331154e-01 5.51288429e-04 7.26714172e-01] [ 2.42476179e-02 -3.36921879e-03 9.99700306e-01 2.41394223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:0.74, Z:0.24 [[ 9.93089358e-01 -1.15286108e-01 -2.19690571e-02 8.48400757e+00] [ 1.15184294e-01 9.93326919e-01 -5.84902923e-03 7.36749470e-01] [ 2.24967676e-02 3.27811835e-03 9.99741541e-01 2.41473350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.51, Y:0.75, Z:0.24 [[ 0.99307289 -0.11569684 -0.0205056 8.51069248] [ 0.11533418 0.9931624 -0.01806847 0.74930091] [ 0.02245585 0.01557831 0.99962646 0.24081637] [ 0. 0. 0. 1. ]] SLAMing on 10.684391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:8.54, Y:0.74, Z:0.24 [[ 9.93085225e-01 -1.14105818e-01 -2.75970594e-02 8.53832043e+00] [ 1.14252201e-01 9.93444580e-01 3.78179111e-03 7.44290985e-01] [ 2.69846247e-02 -6.90866565e-03 9.99611975e-01 2.44714731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:8.57, Y:0.75, Z:0.24 [[ 9.93079814e-01 -1.14481568e-01 -2.62002462e-02 8.56573838e+00] [ 1.14403584e-01 9.93424339e-01 -4.46125639e-03 7.53129094e-01] [ 2.65386939e-02 1.43298160e-03 9.99646760e-01 2.44886781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.59, Y:0.75, Z:0.25 [[ 9.93114355e-01 -1.14410161e-01 -2.51831815e-02 8.59440747e+00] [ 1.14611064e-01 9.93387984e-01 6.67959439e-03 7.53588450e-01] [ 2.42524564e-02 -9.51987230e-03 9.99660538e-01 2.47153535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.62, Y:0.78, Z:0.24 [[ 0.99299718 -0.11610717 -0.02181099 8.61949654] [ 0.1154301 0.99285966 -0.03009308 0.77823919] [ 0.02514928 0.0273647 0.9993091 0.24336439] [ 0. 0. 0. 1. ]] SLAMing on 10.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.65, Y:0.76, Z:0.25 [[ 0.9928326 -0.11558924 -0.03037369 8.65241177] [ 0.1162713 0.99297965 0.02173483 0.75971991] [ 0.02764815 -0.02511063 0.99930227 0.25022102] [ 0. 0. 0. 1. ]] SLAMing on 10.834391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.68, Y:0.79, Z:0.24 [[ 0.99274106 -0.11832689 -0.02153921 8.67664252] [ 0.11796497 0.99286589 -0.01736627 0.78537368] [ 0.02344044 0.01469934 0.99961716 0.24352142] [ 0. 0. 0. 1. ]] SLAMing on 10.864391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:8.71, Y:0.78, Z:0.25 [[ 9.92549288e-01 -1.19118705e-01 -2.56250784e-02 8.70530240e+00] [ 1.19047917e-01 9.92879303e-01 -4.27594026e-03 7.83512271e-01] [ 2.59519544e-02 1.19346925e-03 9.99662479e-01 2.45255785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.73, Y:0.79, Z:0.25 [[ 9.92375378e-01 -1.19896040e-01 -2.85665754e-02 8.73286550e+00] [ 1.20074793e-01 9.92754097e-01 4.62018902e-03 7.85064796e-01] [ 2.78056424e-02 -8.01508745e-03 9.99581215e-01 2.50585610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:0.80, Z:0.25 [[ 9.92168231e-01 -1.22646436e-01 -2.36654268e-02 8.75827536e+00] [ 1.22437249e-01 9.92424862e-01 -1.01001236e-02 7.99062017e-01] [ 2.47249021e-02 7.12349206e-03 9.99668913e-01 2.48120071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:8.79, Y:0.80, Z:0.25 [[ 9.92039416e-01 -1.23455441e-01 -2.48304577e-02 8.78640722e+00] [ 1.23322668e-01 9.92343223e-01 -6.81516419e-03 8.01583633e-01] [ 2.54817055e-02 3.69875323e-03 9.99668446e-01 2.48175727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984391418000001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:8.81, Y:0.81, Z:0.25 [[ 9.91559964e-01 -1.27021182e-01 -2.59703309e-02 8.81312832e+00] [ 1.26964211e-01 9.91899875e-01 -3.83770394e-03 8.07474022e-01] [ 2.62474377e-02 5.08011019e-04 9.99655348e-01 2.48744571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:8.84, Y:0.81, Z:0.25 [[ 9.91395358e-01 -1.28427675e-01 -2.53293632e-02 8.84077833e+00] [ 1.28311145e-01 9.91714705e-01 -6.18019575e-03 8.14539857e-01] [ 2.59132101e-02 2.87697779e-03 9.99660056e-01 2.48681173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:8.87, Y:0.82, Z:0.25 [[ 9.90948505e-01 -1.31581560e-01 -2.65960986e-02 8.86754306e+00] [ 1.31504248e-01 9.91304734e-01 -4.64300419e-03 8.19853805e-01] [ 2.69757721e-02 1.10347813e-03 9.99635479e-01 2.48847825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.89, Y:0.83, Z:0.25 [[ 9.90830290e-01 -1.32467692e-01 -2.66016229e-02 8.89350575e+00] [ 1.32229366e-01 9.91163164e-01 -1.05345393e-02 8.27777065e-01] [ 2.77620348e-02 6.92042488e-03 9.99590605e-01 2.50156686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.92, Y:0.83, Z:0.25 [[ 9.90604530e-01 -1.33947484e-01 -2.75814496e-02 8.92283155e+00] [ 1.33948500e-01 9.90986625e-01 -1.81913947e-03 8.29014160e-01] [ 2.75765168e-02 -1.89244598e-03 9.99617904e-01 2.51113432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:8.95, Y:0.85, Z:0.25 [[ 0.99039581 -0.13652552 -0.02183855 8.94747711] [ 0.13597533 0.99039767 -0.02496322 0.84646072] [ 0.02503696 0.02175397 0.99944981 0.24502557] [ 0. 0. 0. 1. ]] SLAMing on 11.164391418000001 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:8.98, Y:0.83, Z:0.25 [[ 0.99026807 -0.13542755 -0.03207061 8.98032056] [ 0.13595473 0.99060358 0.01486157 0.83184683] [ 0.02975659 -0.01907709 0.99937511 0.25440166] [ 0. 0. 0. 1. ]] SLAMing on 11.194391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:9.01, Y:0.84, Z:0.26 [[ 9.90481300e-01 -1.33710457e-01 -3.26849782e-02 9.00666041e+00] [ 1.33744794e-01 9.91015148e-01 -1.14338190e-03 8.43956831e-01] [ 3.25441906e-02 -3.23894726e-03 9.99465049e-01 2.56854448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:9.03, Y:0.87, Z:0.25 [[ 0.99032411 -0.13718219 -0.02095721 9.03022205] [ 0.13647435 0.99012246 -0.03212902 0.86810387] [ 0.02515774 0.02895802 0.99926399 0.24888544] [ 0. 0. 0. 1. ]] SLAMing on 11.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:0.85, Z:0.26 [[ 0.99061046 -0.1328453 -0.03229627 9.06162317] [ 0.13330555 0.99099575 0.01253247 0.85302845] [ 0.03034059 -0.01672006 0.99939976 0.25784048] [ 0. 0. 0. 1. ]] SLAMing on 11.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.09, Y:0.86, Z:0.26 [[ 9.90836613e-01 -1.31551576e-01 -3.06102628e-02 9.08790034e+00] [ 1.31804920e-01 9.91254998e-01 6.40253336e-03 8.61524459e-01] [ 2.95003126e-02 -1.03784477e-02 9.99510890e-01 2.60149539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:9.11, Y:0.88, Z:0.26 [[ 0.99091532 -0.13183372 -0.02658372 9.11231362] [ 0.13150861 0.99122124 -0.0136356 0.87824169] [ 0.02814798 0.01001574 0.99955359 0.25653048] [ 0. 0. 0. 1. ]] SLAMing on 11.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.14, Y:0.88, Z:0.26 [[ 9.91282785e-01 -1.28979048e-01 -2.68857785e-02 9.13975146e+00] [ 1.28879362e-01 9.91645493e-01 -5.41543889e-03 8.82865041e-01] [ 2.73596392e-02 1.90320936e-03 9.99623843e-01 2.59177941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:9.17, Y:0.88, Z:0.26 [[ 9.91275801e-01 -1.28003507e-01 -3.14227322e-02 9.16838983e+00] [ 1.28208749e-01 9.91736546e-01 4.59775148e-03 8.82351399e-01] [ 3.05745436e-02 -8.58630896e-03 9.99495609e-01 2.61998189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404391418000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:9.19, Y:0.89, Z:0.26 [[ 9.91319581e-01 -1.28030914e-01 -2.98926943e-02 9.19485017e+00] [ 1.27935498e-01 9.91769424e-01 -5.09094524e-03 8.93012383e-01] [ 3.02984586e-02 1.22241697e-03 9.99540149e-01 2.62230345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:9.22, Y:0.90, Z:0.26 [[ 9.91269851e-01 -1.28230970e-01 -3.06741232e-02 9.22089192e+00] [ 1.28130221e-01 9.91743531e-01 -5.23598659e-03 8.99375218e-01] [ 3.10922788e-02 1.25999346e-03 9.99515724e-01 2.63567953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.25, Y:0.90, Z:0.27 [[ 9.91395881e-01 -1.26819210e-01 -3.24206010e-02 9.24694275e+00] [ 1.26705618e-01 9.91924878e-01 -5.54280877e-03 9.04428282e-01] [ 3.28617354e-02 1.38724549e-03 9.99458945e-01 2.65979074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494391418000001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:9.27, Y:0.91, Z:0.26 [[ 9.90999436e-01 -1.30191200e-01 -3.11507486e-02 9.27331443e+00] [ 1.30044470e-01 9.91485528e-01 -6.69948806e-03 9.11985058e-01] [ 3.17577308e-02 2.58820628e-03 9.99492245e-01 2.64865960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.30, Y:0.91, Z:0.27 [[ 0.99079825 -0.13055026 -0.03571363 9.3023241 ] [ 0.13100066 0.99132597 0.01056636 0.91006233] [ 0.0340244 -0.01514764 0.9993062 0.27141571] [ 0. 0. 0. 1. ]] SLAMing on 11.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:0.92, Z:0.27 [[ 9.90811799e-01 -1.31104468e-01 -3.32204340e-02 9.32912245e+00] [ 1.31075387e-01 9.91367678e-01 -3.06113897e-03 9.22357777e-01] [ 3.33349935e-02 -1.32136864e-03 9.99443361e-01 2.72040893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584391418000001 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:9.36, Y:0.94, Z:0.27 [[ 0.99071449 -0.13280243 -0.0291259 9.35651581] [ 0.13215971 0.9909618 -0.02298956 0.9377942 ] [ 0.03191573 0.01892682 0.99931134 0.26720895] [ 0. 0. 0. 1. ]] SLAMing on 11.614391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:9.38, Y:0.94, Z:0.27 [[ 9.90722191e-01 -1.31667374e-01 -3.36636806e-02 9.38385374e+00] [ 1.31546690e-01 9.91293098e-01 -5.78468328e-03 9.35718273e-01] [ 3.41322283e-02 1.30266832e-03 9.99416477e-01 2.71228152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:9.41, Y:0.94, Z:0.27 [[ 9.90704032e-01 -1.32364504e-01 -3.13872496e-02 9.41034195e+00] [ 1.32259720e-01 9.91200383e-01 -5.40058146e-03 9.40982575e-01] [ 3.18258991e-02 1.19910898e-03 9.99492708e-01 2.68708295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.44, Y:0.94, Z:0.28 [[ 9.90929057e-01 -1.29147097e-01 -3.71568432e-02 9.43876892e+00] [ 1.29574835e-01 9.91525718e-01 9.33341498e-03 9.38589409e-01] [ 3.56365822e-02 -1.40633439e-02 9.99265859e-01 2.76480828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:9.46, Y:0.96, Z:0.27 [[ 0.99077691 -0.13221046 -0.02969015 9.46422131] [ 0.13161025 0.99107176 -0.02134255 0.95918413] [ 0.03224678 0.01723818 0.99933127 0.2709887 ] [ 0. 0. 0. 1. ]] SLAMing on 11.734391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:9.49, Y:0.95, Z:0.28 [[ 0.99024011 -0.13435155 -0.03707004 9.49434628] [ 0.13485119 0.99080128 0.01131263 0.94805391] [ 0.03520917 -0.01620116 0.99924864 0.27895013] [ 0. 0. 0. 1. ]] SLAMing on 11.764391418 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:9.52, Y:0.96, Z:0.28 [[ 9.89913502e-01 -1.37794296e-01 -3.29240164e-02 9.52012555e+00] [ 1.37488181e-01 9.90437823e-01 -1.13982177e-02 9.64687306e-01] [ 3.41798005e-02 6.75658646e-03 9.99392861e-01 2.76999488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:0.97, Z:0.28 [[ 9.89554016e-01 -1.40701999e-01 -3.13973901e-02 9.54756984e+00] [ 1.40417138e-01 9.90030083e-01 -1.11113926e-02 9.71647298e-01] [ 3.26477558e-02 6.58659154e-03 9.99445217e-01 2.78839313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.57, Y:0.98, Z:0.28 [[ 9.88985917e-01 -1.43928681e-01 -3.45165232e-02 9.57472886e+00] [ 1.43889807e-01 9.89587093e-01 -3.62063004e-03 9.75896855e-01] [ 3.46782184e-02 -1.38582376e-03 9.99397569e-01 2.80408551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.60, Y:0.99, Z:0.28 [[ 9.88750052e-01 -1.45925168e-01 -3.28508656e-02 9.60177668e+00] [ 1.45636225e-01 9.89276655e-01 -1.10358474e-02 9.86402050e-01] [ 3.41090023e-02 6.12741867e-03 9.99399335e-01 2.79251299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.63, Y:0.99, Z:0.28 [[ 9.88475329e-01 -1.47442287e-01 -3.43117465e-02 9.62828854e+00] [ 1.47289858e-01 9.89069007e-01 -6.94237943e-03 9.89630583e-01] [ 3.49602854e-02 1.80859851e-03 9.99387066e-01 2.79475933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.66, Y:0.99, Z:0.28 [[ 9.88408347e-01 -1.47948593e-01 -3.40610261e-02 9.65551799e+00] [ 1.47845632e-01 9.88994956e-01 -5.53581146e-03 9.94518843e-01] [ 3.45051985e-02 4.35868335e-04 9.99404423e-01 2.81279890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.68, Y:1.00, Z:0.28 [[ 9.88115511e-01 -1.50056960e-01 -3.33263400e-02 9.68371668e+00] [ 1.49830634e-01 9.88668855e-01 -9.20200383e-03 1.00369480e+00] [ 3.43295391e-02 4.09933608e-03 9.99402160e-01 2.81205360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:9.71, Y:1.01, Z:0.28 [[ 9.87962394e-01 -1.50814214e-01 -3.44293563e-02 9.71198908e+00] [ 1.50749757e-01 9.88561825e-01 -4.47535241e-03 1.00814234e+00] [ 3.47104941e-02 -7.68737213e-04 9.99397114e-01 2.81683943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:9.74, Y:1.01, Z:0.28 [[ 9.87879845e-01 -1.51051612e-01 -3.57326506e-02 9.73962863e+00] [ 1.51070204e-01 9.88520600e-01 -2.19465228e-03 1.01383619e+00] [ 3.56539670e-02 -3.23008605e-03 9.99358975e-01 2.83887061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.77, Y:1.03, Z:0.29 [[ 9.87821374e-01 -1.51368807e-01 -3.60057967e-02 9.76534310e+00] [ 1.51250510e-01 9.88477238e-01 -6.00274093e-03 1.02668299e+00] [ 3.64995382e-02 4.83740684e-04 9.99333553e-01 2.86987473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.79, Y:1.03, Z:0.29 [[ 9.87728045e-01 -1.51658578e-01 -3.73226990e-02 9.79264314e+00] [ 1.51512508e-01 9.88432443e-01 -6.72795628e-03 1.03379624e+00] [ 3.79113189e-02 9.90535369e-04 9.99280617e-01 2.87281427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.82, Y:1.04, Z:0.29 [[ 9.87815219e-01 -1.51109814e-01 -3.72413376e-02 9.81839233e+00] [ 1.50824773e-01 9.88506181e-01 -1.03642617e-02 1.04197828e+00] [ 3.83794341e-02 4.62105921e-03 9.99252553e-01 2.87484626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:9.85, Y:1.04, Z:0.29 [[ 9.87859129e-01 -1.49760222e-01 -4.13063932e-02 9.84734795e+00] [ 1.49850891e-01 9.88708189e-01 -9.09972663e-04 1.04220442e+00] [ 4.09762470e-02 -5.29087501e-03 9.99146112e-01 2.88488141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:9.87, Y:1.05, Z:0.29 [[ 9.88512050e-01 -1.45474021e-01 -4.10028759e-02 9.87445983e+00] [ 1.45397977e-01 9.89361379e-01 -4.84663000e-03 1.05195927e+00] [ 4.12717206e-02 -1.17078306e-03 9.99147274e-01 2.91707009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:9.90, Y:1.06, Z:0.29 [[ 9.88725725e-01 -1.43560290e-01 -4.25662188e-02 9.90251281e+00] [ 1.43705802e-01 9.89620387e-01 3.62567238e-04 1.05680112e+00] [ 4.20723477e-02 -6.47549216e-03 9.99093582e-01 2.93471624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.93, Y:1.07, Z:0.30 [[ 9.89098642e-01 -1.41929284e-01 -3.92422663e-02 9.92943846e+00] [ 1.41687172e-01 9.89871496e-01 -8.89761548e-03 1.06968289e+00] [ 4.01076330e-02 3.24049363e-03 9.99190111e-01 2.95678070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:1.08, Z:0.30 [[ 9.89517618e-01 -1.38553137e-01 -4.07174576e-02 9.95800162e+00] [ 1.38557281e-01 9.90350648e-01 -2.73392360e-03 1.07505621e+00] [ 4.07033542e-02 -2.93643466e-03 9.99166960e-01 2.98298323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:9.98, Y:1.08, Z:0.30 [[ 9.89544264e-01 -1.38686812e-01 -3.95994776e-02 9.98432017e+00] [ 1.38519102e-01 9.90335296e-01 -6.96125836e-03 1.08307473e+00] [ 4.01821951e-02 1.40318920e-03 9.99191384e-01 2.98140034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.01, Y:1.09, Z:0.30 [[ 9.89694461e-01 -1.38157324e-01 -3.76487339e-02 1.00118438e+01] [ 1.37988868e-01 9.90408693e-01 -7.04927990e-03 1.08969010e+00] [ 3.82615430e-02 1.78152710e-03 9.99266171e-01 2.99842528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:1.11, Z:0.30 [[ 0.98979462 -0.13937374 -0.02969123 10.03772608] [ 0.13865115 0.99002177 -0.02515453 1.10637116] [ 0.03290084 0.0207811 0.99924255 0.29593177] [ 0. 0. 0. 1. ]] SLAMing on 12.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.07, Y:1.11, Z:0.30 [[ 9.89523150e-01 -1.40594052e-01 -3.28214655e-02 1.00651547e+01] [ 1.40477928e-01 9.90066651e-01 -5.82914179e-03 1.10502345e+00] [ 3.33149811e-02 1.15737928e-03 9.99444232e-01 2.96795740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:10.09, Y:1.10, Z:0.30 [[ 0.98897757 -0.14228023 -0.0409841 10.0938092 ] [ 0.14296289 0.98962586 0.01422244 1.10082837] [ 0.03853535 -0.01992488 0.99905857 0.30230769] [ 0. 0. 0. 1. ]] SLAMing on 12.424391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:10.12, Y:1.12, Z:0.30 [[ 0.98853127 -0.1468204 -0.03535095 10.11814674] [ 0.14635176 0.98911098 -0.01551226 1.12199837] [ 0.03724353 0.01016068 0.99925456 0.3011724 ] [ 0. 0. 0. 1. ]] SLAMing on 12.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:1.13, Z:0.30 [[ 9.88305232e-01 -1.48329635e-01 -3.53707096e-02 1.01472068e+01] [ 1.48094952e-01 9.88930543e-01 -9.17964096e-03 1.12558614e+00] [ 3.63407878e-02 3.83406364e-03 9.99332101e-01 3.02652336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484391418000001 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:10.18, Y:1.13, Z:0.30 [[ 9.87849567e-01 -1.50936670e-01 -3.70318132e-02 1.01751379e+01] [ 1.50832664e-01 9.88543433e-01 -5.60255112e-03 1.12976126e+00] [ 3.74531861e-02 -5.11293254e-05 9.99298382e-01 3.02939736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:10.20, Y:1.14, Z:0.30 [[ 0.98773116 -0.15268415 -0.03278275 10.20181918] [ 0.1522216 0.98821386 -0.01618468 1.14086045] [ 0.03486752 0.01099587 0.99933145 0.30244598] [ 0. 0. 0. 1. ]] SLAMing on 12.544391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:10.23, Y:1.15, Z:0.30 [[ 9.87359812e-01 -1.55170010e-01 -3.22934953e-02 1.02298168e+01] [ 1.54940471e-01 9.87878052e-01 -9.50819015e-03 1.14523061e+00] [ 3.33774212e-02 4.38443546e-03 9.99433202e-01 3.04885879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.26, Y:1.15, Z:0.31 [[ 9.87387102e-01 -1.54858196e-01 -3.29491972e-02 1.02590986e+01] [ 1.54861828e-01 9.87933083e-01 -2.45719880e-03 1.14789390e+00] [ 3.29321194e-02 -2.67636652e-03 9.99454007e-01 3.07089532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:10.28, Y:1.16, Z:0.31 [[ 9.87246459e-01 -1.55666682e-01 -3.33513539e-02 1.02846389e+01] [ 1.55553041e-01 9.87809372e-01 -5.99131769e-03 1.15636559e+00] [ 3.38774285e-02 7.27002654e-04 9.99425731e-01 3.08817951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:10.31, Y:1.16, Z:0.31 [[ 9.87193534e-01 -1.56002213e-01 -3.33502056e-02 1.03126203e+01] [ 1.55888548e-01 9.87756442e-01 -5.99770279e-03 1.16162438e+00] [ 3.38775354e-02 7.21978285e-04 9.99425731e-01 3.09650278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:1.17, Z:0.31 [[ 9.87307590e-01 -1.55317944e-01 -3.31671276e-02 1.03384725e+01] [ 1.55204776e-01 9.87864247e-01 -5.97552574e-03 1.16849063e+00] [ 3.36927259e-02 7.51985323e-04 9.99431956e-01 3.12306813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.36, Y:1.18, Z:0.31 [[ 0.98737271 -0.15529865 -0.03126441 10.36481141] [ 0.15481261 0.9877902 -0.01742354 1.18211978] [ 0.03358853 0.0123634 0.99935927 0.31078153] [ 0. 0. 0. 1. ]] SLAMing on 12.724391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:10.39, Y:1.18, Z:0.31 [[ 9.87469310e-01 -1.53281236e-01 -3.75396345e-02 1.03938048e+01] [ 1.53575504e-01 9.88123920e-01 5.06776376e-03 1.17816014e+00] [ 3.63170177e-02 -1.07694295e-02 9.99282289e-01 3.12364880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.42, Y:1.20, Z:0.31 [[ 0.98800488 -0.15117469 -0.03150504 10.4182689 ] [ 0.15049446 0.98834419 -0.02296034 1.2022929 ] [ 0.03460884 0.01794359 0.99923984 0.3127989 ] [ 0. 0. 0. 1. ]] SLAMing on 12.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.45, Y:1.20, Z:0.31 [[ 9.88258202e-01 -1.48788131e-01 -3.47536691e-02 1.04479112e+01] [ 1.48633658e-01 9.88867543e-01 -7.00130198e-03 1.20134614e+00] [ 3.54084860e-02 1.75352913e-03 9.99371385e-01 3.14173609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.48, Y:1.20, Z:0.32 [[ 0.98845769 -0.14629717 -0.03935148 10.47603322] [ 0.14682524 0.98910276 0.01086613 1.1990968 ] [ 0.03733297 -0.0165185 0.99916635 0.31974903] [ 0. 0. 0. 1. ]] SLAMing on 12.844391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:10.50, Y:1.22, Z:0.32 [[ 0.98870508 -0.14634199 -0.03234638 10.50042644] [ 0.14576251 0.98912518 -0.01961313 1.22128595] [ 0.03486485 0.01467671 0.99928426 0.31739798] [ 0. 0. 0. 1. ]] SLAMing on 12.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.53, Y:1.22, Z:0.33 [[ 9.89020794e-01 -1.43245796e-01 -3.63112932e-02 1.05291868e+01] [ 1.43592994e-01 9.89611159e-01 7.12778016e-03 1.21772189e+00] [ 3.49130364e-02 -1.22635701e-02 9.99315108e-01 3.25878865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904391418000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:10.55, Y:1.23, Z:0.33 [[ 9.89085814e-01 -1.43652273e-01 -3.27608951e-02 1.05544009e+01] [ 1.43533521e-01 9.89627506e-01 -5.96050987e-03 1.23104111e+00] [ 3.32773237e-02 1.19316914e-03 9.99445444e-01 3.26481331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:10.58, Y:1.24, Z:0.33 [[ 9.88962306e-01 -1.44627786e-01 -3.21925678e-02 1.05814375e+01] [ 1.44513448e-01 9.89485468e-01 -5.86281610e-03 1.23853701e+00] [ 3.27020041e-02 1.14584514e-03 9.99464490e-01 3.26596501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:10.61, Y:1.25, Z:0.33 [[ 9.88339625e-01 -1.48885473e-01 -3.19045557e-02 1.06085602e+01] [ 1.48775010e-01 9.88853933e-01 -5.82197686e-03 1.24772076e+00] [ 3.24157532e-02 1.00748982e-03 9.99473964e-01 3.27540136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994391418000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.63, Y:1.25, Z:0.33 [[ 9.87911364e-01 -1.51463920e-01 -3.30123776e-02 1.06344492e+01] [ 1.51346686e-01 9.88462314e-01 -6.03610214e-03 1.25435618e+00] [ 3.35457428e-02 9.66819966e-04 9.99436716e-01 3.30312623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.66, Y:1.26, Z:0.33 [[ 9.87402262e-01 -1.54576413e-01 -3.38068727e-02 1.06616851e+01] [ 1.54455064e-01 9.87980437e-01 -6.18785646e-03 1.26107572e+00] [ 3.43570255e-02 8.88260767e-04 9.99409228e-01 3.31032788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:10.69, Y:1.27, Z:0.33 [[ 9.87029794e-01 -1.56973020e-01 -3.36401176e-02 1.06886436e+01] [ 1.56853834e-01 9.87602557e-01 -6.16969563e-03 1.26759657e+00] [ 3.41915420e-02 8.13091989e-04 9.99414968e-01 3.30121554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084391418000001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:10.71, Y:1.28, Z:0.33 [[ 9.86395058e-01 -1.60579185e-01 -3.52010765e-02 1.07149922e+01] [ 1.60450479e-01 9.87022688e-01 -6.46968344e-03 1.27708515e+00] [ 3.57831577e-02 7.33634197e-04 9.99359308e-01 3.29302830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:10.74, Y:1.28, Z:0.33 [[ 9.86127868e-01 -1.61891664e-01 -3.66458302e-02 1.07415096e+01] [ 1.61752548e-01 9.86808269e-01 -6.74939851e-03 1.28444445e+00] [ 3.72550796e-02 7.28213565e-04 9.99305523e-01 3.31598620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:10.77, Y:1.29, Z:0.33 [[ 9.85983000e-01 -1.62557280e-01 -3.75852863e-02 1.07674300e+01] [ 1.62410933e-01 9.86698836e-01 -6.93515709e-03 1.29177610e+00] [ 3.82127185e-02 7.33685569e-04 9.99269358e-01 3.33455783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:10.79, Y:1.30, Z:0.33 [[ 9.86069648e-01 -1.61964621e-01 -3.78696501e-02 1.07937606e+01] [ 1.61815307e-01 9.86796265e-01 -6.99557317e-03 1.30143653e+00] [ 3.85026646e-02 7.70233317e-04 9.99258201e-01 3.33346756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.82, Y:1.31, Z:0.34 [[ 9.86118588e-01 -1.61420549e-01 -3.89041947e-02 1.08201058e+01] [ 1.61261956e-01 9.86885364e-01 -7.20141511e-03 1.30951408e+00] [ 3.95564368e-02 8.27682771e-04 9.99216995e-01 3.37318587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.85, Y:1.32, Z:0.34 [[ 9.86317442e-01 -1.60212313e-01 -3.88576711e-02 1.08468101e+01] [ 1.60052587e-01 9.87082177e-01 -7.20734074e-03 1.31731293e+00] [ 3.95104193e-02 8.89455088e-04 9.99218763e-01 3.38307441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:1.33, Z:0.34 [[ 9.86979181e-01 -1.55888280e-01 -3.96350981e-02 1.08719085e+01] [ 1.55718050e-01 9.87774083e-01 -7.36542553e-03 1.32769254e+00] [ 4.02987062e-02 1.09762148e-03 9.99187074e-01 3.39421782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:10.90, Y:1.34, Z:0.34 [[ 9.87365578e-01 -1.53425536e-01 -3.96209595e-02 1.08995233e+01] [ 1.53252994e-01 9.88159473e-01 -7.37401308e-03 1.33508129e+00] [ 4.02831884e-02 1.20881599e-03 9.99187572e-01 3.37296097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324391418000001 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:10.93, Y:1.34, Z:0.34 [[ 9.87671649e-01 -1.51325343e-01 -4.00668675e-02 1.09263519e+01] [ 1.51146562e-01 9.88483125e-01 -7.47184507e-03 1.34265840e+00] [ 4.07361019e-02 1.32376028e-03 9.99169064e-01 3.38092792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:10.95, Y:1.35, Z:0.34 [[ 9.87948844e-01 -1.49258867e-01 -4.09740378e-02 1.09521860e+01] [ 1.49069576e-01 9.88797086e-01 -7.65403799e-03 1.34985456e+00] [ 4.16574422e-02 1.45381553e-03 9.99130894e-01 3.40016500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:10.98, Y:1.36, Z:0.34 [[ 9.88345607e-01 -1.46394737e-01 -4.17317789e-02 1.09784495e+01] [ 1.46195433e-01 9.89224939e-01 -7.80485519e-03 1.35921251e+00] [ 4.24247061e-02 1.61289886e-03 9.99098365e-01 3.42323536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414391418000001 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:11.01, Y:1.37, Z:0.34 [[ 9.88402085e-01 -1.45964204e-01 -4.19018964e-02 1.10051846e+01] [ 1.45762234e-01 9.89288491e-01 -7.85192629e-03 1.36596648e+00] [ 4.25991640e-02 1.65314629e-03 9.99090876e-01 3.43686265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:11.03, Y:1.37, Z:0.34 [[ 9.88412691e-01 -1.45924362e-01 -4.17903433e-02 1.10315169e+01] [ 1.45722897e-01 9.89294352e-01 -7.84359393e-03 1.37179926e+00] [ 4.24875220e-02 1.66289790e-03 9.99095614e-01 3.43126574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474391418 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:11.06, Y:1.38, Z:0.35 [[ 9.87988759e-01 -1.48475774e-01 -4.28153858e-02 1.10579472e+01] [ 1.48266393e-01 9.88914754e-01 -8.04277021e-03 1.37870958e+00] [ 4.35349232e-02 1.59808375e-03 9.99050628e-01 3.45734180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:11.09, Y:1.38, Z:0.35 [[ 9.87675856e-01 -1.50727362e-01 -4.21623658e-02 1.10850153e+01] [ 1.50525980e-01 9.88574255e-01 -7.92918561e-03 1.38401781e+00] [ 4.28757746e-02 1.48493377e-03 9.99079308e-01 3.45976805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534391418 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:11.11, Y:1.39, Z:0.35 [[ 9.87349618e-01 -1.53084565e-01 -4.13018999e-02 1.11122465e+01] [ 1.52892757e-01 9.88212144e-01 -7.78221966e-03 1.38884095e+00] [ 4.20063767e-02 1.36901025e-03 9.99116405e-01 3.45890878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:11.14, Y:1.39, Z:0.35 [[ 9.86999601e-01 -1.55483008e-01 -4.07040775e-02 1.11388733e+01] [ 1.55298236e-01 9.87837762e-01 -7.68203948e-03 1.39362465e+00] [ 4.14034514e-02 1.26089849e-03 9.99141714e-01 3.48564457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:11.17, Y:1.40, Z:0.35 [[ 9.86537507e-01 -1.58574874e-01 -3.99719351e-02 1.11655054e+01] [ 1.58398973e-01 9.87346323e-01 -7.55007318e-03 1.39690973e+00] [ 4.06633951e-02 1.11691689e-03 9.99172278e-01 3.48068338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624391418 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:11.19, Y:1.40, Z:0.35 [[ 9.86270671e-01 -1.59939154e-01 -4.11051264e-02 1.11928214e+01] [ 1.59753942e-01 9.87126262e-01 -7.77304138e-03 1.40216352e+00] [ 4.18191635e-02 1.09961675e-03 9.99124591e-01 3.49873106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654391418000001 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:11.22, Y:1.41, Z:0.35 [[ 9.86111631e-01 -1.60789703e-01 -4.15995443e-02 1.12203620e+01] [ 1.60600105e-01 9.86988085e-01 -7.88204212e-03 1.40700045e+00] [ 4.23256058e-02 1.09168223e-03 9.99103274e-01 3.49902589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:11.25, Y:1.41, Z:0.35 [[ 9.85983121e-01 -1.61409624e-01 -4.22400134e-02 1.12472381e+01] [ 1.61214131e-01 9.86886891e-01 -8.01681360e-03 1.41136194e+00] [ 4.29801063e-02 1.09475585e-03 9.99075328e-01 3.51130430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.28, Y:1.41, Z:0.35 [[ 9.85699722e-01 -1.62737959e-01 -4.37311572e-02 1.12754778e+01] [ 1.62529264e-01 9.86668730e-01 -8.30997920e-03 1.41443673e+00] [ 4.45005143e-02 1.08355138e-03 9.99008774e-01 3.52038580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744391418000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:11.30, Y:1.42, Z:0.35 [[ 9.85499320e-01 -1.63969765e-01 -4.36463697e-02 1.13030805e+01] [ 1.63762375e-01 9.86464815e-01 -8.30985675e-03 1.41904782e+00] [ 4.44181732e-02 1.04172503e-03 9.99012483e-01 3.50487507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:11.33, Y:1.42, Z:0.35 [[ 9.85259395e-01 -1.65187964e-01 -4.44619088e-02 1.13305443e+01] [ 1.64973212e-01 9.86261574e-01 -8.48219681e-03 1.42398206e+00] [ 4.52522289e-02 1.02214022e-03 9.98975070e-01 3.50615786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:11.36, Y:1.43, Z:0.35 [[ 9.84600081e-01 -1.68797522e-01 -4.54980942e-02 1.13586189e+01] [ 1.68575677e-01 9.85650343e-01 -8.69729204e-03 1.42787068e+00] [ 4.63132935e-02 8.93482423e-04 9.98926564e-01 3.51434647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834391418000001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:11.39, Y:1.43, Z:0.35 [[ 9.84128969e-01 -1.71349798e-01 -4.61456312e-02 1.13862094e+01] [ 1.71123568e-01 9.85209929e-01 -8.83857924e-03 1.43212726e+00] [ 4.69776228e-02 8.01696821e-04 9.98895620e-01 3.53591343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.41, Y:1.44, Z:0.36 [[ 9.83481601e-01 -1.74948887e-01 -4.64416620e-02 1.14141512e+01] [ 1.74722917e-01 9.84577302e-01 -8.91286781e-03 1.43690386e+00] [ 4.72847026e-02 6.51218838e-04 9.98881241e-01 3.56705279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:11.44, Y:1.44, Z:0.35 [[ 9.82953436e-01 -1.78222271e-01 -4.51593166e-02 1.14413413e+01] [ 1.78011451e-01 9.83990131e-01 -8.68012344e-03 1.44099960e+00] [ 4.59833132e-02 4.93281677e-04 9.98942086e-01 3.54667400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:11.47, Y:1.45, Z:0.36 [[ 9.81372508e-01 -1.86844585e-01 -4.46889314e-02 1.14685870e+01] [ 1.86646585e-01 9.82389480e-01 -8.60007227e-03 1.44573996e+00] [ 4.55088131e-02 9.88380632e-05 9.98963932e-01 3.56220549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:11.50, Y:1.45, Z:0.36 [[ 9.80506282e-01 -1.91338502e-01 -4.46878992e-02 1.14962014e+01] [ 1.91144423e-01 9.81524105e-01 -8.61630174e-03 1.45156297e+00] [ 4.55108805e-02 -9.35047165e-05 9.98963839e-01 3.56200633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.52, Y:1.46, Z:0.36 [[ 9.79483219e-01 -1.96388601e-01 -4.52121712e-02 1.15237043e+01] [ 1.96194539e-01 9.80526092e-01 -8.73413295e-03 1.45758183e+00] [ 4.60469977e-02 -3.15444439e-04 9.98939225e-01 3.59600834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.55, Y:1.46, Z:0.36 [[ 9.77524631e-01 -2.05640961e-01 -4.64477224e-02 1.15504398e+01] [ 2.05445903e-01 9.78627212e-01 -8.98665826e-03 1.46104424e+00] [ 4.73030301e-02 -7.57814484e-04 9.98880298e-01 3.59942490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:11.58, Y:1.47, Z:0.36 [[ 9.76656991e-01 -2.09821815e-01 -4.59992103e-02 1.15776996e+01] [ 2.09634639e-01 9.77739189e-01 -8.91049894e-03 1.46507293e+00] [ 4.68448476e-02 -9.40526765e-04 9.98901735e-01 3.58408585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074391418000001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:11.60, Y:1.49, Z:0.35 [[ 0.9760556 -0.21435847 -0.03695838 11.60433779] [ 0.21268834 0.97610981 -0.04442193 1.48710801] [ 0.04559766 0.03549766 0.99832899 0.35164748] [ 0. 0. 0. 1. ]] SLAMing on 14.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.64, Y:1.46, Z:0.36 [[ 0.97474544 -0.21689358 -0.05318373 11.63718022] [ 0.21852047 0.97546162 0.02689681 1.46079935] [ 0.04604494 -0.03783928 0.99822245 0.36095929] [ 0. 0. 0. 1. ]] SLAMing on 14.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.66, Y:1.49, Z:0.36 [[ 9.73979473e-01 -2.22451720e-01 -4.33499445e-02 1.16595130e+01] [ 2.22296416e-01 9.74942667e-01 -8.43199651e-03 1.48756360e+00] [ 4.41394227e-02 -1.42394580e-03 9.99024366e-01 3.64861490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164391418000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:11.69, Y:1.49, Z:0.36 [[ 9.73917169e-01 -2.22977274e-01 -4.20295453e-02 1.16858606e+01] [ 2.22831511e-01 9.74822641e-01 -8.18141071e-03 1.49447947e+00] [ 4.27956210e-02 -1.39749073e-03 9.99082870e-01 3.63634803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:11.71, Y:1.50, Z:0.36 [[ 9.73868310e-01 -2.23409326e-01 -4.08507960e-02 1.17132865e+01] [ 2.23271656e-01 9.74723756e-01 -7.96037217e-03 1.50191480e+00] [ 4.15966627e-02 -1.36847067e-03 9.99133547e-01 3.64001123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.74, Y:1.51, Z:0.37 [[ 9.73744820e-01 -2.23999088e-01 -4.05639467e-02 1.17389769e+01] [ 2.23863307e-01 9.74588390e-01 -7.91774608e-03 1.50971013e+00] [ 4.13067194e-02 -1.37091502e-03 9.99145573e-01 3.68264705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.76, Y:1.52, Z:0.37 [[ 9.74026758e-01 -2.22720582e-01 -4.08340154e-02 1.17649317e+01] [ 2.22581493e-01 9.74881433e-01 -7.97936784e-03 1.52011269e+00] [ 4.15854929e-02 -1.31677833e-03 9.99134082e-01 3.68631573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:11.79, Y:1.53, Z:0.37 [[ 9.74294591e-01 -2.21695014e-01 -4.00171381e-02 1.17914755e+01] [ 2.21560255e-01 9.75115267e-01 -7.82751518e-03 1.52850342e+00] [ 4.07566434e-02 -1.23990162e-03 9.99168333e-01 3.66657455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:11.82, Y:1.54, Z:0.37 [[ 9.74502230e-01 -2.20783562e-01 -4.00002735e-02 1.18181308e+01] [ 2.20647604e-01 9.75322104e-01 -7.83759965e-03 1.53739678e+00] [ 4.07435641e-02 -1.18820617e-03 9.99168930e-01 3.66728775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:11.84, Y:1.55, Z:0.37 [[ 9.74825288e-01 -2.19197302e-01 -4.08436118e-02 1.18441561e+01] [ 2.19053576e-01 9.75679897e-01 -8.01683110e-03 1.55045225e+00] [ 4.16075587e-02 -1.13192952e-03 9.99133389e-01 3.68002420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:1.56, Z:0.37 [[ 9.74801431e-01 -2.19219940e-01 -4.12890765e-02 1.18702908e+01] [ 2.19072473e-01 9.75674812e-01 -8.11869185e-03 1.56032368e+00] [ 4.20644911e-02 -1.13118766e-03 9.99114257e-01 3.71430169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:1.57, Z:0.37 [[ 9.74802473e-01 -2.19241959e-01 -4.11473176e-02 1.18966120e+01] [ 2.19094922e-01 9.75669884e-01 -8.10516140e-03 1.57000945e+00] [ 4.19231900e-02 -1.11423693e-03 9.99120215e-01 3.72370933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.92, Y:1.58, Z:0.37 [[ 9.74720332e-01 -2.19656917e-01 -4.08792426e-02 1.19229445e+01] [ 2.19511544e-01 9.75576550e-01 -8.06697156e-03 1.57991470e+00] [ 4.16527966e-02 -1.11042447e-03 9.99131529e-01 3.72926044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464391418 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:11.95, Y:1.59, Z:0.37 [[ 9.74649056e-01 -2.20136109e-01 -3.99913910e-02 1.19481540e+01] [ 2.19996901e-01 9.75468552e-01 -7.90369106e-03 1.59250633e+00] [ 4.07502320e-02 -1.09465706e-03 9.99168765e-01 3.70080735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494391418000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:11.98, Y:1.60, Z:0.37 [[ 9.74447737e-01 -2.21123883e-01 -3.94440860e-02 1.19750414e+01] [ 2.20988948e-01 9.75245092e-01 -7.80348902e-03 1.60155100e+00] [ 4.01931891e-02 -1.11261485e-03 9.99191308e-01 3.71756375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:12.00, Y:1.61, Z:0.37 [[ 9.74378184e-01 -2.21430624e-01 -3.94415070e-02 1.20028931e+01] [ 2.21295413e-01 9.75175493e-01 -7.81650521e-03 1.60728098e+00] [ 4.01932047e-02 -1.11199245e-03 9.99191308e-01 3.72611785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554391418 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:12.03, Y:1.62, Z:0.37 [[ 9.74184866e-01 -2.22313835e-01 -3.92480100e-02 1.20291610e+01] [ 2.22180144e-01 9.74974503e-01 -7.79112976e-03 1.61619942e+00] [ 3.99978849e-02 -1.13012782e-03 9.99199125e-01 3.72744007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584391418000001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:12.05, Y:1.63, Z:0.37 [[ 9.73770893e-01 -2.24067066e-01 -3.95499365e-02 1.20545463e+01] [ 2.23932200e-01 9.74572991e-01 -7.86480620e-03 1.63017257e+00] [ 4.03065439e-02 -1.19798491e-03 9.99186643e-01 3.73383634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:12.08, Y:1.64, Z:0.38 [[ 9.73569928e-01 -2.24931775e-01 -3.95890456e-02 1.20802485e+01] [ 2.24796887e-01 9.74373747e-01 -7.88420538e-03 1.64003685e+00] [ 4.03479350e-02 -1.22366894e-03 9.99184941e-01 3.75461578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644391418 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:12.11, Y:1.65, Z:0.37 [[ 9.73537025e-01 -2.25112127e-01 -3.93724772e-02 1.21064332e+01] [ 2.24978549e-01 9.74332104e-01 -7.84876738e-03 1.64949755e+00] [ 4.01287213e-02 -1.21689716e-03 9.99193777e-01 3.74876773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674391418 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:12.13, Y:1.66, Z:0.38 [[ 9.73894697e-01 -2.23786732e-01 -3.80607004e-02 1.21313127e+01] [ 2.23660475e-01 9.74637502e-01 -7.59814879e-03 1.66319649e+00] [ 3.87957509e-02 -1.11287753e-03 9.99246542e-01 3.76173338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:12.16, Y:1.67, Z:0.38 [[ 9.73987127e-01 -2.23551449e-01 -3.70651614e-02 1.21578041e+01] [ 2.23431280e-01 9.74691546e-01 -7.40633473e-03 1.67467308e+00] [ 3.77827963e-02 -1.06784175e-03 9.99285405e-01 3.81567081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734391418 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:12.18, Y:1.68, Z:0.38 [[ 9.74481814e-01 -2.21493048e-01 -3.64146022e-02 1.21834310e+01] [ 2.21375200e-01 9.75161478e-01 -7.28778140e-03 1.68436984e+00] [ 3.71243102e-02 -9.59479399e-04 9.99310195e-01 3.79318802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764391418 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:12.21, Y:1.69, Z:0.38 [[ 9.74862888e-01 -2.20038920e-01 -3.50031987e-02 1.22095404e+01] [ 2.19928869e-01 9.75490712e-01 -7.01165389e-03 1.69431275e+00] [ 3.56881319e-02 -8.62812737e-04 9.99362603e-01 3.81810722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:12.24, Y:1.70, Z:0.38 [[ 9.75386069e-01 -2.17742774e-01 -3.47864939e-02 1.22353555e+01] [ 2.17632227e-01 9.76005892e-01 -6.97938221e-03 1.70340067e+00] [ 3.54715331e-02 -7.63069963e-04 9.99370396e-01 3.80886500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824391418000001 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:12.26, Y:1.72, Z:0.39 [[ 9.76318413e-01 -2.13821379e-01 -3.29055438e-02 1.22609495e+01] [ 2.13720055e-01 9.76872602e-01 -6.60743972e-03 1.71926763e+00] [ 3.35573361e-02 -5.81609583e-04 9.99436625e-01 3.85710989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:12.29, Y:1.73, Z:0.39 [[ 9.76839190e-01 -2.11504033e-01 -3.24228464e-02 1.22875370e+01] [ 2.11404019e-01 9.77377005e-01 -6.52155841e-03 1.73038249e+00] [ 3.30686805e-02 -4.83806212e-04 9.99452965e-01 3.86950433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:12.31, Y:1.75, Z:0.38 [[ 9.77743686e-01 -2.07288939e-01 -3.23817781e-02 1.23133144e+01] [ 2.07186499e-01 9.78279708e-01 -6.52440066e-03 1.74547652e+00] [ 3.30308725e-02 -3.29875668e-04 9.99454277e-01 3.84955309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914391418000001 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:12.34, Y:1.75, Z:0.39 [[ 9.78089649e-01 -2.05870649e-01 -3.09501899e-02 1.23393337e+01] [ 2.05776040e-01 9.78579179e-01 -6.24602246e-03 1.75489105e+00] [ 3.15730841e-02 -2.59637591e-04 9.99501412e-01 3.87347963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:12.37, Y:1.76, Z:0.39 [[ 9.78462642e-01 -2.03947205e-01 -3.18809569e-02 1.23661678e+01] [ 2.03845621e-01 9.78981868e-01 -6.43928832e-03 1.76363140e+00] [ 3.25241536e-02 -1.98190380e-04 9.99470930e-01 3.85809764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:12.39, Y:1.77, Z:0.39 [[ 9.78861010e-01 -2.02116341e-01 -3.13066875e-02 1.23945083e+01] [ 2.02017123e-01 9.79361511e-01 -6.33345058e-03 1.77323836e+00] [ 3.19406586e-02 -1.24919120e-04 9.99489759e-01 3.86700242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:12.42, Y:1.79, Z:0.39 [[ 9.79594110e-01 -1.98431836e-01 -3.19403596e-02 1.24219957e+01] [ 1.98326555e-01 9.80114690e-01 -6.46307233e-03 1.78818985e+00] [ 3.25876949e-02 -3.43388502e-06 9.99468880e-01 3.88281046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:12.45, Y:1.80, Z:0.39 [[ 9.79855044e-01 -1.97090119e-01 -3.22424800e-02 1.24502695e+01] [ 1.96982083e-01 9.80385375e-01 -6.52500086e-03 1.79860276e+00] [ 3.28960690e-02 4.23641423e-05 9.99458777e-01 3.89988443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:12.48, Y:1.81, Z:0.39 [[ 9.80200400e-01 -1.95226911e-01 -3.30700652e-02 1.24797328e+01] [ 1.95112152e-01 9.80758095e-01 -6.69380797e-03 1.80798332e+00] [ 3.37405456e-02 1.08901669e-04 9.99430620e-01 3.89015183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:12.51, Y:1.82, Z:0.39 [[ 9.80416851e-01 -1.94219747e-01 -3.25804943e-02 1.25082712e+01] [ 1.94107807e-01 9.80958037e-01 -6.59464317e-03 1.81759832e+00] [ 3.32409077e-02 1.41370974e-04 9.99447358e-01 3.92887809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:12.54, Y:1.83, Z:0.39 [[ 9.81010761e-01 -1.91231711e-01 -3.23777670e-02 1.25366983e+01] [ 1.91119561e-01 9.81544892e-01 -6.55275246e-03 1.83073667e+00] [ 3.30333259e-02 2.40296083e-04 9.99454222e-01 3.93988146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:12.57, Y:1.84, Z:0.40 [[ 9.81318642e-01 -1.89644955e-01 -3.23807737e-02 1.25669315e+01] [ 1.89531995e-01 9.81852691e-01 -6.55110634e-03 1.84032482e+00] [ 3.30355341e-02 2.91530138e-04 9.99454135e-01 3.95092982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:12.60, Y:1.85, Z:0.39 [[ 9.81613450e-01 -1.88111270e-01 -3.23911308e-02 1.25975478e+01] [ 1.87997450e-01 9.82147664e-01 -6.55176685e-03 1.84911765e+00] [ 3.30453346e-02 3.41852479e-04 9.99453795e-01 3.94136239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214391418 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:12.63, Y:1.86, Z:0.40 [[ 9.81787190e-01 -1.87309598e-01 -3.17652124e-02 1.26271578e+01] [ 1.87199763e-01 9.82300863e-01 -6.42370969e-03 1.85770616e+00] [ 3.24062180e-02 3.60275662e-04 9.99474716e-01 3.95129144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244391418000001 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:12.66, Y:1.87, Z:0.40 [[ 9.81995975e-01 -1.86340794e-01 -3.10002172e-02 1.26573304e+01] [ 1.86235767e-01 9.82485096e-01 -6.26700977e-03 1.86621825e+00] [ 3.16250510e-02 3.80829123e-04 9.99499730e-01 3.95516506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:12.69, Y:1.88, Z:0.40 [[ 9.82190447e-01 -1.85490765e-01 -2.99182578e-02 1.26869807e+01] [ 1.85392588e-01 9.82645929e-01 -6.04701741e-03 1.87789097e+00] [ 3.05207201e-02 3.92699496e-04 9.99534057e-01 3.97429239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:12.72, Y:1.89, Z:0.40 [[ 9.82244298e-01 -1.85194526e-01 -2.99854271e-02 1.27169015e+01] [ 1.85095830e-01 9.82701799e-01 -6.05863673e-03 1.88613641e+00] [ 3.05887595e-02 4.00883871e-04 9.99531974e-01 3.98410608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334391418000001 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:12.75, Y:1.89, Z:0.40 [[ 9.82265645e-01 -1.85057035e-01 -3.01346511e-02 1.27473226e+01] [ 1.84957343e-01 9.82727699e-01 -6.08700304e-03 1.89359735e+00] [ 3.07405991e-02 4.05428952e-04 9.99527314e-01 3.98429904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:12.78, Y:1.90, Z:0.40 [[ 9.82158321e-01 -1.85745989e-01 -2.93846977e-02 1.27793801e+01] [ 1.85651557e-01 9.82597725e-01 -5.93384937e-03 1.90399395e+00] [ 2.99755259e-02 3.72664629e-04 9.99550563e-01 4.00151434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:12.81, Y:1.91, Z:0.40 [[ 9.82087493e-01 -1.86015806e-01 -3.00379098e-02 1.28102028e+01] [ 1.85917374e-01 9.82546683e-01 -6.06185818e-03 1.91268496e+00] [ 3.06412500e-02 3.68705804e-04 9.99530379e-01 4.00237640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424391418 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:12.84, Y:1.92, Z:0.40 [[ 9.81964686e-01 -1.86675314e-01 -2.99613547e-02 1.28417485e+01] [ 1.86577787e-01 9.82421604e-01 -6.04324690e-03 1.92152701e+00] [ 3.05628072e-02 3.44131779e-04 9.99532789e-01 4.01423542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:12.87, Y:1.93, Z:0.40 [[ 9.81784569e-01 -1.87553106e-01 -3.03791472e-02 1.28724090e+01] [ 1.87453379e-01 9.82254413e-01 -6.12365860e-03 1.92945144e+00] [ 3.09885626e-02 3.17439745e-04 9.99519689e-01 4.02365822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:12.90, Y:1.94, Z:0.40 [[ 9.81564359e-01 -1.88644029e-01 -3.07382468e-02 1.29036907e+01] [ 1.88542564e-01 9.82045493e-01 -6.19284043e-03 1.93679956e+00] [ 3.13545991e-02 2.83203561e-04 9.99508284e-01 4.02671227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514391418 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:12.94, Y:1.94, Z:0.40 [[ 9.81192706e-01 -1.90334345e-01 -3.21513713e-02 1.29362499e+01] [ 1.90224328e-01 9.81719298e-01 -6.47490421e-03 1.94457909e+00] [ 3.27960183e-02 2.37155805e-04 9.99462038e-01 4.02056350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:12.97, Y:1.95, Z:0.40 [[ 9.81098027e-01 -1.90827079e-01 -3.21198980e-02 1.29670515e+01] [ 1.90717672e-01 9.81623644e-01 -6.46454917e-03 1.95218633e+00] [ 3.27632624e-02 2.16524257e-04 9.99463117e-01 4.03932798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574391418000001 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:13.00, Y:1.96, Z:0.40 [[ 9.81196787e-01 -1.90311455e-01 -3.21623312e-02 1.29978269e+01] [ 1.90201593e-01 9.81723738e-01 -6.46970798e-03 1.95983757e+00] [ 3.28057835e-02 2.30730056e-04 9.99461719e-01 4.04886033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604391418 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:13.03, Y:1.97, Z:0.41 [[ 9.81549684e-01 -1.88482027e-01 -3.21674381e-02 1.30299551e+01] [ 1.88371259e-01 9.82076597e-01 -6.46734032e-03 1.96973769e+00] [ 3.28098656e-02 2.88595016e-04 9.99461570e-01 4.06182525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634391418 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:13.06, Y:1.98, Z:0.41 [[ 9.81806946e-01 -1.87183809e-01 -3.18957933e-02 1.30608068e+01] [ 1.87074348e-01 9.82324853e-01 -6.40877669e-03 1.97712793e+00] [ 3.25316497e-02 3.25296741e-04 9.99470653e-01 4.07161201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664391418000001 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:13.09, Y:1.98, Z:0.41 [[ 9.81963550e-01 -1.86642229e-01 -3.02037256e-02 1.30914706e+01] [ 1.86543914e-01 9.82427898e-01 -6.06578963e-03 1.98467662e+00] [ 3.08051152e-02 3.22063134e-04 9.99525358e-01 4.10080473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:13.12, Y:1.99, Z:0.41 [[ 9.82245137e-01 -1.85173209e-01 -3.00894353e-02 1.31234575e+01] [ 1.85075040e-01 9.82705831e-01 -6.03978381e-03 1.99107301e+00] [ 3.06874697e-02 3.63744821e-04 9.99528963e-01 4.09290907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:13.16, Y:2.00, Z:0.41 [[ 9.82213856e-01 -1.85589739e-01 -2.85024671e-02 1.31556501e+01] [ 1.85501925e-01 9.82627264e-01 -5.71797574e-03 1.99887892e+00] [ 2.90684989e-02 3.29012478e-04 9.99577368e-01 4.12220442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754391418 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:13.19, Y:2.01, Z:0.41 [[ 9.82127720e-01 -1.85957486e-01 -2.90681130e-02 1.31875862e+01] [ 1.85866424e-01 9.82557739e-01 -5.82770946e-03 2.00579086e+00] [ 2.96448056e-02 3.20768790e-04 9.99560445e-01 4.11527137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:13.22, Y:2.01, Z:0.41 [[ 9.81919735e-01 -1.87055828e-01 -2.90474089e-02 1.32191778e+01] [ 1.86965484e-01 9.82349244e-01 -5.81988060e-03 2.01312428e+00] [ 2.96233428e-02 2.83792752e-04 9.99561092e-01 4.12891990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814391418 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:13.25, Y:2.02, Z:0.41 [[ 9.81664671e-01 -1.88330851e-01 -2.94272639e-02 1.32515950e+01] [ 1.88238795e-01 9.82105611e-01 -5.89286275e-03 2.01998227e+00] [ 3.00104889e-02 2.45462482e-04 9.99549554e-01 4.13127708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:13.28, Y:2.03, Z:0.41 [[ 9.81416894e-01 -1.89671222e-01 -2.90810646e-02 1.32829713e+01] [ 1.89582014e-01 9.81847640e-01 -5.81995157e-03 2.02624251e+00] [ 2.96570520e-02 1.98551974e-04 9.99560113e-01 4.14049509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874391418 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:13.32, Y:2.03, Z:0.41 [[ 9.80817837e-01 -1.92686312e-01 -2.94678605e-02 1.33156779e+01] [ 1.92596261e-01 9.81260401e-01 -5.89117027e-03 2.03184450e+00] [ 3.00507925e-02 1.02765149e-04 9.99548368e-01 4.13661685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904391418 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:13.35, Y:2.04, Z:0.41 [[ 9.80547876e-01 -1.93854138e-01 -3.07641990e-02 1.33478398e+01] [ 1.93756686e-01 9.81030361e-01 -6.14637594e-03 2.03756107e+00] [ 3.13721136e-02 6.60466481e-05 9.99507772e-01 4.13656831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:13.38, Y:2.04, Z:0.41 [[ 9.80143380e-01 -1.95847537e-01 -3.10273599e-02 1.33805361e+01] [ 1.95749529e-01 9.80634357e-01 -6.19512663e-03 2.04410087e+00] [ 3.16397954e-02 -1.47874407e-06 9.99499336e-01 4.14747369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964391418 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:13.41, Y:2.05, Z:0.42 [[ 9.79755645e-01 -1.97637865e-01 -3.19084548e-02 1.34123537e+01] [ 1.97535288e-01 9.80275099e-01 -6.36711528e-03 2.05082213e+00] [ 3.25374468e-02 -6.48286524e-05 9.99470515e-01 4.15107657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994391418000001 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:13.44, Y:2.06, Z:0.42 [[ 9.78933259e-01 -2.01500632e-01 -3.29722411e-02 1.34442501e+01] [ 2.01393405e-01 9.79488363e-01 -6.57589013e-03 2.05906733e+00] [ 3.36209724e-02 -2.03034349e-04 9.99434635e-01 4.16981370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:13.48, Y:2.07, Z:0.42 [[ 9.78583328e-01 -2.03234426e-01 -3.27175543e-02 1.34753578e+01] [ 2.03129957e-01 9.79130072e-01 -6.52092998e-03 2.06599167e+00] [ 3.33600187e-02 -2.64642029e-04 9.99443365e-01 4.19519699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054391418 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:13.51, Y:2.07, Z:0.42 [[ 9.78219957e-01 -2.04748090e-01 -3.41165011e-02 1.35079158e+01] [ 2.04635644e-01 9.78814644e-01 -6.79311273e-03 2.07235778e+00] [ 3.47846077e-02 -3.36293748e-04 9.99394776e-01 4.18090337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:13.54, Y:2.08, Z:0.42 [[ 9.77834785e-01 -2.06700825e-01 -3.33751693e-02 1.35404993e+01] [ 2.06594483e-01 9.78404113e-01 -6.64162659e-03 2.07880108e+00] [ 3.40272326e-02 -4.00712354e-04 9.99420826e-01 4.20218574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:13.57, Y:2.08, Z:0.42 [[ 9.77092630e-01 -2.10187858e-01 -3.33325261e-02 1.35718381e+01] [ 2.10083944e-01 9.77660876e-01 -6.62929578e-03 2.08470552e+00] [ 3.39813042e-02 -5.25192521e-04 9.99422331e-01 4.20324396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:13.60, Y:2.09, Z:0.42 [[ 9.76738469e-01 -2.12038001e-01 -3.19663792e-02 1.36044043e+01] [ 2.11943522e-01 9.77261256e-01 -6.35454402e-03 2.09223081e+00] [ 3.25869087e-02 -5.68339418e-04 9.99468744e-01 4.22479324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:13.64, Y:2.10, Z:0.43 [[ 9.76417885e-01 -2.13665847e-01 -3.09033781e-02 1.36353309e+01] [ 2.13578472e-01 9.76906617e-01 -6.13980631e-03 2.09966846e+00] [ 3.15015815e-02 -6.05279566e-04 9.99503519e-01 4.25298754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:13.67, Y:2.11, Z:0.42 [[ 9.75836048e-01 -2.16294875e-01 -3.09924894e-02 1.36669347e+01] [ 2.16208414e-01 9.76327836e-01 -6.15450943e-03 2.10784880e+00] [ 3.15900190e-02 -6.95044820e-04 9.99500669e-01 4.24751409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234391418 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:13.70, Y:2.11, Z:0.43 [[ 9.75445794e-01 -2.18115511e-01 -3.05143573e-02 1.36993997e+01] [ 2.18032693e-01 9.75922675e-01 -6.05614094e-03 2.11417795e+00] [ 3.11005915e-02 -7.45690308e-04 9.99515981e-01 4.26053517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:13.73, Y:2.12, Z:0.43 [[ 9.75617049e-01 -2.17234853e-01 -3.13112301e-02 1.37282507e+01] [ 2.17035396e-01 9.76115788e-01 -9.67502689e-03 2.12043313e+00] [ 3.26651391e-02 2.64347596e-03 9.99462856e-01 4.28053826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294391418 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:13.76, Y:2.12, Z:0.43 [[ 9.74095891e-01 -2.23987898e-01 -3.10904705e-02 1.37627010e+01] [ 2.24003952e-01 9.74583586e-01 -3.01053812e-03 2.12499723e+00] [ 3.09745864e-02 -4.03183547e-03 9.99512041e-01 4.26028651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:13.79, Y:2.13, Z:0.43 [[ 9.73571708e-01 -2.26351343e-01 -3.03841785e-02 1.37944207e+01] [ 2.26273455e-01 9.74045197e-01 -6.02301559e-03 2.13340527e+00] [ 3.09588808e-02 -1.01129549e-03 9.99520147e-01 4.29139328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354391418 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:13.83, Y:2.14, Z:0.43 [[ 9.73106453e-01 -2.28137159e-01 -3.18946304e-02 1.38271812e+01] [ 2.28052412e-01 9.73628354e-01 -6.31870656e-03 2.14063211e+00] [ 3.24950483e-02 -1.12487327e-03 9.99471263e-01 4.28295888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:13.86, Y:2.15, Z:0.43 [[ 9.72693173e-01 -2.29885249e-01 -3.19493733e-02 1.38589986e+01] [ 2.29801273e-01 9.73217015e-01 -6.32583514e-03 2.14747026e+00] [ 3.25478899e-02 -1.18891001e-03 9.99469470e-01 4.29637793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414391418 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:13.89, Y:2.15, Z:0.43 [[ 9.72166376e-01 -2.32249791e-01 -3.08637621e-02 1.38910227e+01] [ 2.32172729e-01 9.72655399e-01 -6.10723004e-03 2.15459962e+00] [ 3.14382078e-02 -1.22848019e-03 9.99504942e-01 4.32244726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444391418 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:13.92, Y:2.16, Z:0.43 [[ 9.72199409e-01 -2.32111378e-01 -3.08645133e-02 1.39239415e+01] [ 2.32034367e-01 9.72688440e-01 -6.10343149e-03 2.16098730e+00] [ 3.14382312e-02 -1.22787533e-03 9.99504942e-01 4.33251601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:13.96, Y:2.17, Z:0.43 [[ 9.71629311e-01 -2.34282604e-01 -3.23750293e-02 1.39567678e+01] [ 2.34199235e-01 9.72167575e-01 -6.39719449e-03 2.16748802e+00] [ 3.29727051e-02 -1.36650543e-03 9.99455318e-01 4.31703875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:13.99, Y:2.17, Z:0.43 [[ 9.71288278e-01 -2.35811595e-01 -3.14955826e-02 1.39891365e+01] [ 2.35733622e-01 9.71797807e-01 -6.21951827e-03 2.17479978e+00] [ 3.20739726e-02 -1.38362256e-03 9.99484540e-01 4.34433527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534391418000002 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:14.02, Y:2.18, Z:0.44 [[ 9.71100599e-01 -2.36461181e-01 -3.23996242e-02 1.40201907e+01] [ 2.36379187e-01 9.71639854e-01 -6.39322619e-03 2.18214759e+00] [ 3.29925160e-02 -1.45013103e-03 9.99454547e-01 4.35533025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564391418 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:14.05, Y:2.19, Z:0.44 [[ 9.71017594e-01 -2.36738181e-01 -3.28613239e-02 1.40523647e+01] [ 2.36654320e-01 9.71572341e-01 -6.47449892e-03 2.19034492e+00] [ 3.34599145e-02 -1.48992190e-03 9.99438950e-01 4.37167781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:14.08, Y:2.20, Z:0.44 [[ 9.71184034e-01 -2.35815106e-01 -3.45370526e-02 1.40839930e+01] [ 2.35722034e-01 9.71796725e-01 -6.80058521e-03 2.19839746e+00] [ 3.51666754e-02 -1.53652450e-03 9.99380280e-01 4.36456673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624391418000002 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:14.12, Y:2.21, Z:0.44 [[ 9.71159882e-01 -2.35942227e-01 -3.43474797e-02 1.41159483e+01] [ 2.35850403e-01 9.71765869e-01 -6.75896936e-03 2.20833579e+00] [ 3.49724347e-02 -1.53682705e-03 9.99387096e-01 4.38061868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:14.15, Y:2.21, Z:0.44 [[ 9.71284886e-01 -2.35468136e-01 -3.40650490e-02 1.41476630e+01] [ 2.35377702e-01 9.71880893e-01 -6.69830118e-03 2.21480928e+00] [ 3.46844068e-02 -1.51219427e-03 9.99397171e-01 4.38569965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:14.18, Y:2.22, Z:0.44 [[ 9.71189816e-01 -2.36075717e-01 -3.25360829e-02 1.41795376e+01] [ 2.35993861e-01 9.71733546e-01 -6.38856251e-03 2.22168705e+00] [ 3.31245876e-02 -1.47380897e-03 9.99450144e-01 4.41126931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:14.21, Y:2.23, Z:0.44 [[ 9.71312059e-01 -2.35586273e-01 -3.24344362e-02 1.42123183e+01] [ 2.35504789e-01 9.71852348e-01 -6.36458685e-03 2.22855453e+00] [ 3.30208923e-02 -1.45646508e-03 9.99453600e-01 4.41980827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744391418 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:14.24, Y:2.24, Z:0.44 [[ 9.71527949e-01 -2.34890286e-01 -3.09838471e-02 1.42435384e+01] [ 2.34815699e-01 9.72020920e-01 -6.07599282e-03 2.23832039e+00] [ 3.15441392e-02 -1.37249687e-03 9.99501417e-01 4.44461900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:14.27, Y:2.25, Z:0.45 [[ 9.71733157e-01 -2.33990542e-01 -3.13544008e-02 1.42742851e+01] [ 2.33914001e-01 9.72237910e-01 -6.13899077e-03 2.24588479e+00] [ 3.19204029e-02 -1.36877245e-03 9.99489477e-01 4.45409694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804391418 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:14.31, Y:2.25, Z:0.45 [[ 9.71803844e-01 -2.33808667e-01 -3.05089481e-02 1.43062188e+01] [ 2.33736382e-01 9.72281711e-01 -5.96469765e-03 2.25369494e+00] [ 3.10578903e-02 -1.33453503e-03 9.99516696e-01 4.46770816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:14.34, Y:2.26, Z:0.45 [[ 9.71786049e-01 -2.33702728e-01 -3.18576504e-02 1.43382629e+01] [ 2.33623982e-01 9.72307098e-01 -6.22438850e-03 2.26087852e+00] [ 3.24300761e-02 -1.39393722e-03 9.99473035e-01 4.45791207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:14.37, Y:2.27, Z:0.45 [[ 9.71582880e-01 -2.34497031e-01 -3.22156867e-02 1.43697995e+01] [ 2.34417081e-01 9.72115768e-01 -6.29007435e-03 2.26685100e+00] [ 3.27923807e-02 -1.44057868e-03 9.99461147e-01 4.46415002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:14.40, Y:2.27, Z:0.45 [[ 9.71314374e-01 -2.35657103e-01 -3.18452028e-02 1.44022020e+01] [ 2.35579807e-01 9.71835157e-01 -6.21147591e-03 2.27296978e+00] [ 3.24120661e-02 -1.46879089e-03 9.99473512e-01 4.48371259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924391418 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:14.43, Y:2.28, Z:0.45 [[ 9.71225227e-01 -2.36007005e-01 -3.19726651e-02 1.44338575e+01] [ 2.35929422e-01 9.71750210e-01 -6.23191258e-03 2.27947241e+00] [ 3.25402191e-02 -1.49070168e-03 9.99469315e-01 4.49010105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954391418 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:14.47, Y:2.29, Z:0.45 [[ 9.70856641e-01 -2.37494523e-01 -3.21517340e-02 1.44653501e+01] [ 2.37417188e-01 9.71387628e-01 -6.25743582e-03 2.28870049e+00] [ 3.27179033e-02 -1.55830116e-03 9.99463411e-01 4.50567416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:14.50, Y:2.30, Z:0.45 [[ 9.70767518e-01 -2.37733420e-01 -3.30642813e-02 1.44964435e+01] [ 2.37651931e-01 9.71329095e-01 -6.43029587e-03 2.29596689e+00] [ 3.36449946e-02 -1.61546792e-03 9.99432541e-01 4.51150340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014391418 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:14.53, Y:2.30, Z:0.45 [[ 9.70504462e-01 -2.38950820e-01 -3.19936737e-02 1.45288910e+01] [ 2.38875470e-01 9.71030332e-01 -6.21325652e-03 2.30343784e+00] [ 3.25514903e-02 -1.61251065e-03 9.99468759e-01 4.53605849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:14.56, Y:2.31, Z:0.45 [[ 9.70522126e-01 -2.38762659e-01 -3.28511179e-02 1.45614130e+01] [ 2.38683242e-01 9.71076547e-01 -6.37574709e-03 2.30968080e+00] [ 3.34232405e-02 -1.65320771e-03 9.99439920e-01 4.52486798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:14.59, Y:2.32, Z:0.45 [[ 9.70427941e-01 -2.39213627e-01 -3.23489116e-02 1.45932792e+01] [ 2.39136996e-01 9.70965565e-01 -6.27445696e-03 2.31631381e+00] [ 3.29106148e-02 -1.64691318e-03 9.99456942e-01 4.54542083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:14.63, Y:2.32, Z:0.45 [[ 9.70692588e-01 -2.38083288e-01 -3.27451819e-02 1.46261399e+01] [ 2.38004287e-01 9.71243369e-01 -6.34651628e-03 2.32274494e+00] [ 3.33145402e-02 -1.63297734e-03 9.99443583e-01 4.53891543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:14.66, Y:2.33, Z:0.45 [[ 9.70918293e-01 -2.37169200e-01 -3.26869753e-02 1.46570745e+01] [ 2.37090328e-01 9.71467025e-01 -6.32426291e-03 2.32986486e+00] [ 3.32542391e-02 -1.60942314e-03 9.99445629e-01 4.54798286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:14.69, Y:2.34, Z:0.46 [[ 9.71245566e-01 -2.36000909e-01 -3.13946011e-02 1.46887855e+01] [ 2.35927847e-01 9.71751651e-01 -6.06467366e-03 2.33977673e+00] [ 3.19390240e-02 -1.51657324e-03 9.99488669e-01 4.58052041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194391418 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:14.72, Y:2.35, Z:0.46 [[ 9.71550029e-01 -2.34889161e-01 -3.02923114e-02 1.47199809e+01] [ 2.34820902e-01 9.72021098e-01 -5.84196456e-03 2.34672106e+00] [ 3.08169800e-02 -1.43750705e-03 9.99524010e-01 4.59588888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224391418 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:14.75, Y:2.35, Z:0.46 [[ 9.71737706e-01 -2.34049489e-01 -3.07679606e-02 1.47525547e+01] [ 2.33978955e-01 9.72223614e-01 -5.92393730e-03 2.35333875e+00] [ 3.12998324e-02 -1.44254204e-03 9.99508999e-01 4.59394626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254391418 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:14.78, Y:2.36, Z:0.46 [[ 9.71764922e-01 -2.34008118e-01 -3.02181591e-02 1.47843785e+01] [ 2.33940377e-01 9.72233598e-01 -5.80782352e-03 2.35896402e+00] [ 3.07381874e-02 -1.42540837e-03 9.99526454e-01 4.61072957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284391418000002 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:14.82, Y:2.36, Z:0.46 [[ 9.72051661e-01 -2.32624537e-01 -3.16448003e-02 1.48169167e+01] [ 2.32549861e-01 9.72565525e-01 -6.07134892e-03 2.36440357e+00] [ 3.21889865e-02 -1.45732911e-03 9.99480738e-01 4.60214395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314391418 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:14.85, Y:2.37, Z:0.46 [[ 9.72205633e-01 -2.31928311e-01 -3.20229036e-02 1.48493288e+01] [ 2.31851825e-01 9.72731782e-01 -6.13279108e-03 2.37119584e+00] [ 3.25720640e-02 -1.46223461e-03 9.99468320e-01 4.61274507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344391418 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:14.88, Y:2.38, Z:0.46 [[ 9.72335262e-01 -2.31395248e-01 -3.19433556e-02 1.48820017e+01] [ 2.31319206e-01 9.72858743e-01 -6.10673617e-03 2.37873005e+00] [ 3.24894425e-02 -1.45131673e-03 9.99471025e-01 4.63501222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374391418000002 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:14.91, Y:2.39, Z:0.46 [[ 9.72559801e-01 -2.30413415e-01 -3.22039027e-02 1.49139178e+01] [ 2.30335949e-01 9.73091765e-01 -6.14558095e-03 2.38618017e+00] [ 3.27533768e-02 -1.44077152e-03 9.99462426e-01 4.64784713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:14.95, Y:2.39, Z:0.47 [[ 9.72773587e-01 -2.29505142e-01 -3.22325750e-02 1.49459180e+01] [ 2.29427397e-01 9.73306410e-01 -6.14020663e-03 2.39338647e+00] [ 3.27813809e-02 -1.42200495e-03 9.99461535e-01 4.66010655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434391418 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:14.98, Y:2.40, Z:0.47 [[ 9.73109757e-01 -2.28041251e-01 -3.24744164e-02 1.49787799e+01] [ 2.27961881e-01 9.73650474e-01 -6.17535499e-03 2.39903617e+00] [ 3.30269666e-02 -1.39363087e-03 9.99453489e-01 4.65332036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464391418 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:15.01, Y:2.40, Z:0.47 [[ 9.73237540e-01 -2.27570183e-01 -3.19453169e-02 1.50114859e+01] [ 2.27493466e-01 9.73760724e-01 -6.06429405e-03 2.40495747e+00] [ 3.24871475e-02 -1.36535224e-03 9.99471221e-01 4.66865736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:15.04, Y:2.41, Z:0.47 [[ 9.73353419e-01 -2.27148931e-01 -3.14083698e-02 1.50435003e+01] [ 2.27074883e-01 9.73859113e-01 -5.95198423e-03 2.41080433e+00] [ 3.19393140e-02 -1.33866770e-03 9.99488913e-01 4.67715339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:15.08, Y:2.42, Z:0.47 [[ 9.73537345e-01 -2.26316830e-01 -3.17132487e-02 1.50760648e+01] [ 2.26241222e-01 9.74052829e-01 -5.99970458e-03 2.41829668e+00] [ 3.22482138e-02 -1.33390766e-03 9.99479001e-01 4.69054673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:15.11, Y:2.43, Z:0.47 [[ 9.73756377e-01 -2.25160403e-01 -3.31860039e-02 1.51085957e+01] [ 2.25077318e-01 9.74320750e-01 -6.26708247e-03 2.42556048e+00] [ 3.37449110e-02 -1.36680522e-03 9.99429544e-01 4.68062387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:15.14, Y:2.43, Z:0.47 [[ 9.73568211e-01 -2.26072876e-01 -3.24960510e-02 1.51404497e+01] [ 2.25994062e-01 9.74109415e-01 -6.12634623e-03 2.43285407e+00] [ 3.30397099e-02 -1.37949863e-03 9.99453088e-01 4.71675161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:15.17, Y:2.44, Z:0.47 [[ 9.73467802e-01 -2.26547869e-01 -3.21947510e-02 1.51727611e+01] [ 2.26471111e-01 9.73999037e-01 -6.05910454e-03 2.43902203e+00] [ 3.27303336e-02 -1.39283783e-03 9.99463249e-01 4.72542106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644391418 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:15.20, Y:2.44, Z:0.47 [[ 9.73241706e-01 -2.27593728e-01 -3.16492646e-02 1.52045837e+01] [ 2.27520437e-01 9.73755152e-01 -5.94599236e-03 2.44246512e+00] [ 3.21719051e-02 -1.41396678e-03 9.99481350e-01 4.70551436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674391418 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:15.24, Y:2.45, Z:0.47 [[ 9.72784584e-01 -2.29718229e-01 -3.03263546e-02 1.52374008e+01] [ 2.29652249e-01 9.73256126e-01 -5.68832406e-03 2.44750120e+00] [ 3.08220221e-02 -1.43100156e-03 9.99523864e-01 4.72890461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:15.27, Y:2.45, Z:0.47 [[ 9.72377740e-01 -2.31517973e-01 -2.96809373e-02 1.52705892e+01] [ 2.31455893e-01 9.72829523e-01 -5.55780189e-03 2.45262085e+00] [ 3.01612231e-02 -1.46554502e-03 9.99543972e-01 4.73440742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734391418 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:15.30, Y:2.46, Z:0.48 [[ 9.71948997e-01 -2.33253088e-01 -3.01354139e-02 1.53025541e+01] [ 2.33190234e-01 9.72414822e-01 -5.63277984e-03 2.45853616e+00] [ 3.06179864e-02 -1.55250950e-03 9.99529954e-01 4.75058700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:15.33, Y:2.47, Z:0.47 [[ 9.71451964e-01 -2.35032096e-01 -3.22644618e-02 1.53336215e+01] [ 2.34961371e-01 9.71986066e-01 -6.02015247e-03 2.46524079e+00] [ 3.27755363e-02 -1.73261324e-03 9.99461236e-01 4.73837656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794391418 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:15.37, Y:2.47, Z:0.48 [[ 9.71046546e-01 -2.36692042e-01 -3.23339411e-02 1.53663875e+01] [ 2.36622256e-01 9.71583053e-01 -6.02313717e-03 2.47138507e+00] [ 3.28407379e-02 -1.80218357e-03 9.99458973e-01 4.76969739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824391418 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:15.40, Y:2.48, Z:0.48 [[ 9.70822693e-01 -2.37574549e-01 -3.25827057e-02 1.53978119e+01] [ 2.37504544e-01 9.71367534e-01 -6.05853040e-03 2.47622248e+00] [ 3.30891352e-02 -1.85678187e-03 9.99450680e-01 4.77527500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:15.43, Y:2.48, Z:0.48 [[ 9.70779494e-01 -2.37678934e-01 -3.31043426e-02 1.54301658e+01] [ 2.37607081e-01 9.71341914e-01 -6.14507727e-03 2.48042176e+00] [ 3.36161909e-02 -1.90031122e-03 9.99433010e-01 4.75395637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:15.46, Y:2.48, Z:0.48 [[ 9.70339766e-01 -2.39556196e-01 -3.24587083e-02 1.54627988e+01] [ 2.39488466e-01 9.70880570e-01 -6.01607753e-03 2.48354000e+00] [ 3.29547178e-02 -1.93584699e-03 9.99454971e-01 4.75864877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914391418 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:15.50, Y:2.49, Z:0.48 [[ 9.70027411e-01 -2.40973243e-01 -3.12844871e-02 1.54953903e+01] [ 2.40911187e-01 9.70529868e-01 -5.79438016e-03 2.48869131e+00] [ 3.17588197e-02 -1.91607536e-03 9.99493725e-01 4.79586183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:15.53, Y:2.49, Z:0.48 [[ 9.69944863e-01 -2.41355749e-01 -3.08927870e-02 1.55271131e+01] [ 2.41295744e-01 9.70434819e-01 -5.71188097e-03 2.49436340e+00] [ 3.13580315e-02 -1.91408840e-03 9.99506383e-01 4.80570218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:15.56, Y:2.50, Z:0.48 [[ 9.69981212e-01 -2.41252370e-01 -3.05572054e-02 1.55596285e+01] [ 2.41193896e-01 9.70460555e-01 -5.64061209e-03 2.50042209e+00] [ 3.10153736e-02 -1.89892367e-03 9.99517104e-01 4.81311042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:15.59, Y:2.51, Z:0.48 [[ 9.70099094e-01 -2.40824686e-01 -3.01863980e-02 1.55925704e+01] [ 2.40767719e-01 9.70566827e-01 -5.56226708e-03 2.50611170e+00] [ 3.06374477e-02 -1.87195993e-03 9.99528810e-01 4.83738596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:15.62, Y:2.51, Z:0.48 [[ 9.70435274e-01 -2.39344771e-01 -3.11361463e-02 1.56241044e+01] [ 2.39283753e-01 9.70932797e-01 -5.72626161e-03 2.51050966e+00] [ 3.16016564e-02 -1.89340767e-03 9.99498750e-01 4.81483151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:15.66, Y:2.51, Z:0.48 [[ 9.70651083e-01 -2.38429250e-01 -3.14319527e-02 1.56569160e+01] [ 2.38366913e-01 9.71158028e-01 -5.77048142e-03 2.51487861e+00] [ 3.19012448e-02 -1.89121350e-03 9.99489237e-01 4.82333003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:15.69, Y:2.52, Z:0.49 [[ 9.70754759e-01 -2.38013019e-01 -3.13847091e-02 1.56891087e+01] [ 2.37950989e-01 9.71260135e-01 -5.75126043e-03 2.51971041e+00] [ 3.18515917e-02 -1.88495914e-03 9.99490832e-01 4.85361929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124391418000002 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:15.72, Y:2.52, Z:0.48 [[ 9.71260908e-01 -2.35803562e-01 -3.23871696e-02 1.57211592e+01] [ 2.35736617e-01 9.71798922e-01 -5.92479032e-03 2.52482103e+00] [ 3.28709032e-02 -1.88032456e-03 9.99457837e-01 4.83874570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:15.75, Y:2.53, Z:0.49 [[ 9.72176375e-01 -2.32008941e-01 -3.23256300e-02 1.57530903e+01] [ 2.31940369e-01 9.72712070e-01 -5.90707501e-03 2.53215803e+00] [ 3.28140247e-02 -1.75489978e-03 9.99459934e-01 4.86620026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184391418 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:15.79, Y:2.54, Z:0.49 [[ 9.72877975e-01 -2.29120702e-01 -3.18143115e-02 1.57851943e+01] [ 2.29052883e-01 9.73396645e-01 -5.80927636e-03 2.53900788e+00] [ 3.22989696e-02 -1.63544275e-03 9.99476914e-01 4.90731761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:15.82, Y:2.54, Z:0.49 [[ 9.73948188e-01 -2.24412766e-01 -3.26165192e-02 1.58163331e+01] [ 2.24339225e-01 9.74492984e-01 -5.94437496e-03 2.54492290e+00] [ 3.31185628e-02 -1.52765142e-03 9.99450262e-01 4.89113502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:15.85, Y:2.55, Z:0.49 [[ 9.75992143e-01 -2.15448518e-01 -3.19573700e-02 1.58486143e+01] [ 2.15373424e-01 9.76514453e-01 -5.81470981e-03 2.55078662e+00] [ 3.24596044e-02 -1.20765710e-03 9.99472319e-01 4.91691686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:15.88, Y:2.56, Z:0.49 [[ 9.77350490e-01 -2.09133448e-01 -3.23916699e-02 1.58810157e+01] [ 2.09052963e-01 9.77886584e-01 -5.88968120e-03 2.55658813e+00] [ 3.29071087e-02 -1.01529176e-03 9.99457899e-01 4.89616207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:15.91, Y:2.56, Z:0.49 [[ 9.78588895e-01 -2.03517315e-01 -3.07323483e-02 1.59136043e+01] [ 2.03442217e-01 9.79071030e-01 -5.58413486e-03 2.56371129e+00] [ 3.12256200e-02 -7.87684690e-04 9.99512051e-01 4.92394906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:15.95, Y:2.57, Z:0.49 [[ 9.78634772e-01 -2.03296325e-01 -3.07341476e-02 1.59466565e+01] [ 2.03221429e-01 9.79116938e-01 -5.57421446e-03 2.56957451e+00] [ 3.12255418e-02 -7.90717306e-04 9.99512051e-01 4.93400761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:15.98, Y:2.58, Z:0.50 [[ 9.79929146e-01 -1.97077682e-01 -2.99875863e-02 1.59779444e+01] [ 1.97003675e-01 9.80387702e-01 -5.43200133e-03 2.57696707e+00] [ 3.04699871e-02 -5.84688276e-04 9.99535511e-01 4.95564150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394391418 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:16.01, Y:2.59, Z:0.50 [[ 9.82442123e-01 -1.84233411e-01 -2.94197943e-02 1.60100913e+01] [ 1.84156589e-01 9.82882503e-01 -5.32313212e-03 2.58693900e+00] [ 2.98968998e-02 -1.88179752e-04 9.99552970e-01 4.95536895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:16.04, Y:2.59, Z:0.50 [[ 9.83533839e-01 -1.78441457e-01 -2.86327390e-02 1.60420790e+01] [ 1.78366498e-01 9.83950530e-01 -5.17169956e-03 2.59405459e+00] [ 2.90960444e-02 -2.05798621e-05 9.99576620e-01 4.97814960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:16.07, Y:2.60, Z:0.50 [[ 9.84657302e-01 -1.72054055e-01 -2.91101400e-02 1.60731677e+01] [ 1.71974077e-01 9.85087497e-01 -5.24791741e-03 2.59999880e+00] [ 2.95789604e-02 1.61210744e-04 9.99562434e-01 4.96738272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484391418 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:16.11, Y:2.61, Z:0.50 [[ 9.85483304e-01 -1.67251607e-01 -2.91471797e-02 1.61057948e+01] [ 1.67169505e-01 9.85914200e-01 -5.24848650e-03 2.60623355e+00] [ 2.96144361e-02 2.99776231e-04 9.99561351e-01 4.97374296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:16.14, Y:2.61, Z:0.50 [[ 9.86711952e-01 -1.59829796e-01 -2.92225936e-02 1.61383378e+01] [ 1.59744119e-01 9.87144450e-01 -5.25842434e-03 2.61297651e+00] [ 2.96873740e-02 5.20412688e-04 9.99559097e-01 4.99305418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:16.17, Y:2.62, Z:0.50 [[ 9.87127052e-01 -1.57135362e-01 -2.98104187e-02 1.61704372e+01] [ 1.57045089e-01 9.87576886e-01 -5.36040507e-03 2.61922133e+00] [ 3.02823897e-02 6.09821008e-04 9.99541197e-01 4.99540164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:16.20, Y:2.63, Z:0.50 [[ 9.87385490e-01 -1.55516314e-01 -2.97417283e-02 1.62031674e+01] [ 1.55425835e-01 9.87833107e-01 -5.34434476e-03 2.62531356e+00] [ 3.02109966e-02 6.54295539e-04 9.99543330e-01 5.01358120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:16.24, Y:2.63, Z:0.50 [[ 9.87647594e-01 -1.53713513e-01 -3.04037220e-02 1.62353198e+01] [ 1.53618428e-01 9.88115198e-01 -5.45287473e-03 2.63035913e+00] [ 3.08805603e-02 7.14946611e-04 9.99522826e-01 5.00996595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:16.27, Y:2.63, Z:0.50 [[ 9.87640498e-01 -1.53743971e-01 -3.04801234e-02 1.62666291e+01] [ 1.53648624e-01 9.88110464e-01 -5.46006319e-03 2.63484563e+00] [ 3.09571807e-02 7.09350509e-04 9.99520460e-01 5.01914777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:16.30, Y:2.64, Z:0.50 [[ 9.87596031e-01 -1.53930822e-01 -3.09738760e-02 1.62981859e+01] [ 1.53832752e-01 9.88081375e-01 -5.53896671e-03 2.63919556e+00] [ 3.14573277e-02 7.05464942e-04 9.99504847e-01 5.02792351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:16.33, Y:2.64, Z:0.50 [[ 9.87585289e-01 -1.53942896e-01 -3.12550987e-02 1.63315516e+01] [ 1.53843249e-01 9.88079495e-01 -5.58272932e-03 2.64263271e+00] [ 3.17419436e-02 7.05035411e-04 9.99495849e-01 5.02207157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:16.36, Y:2.65, Z:0.50 [[ 9.87697906e-01 -1.53183165e-01 -3.14287044e-02 1.63623559e+01] [ 1.52964835e-01 9.88188325e-01 -9.25168234e-03 2.64850484e+00] [ 3.24746807e-02 4.33038071e-03 9.99463177e-01 5.04915925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:16.40, Y:2.65, Z:0.50 [[ 9.87772689e-01 -1.52765712e-01 -3.11087227e-02 1.63954347e+01] [ 1.52777434e-01 9.88258570e-01 -2.01380739e-03 2.65035328e+00] [ 3.10511025e-02 -2.76352688e-03 9.99513978e-01 5.03460375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:16.43, Y:2.66, Z:0.51 [[ 9.87902704e-01 -1.52011917e-01 -3.06696036e-02 1.64280189e+01] [ 1.51915823e-01 9.88378393e-01 -5.45301356e-03 2.65760969e+00] [ 3.11420966e-02 7.27848758e-04 9.99514702e-01 5.05816822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:16.46, Y:2.67, Z:0.51 [[ 9.88103639e-01 -1.50632532e-01 -3.10006361e-02 1.64583179e+01] [ 1.50216659e-01 9.88533986e-01 -1.53464637e-02 2.66730851e+00] [ 3.29568591e-02 1.05070847e-02 9.99401544e-01 5.11119002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:16.49, Y:2.66, Z:0.50 [[ 9.88376883e-01 -1.48671926e-01 -3.17458091e-02 1.64927811e+01] [ 1.48875125e-01 9.88847409e-01 4.12286079e-03 2.66222904e+00] [ 3.07788074e-02 -8.80110160e-03 9.99487471e-01 5.04246264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874391418000002 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:16.52, Y:2.67, Z:0.51 [[ 9.88516516e-01 -1.48384751e-01 -2.85843200e-02 1.65238448e+01] [ 1.48300407e-01 9.88929413e-01 -5.06022104e-03 2.67001136e+00] [ 2.90187344e-02 7.63045782e-04 9.99578577e-01 5.09397100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:16.55, Y:2.67, Z:0.51 [[ 9.88824373e-01 -1.46038103e-01 -2.99871935e-02 1.65549368e+01] [ 1.45761628e-01 9.89256121e-01 -1.12193582e-02 2.67357646e+00] [ 3.13034685e-02 6.72299271e-03 9.99487316e-01 5.09309213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:16.59, Y:2.67, Z:0.51 [[ 9.88644145e-01 -1.47470746e-01 -2.88986765e-02 1.65885030e+01] [ 1.47552041e-01 9.89054053e-01 6.89378078e-04 2.67189951e+00] [ 2.84806900e-02 -4.94560829e-03 9.99582108e-01 5.07801117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:16.62, Y:2.68, Z:0.51 [[ 9.88617721e-01 -1.47529593e-01 -2.94961156e-02 1.66204516e+01] [ 1.47440053e-01 9.89057325e-01 -5.19984161e-03 2.67915795e+00] [ 2.99404798e-02 7.91746699e-04 9.99551370e-01 5.09132809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:16.65, Y:2.68, Z:0.51 [[ 9.88465337e-01 -1.48481544e-01 -2.98246356e-02 1.66520521e+01] [ 1.48390544e-01 9.88914881e-01 -5.25403451e-03 2.68376017e+00] [ 3.02741532e-02 7.67737102e-04 9.99541338e-01 5.10375143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:16.68, Y:2.69, Z:0.51 [[ 9.88317936e-01 -1.49389469e-01 -3.01735791e-02 1.66844433e+01] [ 1.49296844e-01 9.88778150e-01 -5.31238795e-03 2.68784313e+00] [ 3.06285905e-02 7.45508164e-04 9.99530557e-01 5.11305392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:16.72, Y:2.69, Z:0.51 [[ 9.87954186e-01 -1.51544554e-01 -3.13173056e-02 1.67176292e+01] [ 1.51445980e-01 9.88450180e-01 -5.50977591e-03 2.68866224e+00] [ 3.17905728e-02 7.00526139e-04 9.99494307e-01 5.10609549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:16.75, Y:2.69, Z:0.51 [[ 9.87699790e-01 -1.53299227e-01 -3.07972831e-02 1.67482863e+01] [ 1.52978437e-01 9.88150094e-01 -1.25295301e-02 2.69454704e+00] [ 3.23531055e-02 7.66409404e-03 9.99447116e-01 5.13911147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:16.78, Y:2.69, Z:0.51 [[ 9.87532695e-01 -1.54103132e-01 -3.21154273e-02 1.67805633e+01] [ 1.54011257e-01 9.88054717e-01 -5.33000518e-03 2.69408337e+00] [ 3.25531699e-02 3.17417072e-04 9.99469955e-01 5.11873709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:16.81, Y:2.70, Z:0.51 [[ 9.87090517e-01 -1.57382001e-01 -2.97189569e-02 1.68128495e+01] [ 1.57474429e-01 9.87522756e-01 7.80909953e-04 2.69530089e+00] [ 2.92252451e-02 -5.45080457e-03 9.99557989e-01 5.11522439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:16.84, Y:2.70, Z:0.52 [[ 9.86214512e-01 -1.63089080e-01 -2.79801586e-02 1.68438426e+01] [ 1.63015520e-01 9.86611309e-01 -4.90561081e-03 2.70077447e+00] [ 2.84055925e-02 2.76784480e-04 9.99596441e-01 5.15070066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:16.88, Y:2.70, Z:0.52 [[ 9.85880125e-01 -1.64877845e-01 -2.92519448e-02 1.68755935e+01] [ 1.64798322e-01 9.86313967e-01 -5.12549677e-03 2.70426914e+00] [ 2.96966825e-02 2.32453975e-04 9.99558929e-01 5.15032375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234391418 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:16.91, Y:2.71, Z:0.52 [[ 9.85438756e-01 -1.67574983e-01 -2.87937995e-02 1.69081698e+01] [ 1.67499165e-01 9.85859322e-01 -5.04242090e-03 2.70779175e+00] [ 2.92316192e-02 1.46059604e-04 9.99572654e-01 5.15012324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:16.94, Y:2.71, Z:0.52 [[ 9.85056239e-01 -1.69840952e-01 -2.86052022e-02 1.69385620e+01] [ 1.69519979e-01 9.85436829e-01 -1.33128501e-02 2.71445489e+00] [ 3.04496869e-02 8.26475283e-03 9.99502131e-01 5.19359339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294391418 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:16.97, Y:2.71, Z:0.52 [[ 9.84297514e-01 -1.73814023e-01 -3.07748110e-02 1.69704074e+01] [ 1.73708821e-01 9.84778288e-01 -6.08016472e-03 2.71137740e+00] [ 3.13631836e-02 6.38834890e-04 9.99507850e-01 5.16039303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:17.01, Y:2.71, Z:0.51 [[ 9.83635873e-01 -1.77621150e-01 -3.01860315e-02 1.70051711e+01] [ 1.77795911e-01 9.84062226e-01 3.18596367e-03 2.71191107e+00] [ 2.91390388e-02 -8.50078112e-03 9.99539220e-01 5.13746500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:17.04, Y:2.72, Z:0.52 [[ 9.83370458e-01 -1.79191569e-01 -2.95452861e-02 1.70374529e+01] [ 1.79117155e-01 9.83814178e-01 -5.16788834e-03 2.72069572e+00] [ 2.99931134e-02 -2.10118885e-04 9.99550083e-01 5.15577620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:17.07, Y:2.73, Z:0.52 [[ 9.82915727e-01 -1.81831258e-01 -2.85318608e-02 1.70696848e+01] [ 1.81763072e-01 9.83329707e-01 -4.98723399e-03 2.72592229e+00] [ 2.89630614e-02 -2.84007954e-04 9.99580442e-01 5.17816433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:17.10, Y:2.74, Z:0.52 [[ 0.98257946 -0.18464659 -0.02105309 17.1030588 ] [ 0.18412288 0.98259572 -0.02458482 2.73861084] [ 0.02522618 0.02028018 0.99947604 0.51897586] [ 0. 0. 0. 1. ]] SLAMing on 19.444391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:17.14, Y:2.72, Z:0.51 [[ 9.82013800e-01 -1.85895574e-01 -3.30413725e-02 1.71353909e+01] [ 1.86479125e-01 9.82336175e-01 1.55298269e-02 2.72375114e+00] [ 2.95708094e-02 -2.14120306e-02 9.99333324e-01 5.12593689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:17.17, Y:2.74, Z:0.52 [[ 9.81644697e-01 -1.88544495e-01 -2.87169350e-02 1.71656148e+01] [ 1.88478559e-01 9.82064524e-01 -5.01034982e-03 2.73822625e+00] [ 2.91465570e-02 -4.94143195e-04 9.99575027e-01 5.20348147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:17.20, Y:2.74, Z:0.52 [[ 9.81146855e-01 -1.90961016e-01 -2.97445708e-02 1.71984958e+01] [ 1.90891478e-01 9.81597445e-01 -5.18655907e-03 2.74293117e+00] [ 3.01876253e-02 -5.89208958e-04 9.99544076e-01 5.20351329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:17.23, Y:2.75, Z:0.52 [[ 9.80858427e-01 -1.92389935e-01 -3.00476118e-02 1.72315008e+01] [ 1.92319757e-01 9.81318347e-01 -5.23564351e-03 2.74861183e+00] [ 3.04935578e-02 -6.43324330e-04 9.99534756e-01 5.21584977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:17.26, Y:2.75, Z:0.52 [[ 9.80662329e-01 -1.93258394e-01 -3.08640611e-02 1.72630397e+01] [ 1.93184901e-01 9.81147651e-01 -5.37403307e-03 2.75363862e+00] [ 3.13207781e-02 -6.92358815e-04 9.99509144e-01 5.21256592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:17.30, Y:2.76, Z:0.52 [[ 9.80068745e-01 -1.96286322e-01 -3.06093958e-02 1.72960578e+01] [ 1.96215609e-01 9.80546308e-01 -5.32655440e-03 2.75763149e+00] [ 3.10594598e-02 -7.85651751e-04 9.99517230e-01 5.21878438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624391418000002 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:17.32, Y:2.77, Z:0.53 [[ 9.80038920e-01 -1.96396815e-01 -3.08546014e-02 1.73235730e+01] [ 1.96029239e-01 9.80490137e-01 -1.45474658e-02 2.76571780e+00] [ 3.31097083e-02 8.20867865e-03 9.99418013e-01 5.25828492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:17.36, Y:2.76, Z:0.52 [[ 9.79401683e-01 -1.99535238e-01 -3.09520916e-02 1.73587694e+01] [ 1.99745551e-01 9.79840328e-01 3.82707072e-03 2.76366363e+00] [ 2.95644722e-02 -9.93078211e-03 9.99513542e-01 5.21057430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:17.39, Y:2.78, Z:0.53 [[ 9.78849076e-01 -2.02312041e-01 -3.04027153e-02 1.73904737e+01] [ 2.02245134e-01 9.79320632e-01 -5.29207010e-03 2.77540901e+00] [ 3.08446558e-02 -9.68663297e-04 9.99523721e-01 5.25386462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714391418 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:17.42, Y:2.78, Z:0.53 [[ 9.78607772e-01 -2.03447651e-01 -3.05921972e-02 1.74232784e+01] [ 2.03380575e-01 9.79085300e-01 -5.32137460e-03 2.78199206e+00] [ 3.10349918e-02 -1.01432014e-03 9.99517784e-01 5.26612011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744391418 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:17.45, Y:2.79, Z:0.53 [[ 9.78433528e-01 -2.04293266e-01 -3.05301909e-02 1.74543290e+01] [ 2.04226985e-01 9.78909176e-01 -5.30699167e-03 2.78785546e+00] [ 3.09704667e-02 -1.04255025e-03 9.99519756e-01 5.27499411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774391418 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:17.49, Y:2.79, Z:0.53 [[ 9.78309331e-01 -2.04792982e-01 -3.11558380e-02 1.74870399e+01] [ 2.04724311e-01 9.78804710e-01 -5.41255026e-03 2.79348538e+00] [ 3.16039333e-02 -1.08320902e-03 9.99499884e-01 5.27555546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:17.52, Y:2.80, Z:0.53 [[ 9.77997976e-01 -2.06200865e-01 -3.16411616e-02 1.75197752e+01] [ 2.06130903e-01 9.78509009e-01 -5.49280186e-03 2.79991341e+00] [ 3.20937821e-02 -1.15027210e-03 9.99484200e-01 5.28095671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834391418 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:17.55, Y:2.81, Z:0.53 [[ 9.77691073e-01 -2.07846647e-01 -3.03304745e-02 1.75506984e+01] [ 2.07783264e-01 9.78160739e-01 -5.26163938e-03 2.80724774e+00] [ 3.07616934e-02 -1.15790713e-03 9.99526076e-01 5.30313080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:17.58, Y:2.82, Z:0.53 [[ 9.77500816e-01 -2.08889786e-01 -2.92781954e-02 1.75814644e+01] [ 2.08765629e-01 9.77938684e-01 -7.26922533e-03 2.81619618e+00] [ 3.01507468e-02 9.93392798e-04 9.99544869e-01 5.31508543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:17.61, Y:2.82, Z:0.53 [[ 9.77712789e-01 -2.07602498e-01 -3.12874531e-02 1.76131055e+01] [ 2.07604052e-01 9.78207593e-01 -3.23464604e-03 2.82010928e+00] [ 3.12771448e-02 -3.33284723e-03 9.99505194e-01 5.31845538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:17.64, Y:2.83, Z:0.53 [[ 9.77860248e-01 -2.06993049e-01 -3.07117654e-02 1.76448473e+01] [ 2.06928158e-01 9.78341724e-01 -5.31120156e-03 2.82949030e+00] [ 3.11459833e-02 -1.16151618e-03 9.99514171e-01 5.32729134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:17.68, Y:2.84, Z:0.53 [[ 9.77914848e-01 -2.06746672e-01 -3.06327342e-02 1.76759510e+01] [ 2.06682108e-01 9.78393827e-01 -5.29387158e-03 2.83676036e+00] [ 3.10653684e-02 -1.15428246e-03 9.99516688e-01 5.34154778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:17.71, Y:2.84, Z:0.54 [[ 9.77976321e-01 -2.06409142e-01 -3.09448082e-02 1.77084500e+01] [ 2.06343186e-01 9.78465086e-01 -5.34462984e-03 2.84474072e+00] [ 3.13815949e-02 -1.15832889e-03 9.99506805e-01 5.35363465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014391418 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:17.74, Y:2.85, Z:0.54 [[ 9.78077260e-01 -2.05543000e-01 -3.34207903e-02 1.77402415e+01] [ 2.05465707e-01 9.78647318e-01 -5.76799015e-03 2.85253112e+00] [ 3.38927368e-02 -1.22528628e-03 9.99424725e-01 5.35145826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:17.77, Y:2.86, Z:0.54 [[ 9.77876102e-01 -2.06570209e-01 -3.29708641e-02 1.77712602e+01] [ 2.06495693e-01 9.78430985e-01 -5.68653060e-03 2.86095247e+00] [ 3.34343828e-02 -1.24761903e-03 9.99440136e-01 5.37082593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:17.80, Y:2.87, Z:0.54 [[ 9.77378183e-01 -2.08827578e-01 -3.35101603e-02 1.78028072e+01] [ 2.08752046e-01 9.77951543e-01 -5.77606225e-03 2.87232594e+00] [ 3.39775140e-02 -1.34991728e-03 9.99421686e-01 5.38459974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:17.83, Y:2.88, Z:0.54 [[ 9.77068125e-01 -2.10203836e-01 -3.39444680e-02 1.78348264e+01] [ 2.10127310e-01 9.77656551e-01 -5.84660411e-03 2.88013828e+00] [ 3.44150101e-02 -1.42012925e-03 9.99406619e-01 5.39149608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:17.87, Y:2.89, Z:0.54 [[ 9.76812949e-01 -2.11386151e-01 -3.39463804e-02 1.78673654e+01] [ 2.11310477e-01 9.77401527e-01 -5.84266282e-03 2.88746794e+00] [ 3.44143021e-02 -1.46603712e-03 9.99406577e-01 5.39367046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:17.90, Y:2.90, Z:0.54 [[ 9.76436301e-01 -2.13047957e-01 -3.43906580e-02 1.78986716e+01] [ 2.12971504e-01 9.77040514e-01 -5.91374787e-03 2.89690500e+00] [ 3.48609781e-02 -1.54983208e-03 9.99390970e-01 5.39354333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:17.93, Y:2.90, Z:0.54 [[ 9.76238909e-01 -2.14052399e-01 -3.37514760e-02 1.79301772e+01] [ 2.13979713e-01 9.76820924e-01 -5.79355149e-03 2.90497963e+00] [ 3.42092716e-02 -1.56624075e-03 9.99413464e-01 5.40849700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:17.96, Y:2.91, Z:0.54 [[ 9.75955123e-01 -2.15299700e-01 -3.40240634e-02 1.79610621e+01] [ 2.15226950e-01 9.76546656e-01 -5.82992477e-03 2.91346739e+00] [ 3.44812664e-02 -1.63315044e-03 9.99404010e-01 5.41894882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:17.99, Y:2.92, Z:0.54 [[ 9.75984414e-01 -2.15166634e-01 -3.40256270e-02 1.79941392e+01] [ 2.15094122e-01 9.76575976e-01 -5.82078542e-03 2.91899597e+00] [ 3.44810488e-02 -1.63771651e-03 9.99404010e-01 5.42877814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:18.03, Y:2.93, Z:0.55 [[ 9.75081627e-01 -2.19252062e-01 -3.38283143e-02 1.80257179e+01] [ 2.19182996e-01 9.75666633e-01 -5.78239480e-03 2.93066944e+00] [ 3.42729595e-02 -1.77628435e-03 9.99410931e-01 5.45278316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:18.06, Y:2.94, Z:0.55 [[ 9.74723789e-01 -2.20819754e-01 -3.39436378e-02 1.80565124e+01] [ 2.20751340e-01 9.75312894e-01 -5.79699033e-03 2.93813586e+00] [ 3.43857576e-02 -1.84263914e-03 9.99406936e-01 5.46543663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:18.09, Y:2.95, Z:0.55 [[ 9.74329938e-01 -2.22569308e-01 -3.38241765e-02 1.80890758e+01] [ 2.22502747e-01 9.74915005e-01 -5.76719051e-03 2.94539311e+00] [ 3.42592968e-02 -1.90682583e-03 9.99411159e-01 5.47606354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374391418000002 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:18.12, Y:2.95, Z:0.55 [[ 9.73858707e-01 -2.24671879e-01 -3.34927663e-02 1.81216156e+01] [ 2.24608023e-01 9.74432492e-01 -5.70568873e-03 2.95282408e+00] [ 3.39183475e-02 -1.96620938e-03 9.99422673e-01 5.48762993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:18.15, Y:2.96, Z:0.55 [[ 9.73513192e-01 -2.26254893e-01 -3.28753357e-02 1.81530233e+01] [ 2.26194626e-01 9.74066089e-01 -5.58981580e-03 2.95991373e+00] [ 3.32874729e-02 -1.99446482e-03 9.99443828e-01 5.50160471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:18.18, Y:2.97, Z:0.55 [[ 9.72526703e-01 -2.30487896e-01 -3.26671350e-02 1.81847763e+01] [ 2.30431099e-01 9.73072849e-01 -5.54429691e-03 2.96967197e+00] [ 3.30653955e-02 -2.13554704e-03 9.99450909e-01 5.51679973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464391418 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:18.22, Y:2.98, Z:0.55 [[ 9.72163899e-01 -2.31996129e-01 -3.27894864e-02 1.82165424e+01] [ 2.31940111e-01 9.72714209e-01 -5.55448715e-03 2.97651626e+00] [ 3.31834188e-02 -2.20532522e-03 9.99446846e-01 5.51433779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:18.25, Y:2.98, Z:0.55 [[ 9.71746208e-01 -2.33605187e-01 -3.37331252e-02 1.82493053e+01] [ 2.33547223e-01 9.72328731e-01 -5.70379616e-03 2.98319742e+00] [ 3.41321232e-02 -2.33563543e-03 9.99414600e-01 5.51075221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:18.28, Y:2.99, Z:0.55 [[ 9.70662212e-01 -2.38093027e-01 -3.35645734e-02 1.82799689e+01] [ 2.38038675e-01 9.71239159e-01 -5.66444953e-03 2.99187657e+00] [ 3.39478940e-02 -2.49139947e-03 9.99420499e-01 5.52678723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554391418 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:18.31, Y:3.00, Z:0.55 [[ 9.70512686e-01 -2.38607850e-01 -3.42260082e-02 1.83128518e+01] [ 2.38552023e-01 9.71112606e-01 -5.76538515e-03 2.99858676e+00] [ 3.46129742e-02 -2.56930408e-03 9.99397489e-01 5.52355754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:18.34, Y:3.01, Z:0.55 [[ 9.70106359e-01 -2.40378007e-01 -3.33476684e-02 1.83438910e+01] [ 2.40326398e-01 9.70675942e-01 -5.60701959e-03 3.00553456e+00] [ 3.37175836e-02 -2.57491967e-03 9.99428084e-01 5.54588170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:18.38, Y:3.01, Z:0.56 [[ 9.69934380e-01 -2.41045523e-01 -3.35313887e-02 1.83762671e+01] [ 2.40994086e-01 9.70510267e-01 -5.62773411e-03 3.01199057e+00] [ 3.38990972e-02 -2.62233359e-03 9.99421820e-01 5.55402516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:18.41, Y:3.02, Z:0.56 [[ 9.70237772e-01 -2.39584436e-01 -3.51847216e-02 1.84088031e+01] [ 2.39527262e-01 9.70871751e-01 -5.89359981e-03 3.01764370e+00] [ 3.55718670e-02 -2.70950686e-03 9.99363448e-01 5.55190095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:18.44, Y:3.02, Z:0.56 [[ 9.70304029e-01 -2.39419404e-01 -3.44737712e-02 1.84414615e+01] [ 2.39364786e-01 9.70912600e-01 -5.76381451e-03 3.02461371e+00] [ 3.48509879e-02 -2.65915441e-03 9.99388982e-01 5.56749924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:18.47, Y:3.03, Z:0.56 [[ 9.70590608e-01 -2.38167934e-01 -3.50700433e-02 1.84735614e+01] [ 2.38110993e-01 9.71220317e-01 -5.85238134e-03 3.03021481e+00] [ 3.54545881e-02 -2.67029646e-03 9.99367721e-01 5.56368981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:18.51, Y:3.04, Z:0.56 [[ 9.70548944e-01 -2.38445181e-01 -3.43313792e-02 1.85063835e+01] [ 2.38391132e-01 9.71152388e-01 -5.71910995e-03 3.03656263e+00] [ 3.47046951e-02 -2.63362025e-03 9.99394141e-01 5.58751650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:18.54, Y:3.04, Z:0.56 [[ 9.70866598e-01 -2.37111682e-01 -3.45846546e-02 1.85389403e+01] [ 2.37056367e-01 9.71478878e-01 -5.75058208e-03 3.04214151e+00] [ 3.49617917e-02 -2.61546454e-03 9.99385227e-01 5.59111438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:18.57, Y:3.05, Z:0.56 [[ 9.71110023e-01 -2.36178771e-01 -3.41308080e-02 1.85712481e+01] [ 2.36124686e-01 9.71706254e-01 -5.66466949e-03 3.04701040e+00] [ 3.45029943e-02 -2.55810900e-03 9.99401321e-01 5.59565434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:18.60, Y:3.05, Z:0.56 [[ 9.71233714e-01 -2.35581408e-01 -3.47343284e-02 1.86041163e+01] [ 2.35525423e-01 9.71851159e-01 -5.75317465e-03 3.05137512e+00] [ 3.51119383e-02 -2.59314022e-03 9.99380022e-01 5.58543266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:18.64, Y:3.06, Z:0.56 [[ 9.71068837e-01 -2.36362674e-01 -3.40294085e-02 1.86362232e+01] [ 2.36309778e-01 9.71661483e-01 -5.62587920e-03 3.05647017e+00] [ 3.43948134e-02 -2.57836598e-03 9.99404997e-01 5.60775772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:18.67, Y:3.06, Z:0.56 [[ 9.71033515e-01 -2.36504777e-01 -3.40499999e-02 1.86692630e+01] [ 2.36452168e-01 9.71626867e-01 -5.62160674e-03 3.06161242e+00] [ 3.44134316e-02 -2.59242776e-03 9.99404320e-01 5.61931157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:18.70, Y:3.07, Z:0.56 [[ 9.70888789e-01 -2.37111505e-01 -3.39572343e-02 1.87014751e+01] [ 2.37059933e-01 9.71478915e-01 -5.59518188e-03 3.06674141e+00] [ 3.43154192e-02 -2.61760033e-03 9.99407625e-01 5.64143497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:18.73, Y:3.07, Z:0.56 [[ 9.70907394e-01 -2.37016894e-01 -3.40855529e-02 1.87329434e+01] [ 2.36965253e-01 9.71501955e-01 -5.60529226e-03 3.07103782e+00] [ 3.44427302e-02 -2.63487197e-03 9.99403200e-01 5.63726599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:18.77, Y:3.08, Z:0.57 [[ 9.70806487e-01 -2.37535491e-01 -3.33415018e-02 1.87657080e+01] [ 2.37486720e-01 9.71375368e-01 -5.47293739e-03 3.07537434e+00] [ 3.36871304e-02 -2.60500079e-03 9.99429033e-01 5.65907216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:18.80, Y:3.08, Z:0.57 [[ 9.70544791e-01 -2.38585216e-01 -3.34649556e-02 1.87987569e+01] [ 2.38537069e-01 9.71117918e-01 -5.48241067e-03 3.07739423e+00] [ 3.38064401e-02 -2.66170728e-03 9.99424855e-01 5.65362640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:18.83, Y:3.08, Z:0.56 [[ 9.70426877e-01 -2.38994246e-01 -3.39621311e-02 1.88319211e+01] [ 2.38945288e-01 9.71017155e-01 -5.55275133e-03 3.08112100e+00] [ 3.43048876e-02 -2.72655208e-03 9.99407695e-01 5.64755175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064391418 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:18.86, Y:3.08, Z:0.57 [[ 9.70122100e-01 -2.40349449e-01 -3.30946229e-02 1.88646504e+01] [ 2.40304092e-01 9.70682635e-01 -5.40046273e-03 3.08499645e+00] [ 3.34223740e-02 -2.71366505e-03 9.99437632e-01 5.66491419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:18.90, Y:3.09, Z:0.57 [[ 9.69821193e-01 -2.41592056e-01 -3.28653715e-02 1.88976296e+01] [ 2.41548384e-01 9.70374015e-01 -5.35250309e-03 3.08897144e+00] [ 3.31848247e-02 -2.74760643e-03 9.99445455e-01 5.67801509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:18.93, Y:3.09, Z:0.57 [[ 9.69466416e-01 -2.42940739e-01 -3.33866002e-02 1.89307360e+01] [ 2.42896831e-01 9.70036949e-01 -5.42650627e-03 3.09236705e+00] [ 3.37045553e-02 -2.84868380e-03 9.99427780e-01 5.68660459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154391418 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:18.96, Y:3.10, Z:0.57 [[ 9.69518767e-01 -2.42620851e-01 -3.41830788e-02 1.89639873e+01] [ 2.42575014e-01 9.70116806e-01 -5.54476305e-03 3.09700926e+00] [ 3.45068544e-02 -2.91620900e-03 9.99400206e-01 5.68929158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184391418 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:19.00, Y:3.10, Z:0.57 [[ 9.69440990e-01 -2.43064433e-01 -3.32242223e-02 1.89969083e+01] [ 2.43021749e-01 9.70005929e-01 -5.37849235e-03 3.10166783e+00] [ 3.35350128e-02 -2.86007765e-03 9.99433451e-01 5.70834218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:19.03, Y:3.10, Z:0.57 [[ 9.69518739e-01 -2.42760561e-01 -3.31771612e-02 1.90297576e+01] [ 2.42718187e-01 9.70082034e-01 -5.35995883e-03 3.10446499e+00] [ 3.34857547e-02 -2.85611989e-03 9.99435114e-01 5.70915055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:19.06, Y:3.11, Z:0.57 [[ 9.69415813e-01 -2.43229680e-01 -3.27460564e-02 1.90615155e+01] [ 2.43189016e-01 9.69964549e-01 -5.27969837e-03 3.10829600e+00] [ 3.30466932e-02 -2.84525815e-03 9.99449759e-01 5.73343889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:19.09, Y:3.11, Z:0.57 [[ 9.69460305e-01 -2.43023217e-01 -3.29610790e-02 1.90942376e+01] [ 2.42982241e-01 9.70016235e-01 -5.30411316e-03 3.11220363e+00] [ 3.32618044e-02 -2.86682968e-03 9.99442561e-01 5.72574043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:19.13, Y:3.12, Z:0.58 [[ 9.69296858e-01 -2.43794179e-01 -3.20624224e-02 1.91274105e+01] [ 2.43756152e-01 9.69822882e-01 -5.14934165e-03 3.11614085e+00] [ 3.23502504e-02 -2.82417203e-03 9.99472604e-01 5.75245939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334391418 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:19.16, Y:3.12, Z:0.58 [[ 9.69009495e-01 -2.44929120e-01 -3.20986613e-02 1.91596586e+01] [ 2.44891961e-01 9.69536724e-01 -5.14478342e-03 3.11832660e+00] [ 3.23809382e-02 -2.87536013e-03 9.99471464e-01 5.75770781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364391418 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:19.19, Y:3.12, Z:0.58 [[ 9.69398690e-01 -2.43569417e-01 -3.06613741e-02 1.91928762e+01] [ 2.43370268e-01 9.69880613e-01 -1.01246604e-02 3.12314457e+00] [ 3.22039299e-02 2.35276567e-03 9.99478550e-01 5.75626147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394391418 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:19.23, Y:3.12, Z:0.58 [[ 9.69269322e-01 -2.44000911e-01 -3.13135289e-02 1.92264808e+01] [ 2.43961976e-01 9.69771300e-01 -5.11669378e-03 3.12471221e+00] [ 3.16154395e-02 -2.67985606e-03 9.99496514e-01 5.75635862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:19.26, Y:3.13, Z:0.58 [[ 9.68794252e-01 -2.45684371e-01 -3.28159628e-02 1.92577653e+01] [ 2.45827822e-01 9.69313448e-01 3.47887642e-04 3.12607806e+00] [ 3.17234835e-02 -8.40410823e-03 9.99461351e-01 5.76434933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454391418 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:19.29, Y:3.13, Z:0.58 [[ 9.68807563e-01 -2.45741777e-01 -3.19825679e-02 1.92901315e+01] [ 2.45706336e-01 9.69330923e-01 -5.09489061e-03 3.13275482e+00] [ 3.22537196e-02 -2.92235102e-03 9.99475441e-01 5.78873138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:19.32, Y:3.14, Z:0.58 [[ 9.69216856e-01 -2.44162194e-01 -3.16782054e-02 1.93234021e+01] [ 2.43889689e-01 9.69725509e-01 -1.22579608e-02 3.13866855e+00] [ 3.37120945e-02 4.15463454e-03 9.99422950e-01 5.78684936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514391418 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:19.35, Y:3.14, Z:0.58 [[ 9.68814213e-01 -2.45479920e-01 -3.37435787e-02 1.93549176e+01] [ 2.45685703e-01 9.69347418e-01 2.02926036e-03 3.13648458e+00] [ 3.22111082e-02 -1.02562911e-02 9.99428463e-01 5.78153134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:19.39, Y:3.14, Z:0.58 [[ 9.68974998e-01 -2.45383754e-01 -2.95680115e-02 1.93864997e+01] [ 2.45054491e-01 9.69403193e-01 -1.43438639e-02 3.14490977e+00] [ 3.21830759e-02 6.65307151e-03 9.99459847e-01 5.81008749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:19.42, Y:3.14, Z:0.58 [[ 9.68877393e-01 -2.45541867e-01 -3.13972872e-02 1.94204088e+01] [ 2.45516578e-01 9.69380910e-01 -4.71816047e-03 3.14334739e+00] [ 3.15944368e-02 -3.13723548e-03 9.99495848e-01 5.79170791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:19.45, Y:3.14, Z:0.58 [[ 9.68567560e-01 -2.46388482e-01 -3.41993848e-02 1.94516188e+01] [ 2.46659971e-01 9.69094265e-01 3.89426481e-03 3.14307102e+00] [ 3.21829257e-02 -1.22074778e-02 9.99407443e-01 5.78263795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:19.48, Y:3.15, Z:0.58 [[ 9.68437275e-01 -2.47169123e-01 -3.21973391e-02 1.94827967e+01] [ 2.47135529e-01 9.68967599e-01 -5.08155921e-03 3.15105526e+00] [ 3.24541829e-02 -3.03593509e-03 9.99468613e-01 5.84089175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:19.52, Y:3.15, Z:0.59 [[ 9.68234853e-01 -2.47950301e-01 -3.22787519e-02 1.95156658e+01] [ 2.47917281e-01 9.68767860e-01 -5.08478503e-03 3.15379008e+00] [ 3.25313914e-02 -3.07919430e-03 9.99465971e-01 5.85117035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:19.55, Y:3.16, Z:0.59 [[ 9.68140653e-01 -2.48326341e-01 -3.22134291e-02 1.95480950e+01] [ 2.48293805e-01 9.68671503e-01 -5.07005607e-03 3.15683474e+00] [ 3.24632592e-02 -3.08986748e-03 9.99468153e-01 5.86139558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:19.58, Y:3.16, Z:0.59 [[ 9.67895655e-01 -2.49232304e-01 -3.25769890e-02 1.95800789e+01] [ 2.49199862e-01 9.68438558e-01 -5.11739704e-03 3.15940557e+00] [ 3.28242329e-02 -3.16507481e-03 9.99456128e-01 5.86205495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754391418 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:19.61, Y:3.16, Z:0.59 [[ 9.67070715e-01 -2.52454260e-01 -3.22657550e-02 1.96140177e+01] [ 2.52424413e-01 9.67603374e-01 -5.06220881e-03 3.15926783e+00] [ 3.24984296e-02 -3.24915038e-03 9.99466505e-01 5.87216924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:19.65, Y:3.16, Z:0.59 [[ 9.66820856e-01 -2.53380898e-01 -3.24892866e-02 1.96456195e+01] [ 2.53351295e-01 9.67360937e-01 -5.09298180e-03 3.16196641e+00] [ 3.27193311e-02 -3.30720182e-03 9.99459108e-01 5.87026609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814391418 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:19.68, Y:3.17, Z:0.59 [[ 9.66418246e-01 -2.55048703e-01 -3.13995645e-02 1.96782096e+01] [ 2.55022116e-01 9.66922723e-01 -4.91602515e-03 3.16529163e+00] [ 3.16147782e-02 -3.25664697e-03 9.99494822e-01 5.89879459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844391418 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:19.71, Y:3.17, Z:0.59 [[ 9.65958087e-01 -2.56786291e-01 -3.13970490e-02 1.97105870e+01] [ 2.56760748e-01 9.66462517e-01 -4.91143469e-03 3.16618330e+00] [ 3.16052601e-02 -3.31728973e-03 9.99494924e-01 5.90656191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:19.75, Y:3.17, Z:0.59 [[ 9.66418655e-01 -2.55141119e-01 -3.06266689e-02 1.97452027e+01] [ 2.54946034e-01 9.66901696e-01 -1.01799327e-02 3.16939540e+00] [ 3.22102975e-02 2.02992914e-03 9.99479052e-01 5.90561877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904391418 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:19.78, Y:3.17, Z:0.59 [[ 9.65832210e-01 -2.57049616e-01 -3.30701946e-02 1.97756367e+01] [ 2.57204165e-01 9.66356988e-01 4.34675296e-04 3.16905281e+00] [ 3.18458805e-02 -8.92561519e-03 9.99452937e-01 5.89993080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934391418 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:19.81, Y:3.17, Z:0.59 [[ 9.66375734e-01 -2.54828930e-01 -3.43534322e-02 1.98087163e+01] [ 2.54797954e-01 9.66979513e-01 -5.35011953e-03 3.17382526e+00] [ 3.45824304e-02 -3.58295853e-03 9.99395426e-01 5.90642822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:19.84, Y:3.18, Z:0.59 [[ 9.67287157e-01 -2.51547471e-01 -3.28546165e-02 1.98426408e+01] [ 2.51326590e-01 9.67842581e-01 -1.07556145e-02 3.17913820e+00] [ 3.45036445e-02 2.14652910e-03 9.99402267e-01 5.93773947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:19.87, Y:3.18, Z:0.59 [[ 9.67362528e-01 -2.50826471e-01 -3.59975123e-02 1.98724786e+01] [ 2.51000160e-01 9.67986993e-01 3.16358293e-04 3.18010483e+00] [ 3.47657727e-02 -9.34141452e-03 9.99351829e-01 5.92636950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:19.90, Y:3.19, Z:0.60 [[ 9.68438694e-01 -2.46979797e-01 -3.35779196e-02 1.99049130e+01] [ 2.46946037e-01 9.69015205e-01 -5.21417133e-03 3.18654233e+00] [ 3.38253097e-02 -3.24232891e-03 9.99422501e-01 5.97445893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054391418 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:19.94, Y:3.19, Z:0.60 [[ 9.69192441e-01 -2.44015207e-01 -3.35050862e-02 1.99378113e+01] [ 2.43979978e-01 9.69766335e-01 -5.19868788e-03 3.19016354e+00] [ 3.37606635e-02 -3.13604121e-03 9.99425026e-01 5.98090452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:19.97, Y:3.20, Z:0.60 [[ 9.70314313e-01 -2.39633082e-01 -3.26514890e-02 1.99700718e+01] [ 2.39403806e-01 9.70859830e-01 -1.08170707e-02 3.19604874e+00] [ 3.42921471e-02 2.67906776e-03 9.99408261e-01 5.98271032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:20.00, Y:3.20, Z:0.60 [[ 9.71061073e-01 -2.36388271e-01 -3.40731197e-02 2.00034168e+01] [ 2.36541677e-01 9.71621222e-01 4.85836615e-04 3.19534176e+00] [ 3.29913201e-02 -8.53148988e-03 9.99419225e-01 5.97172546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:20.03, Y:3.20, Z:0.60 [[ 9.72857272e-01 -2.29123760e-01 -3.24196122e-02 2.00342881e+01] [ 2.29083157e-01 9.73393956e-01 -5.01141236e-03 3.20399522e+00] [ 3.27052882e-02 -2.55139815e-03 9.99461782e-01 6.02103569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:20.07, Y:3.21, Z:0.60 [[ 9.72889895e-01 -2.28984986e-01 -3.24210992e-02 2.00674468e+01] [ 2.28944625e-01 9.73426598e-01 -5.00177419e-03 3.20898308e+00] [ 3.27048915e-02 -2.55646083e-03 9.99461782e-01 6.03125937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:20.10, Y:3.21, Z:0.60 [[ 9.73862883e-01 -2.24659269e-01 -3.34559070e-02 2.00998217e+01] [ 2.24613920e-01 9.74434194e-01 -5.15645960e-03 3.21480195e+00] [ 3.37590262e-02 -2.49297781e-03 9.99426892e-01 6.02956815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:20.13, Y:3.22, Z:0.60 [[ 9.75552553e-01 -2.16939847e-01 -3.51328750e-02 2.01317765e+01] [ 2.16885017e-01 9.76182165e-01 -5.41024427e-03 3.22140187e+00] [ 3.54697835e-02 -2.34181658e-03 9.99368005e-01 6.03791260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:20.16, Y:3.23, Z:0.61 [[ 9.76229109e-01 -2.13997560e-01 -3.43769093e-02 2.01630313e+01] [ 2.13943392e-01 9.76831738e-01 -5.28964987e-03 3.22646988e+00] [ 3.47124282e-02 -2.19080240e-03 9.99394941e-01 6.06526481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294391418 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:20.20, Y:3.23, Z:0.61 [[ 9.76838606e-01 -2.11190128e-01 -3.44248116e-02 2.01955934e+01] [ 2.11134200e-01 9.77442750e-01 -5.29333572e-03 3.23095785e+00] [ 3.47661828e-02 -2.09752037e-03 9.99393272e-01 6.07577570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:20.23, Y:3.24, Z:0.61 [[ 9.77248591e-01 -2.09251599e-01 -3.46260019e-02 2.02286501e+01] [ 2.09193954e-01 9.77859697e-01 -5.31995786e-03 3.23583008e+00] [ 3.49725814e-02 -2.04462894e-03 9.99386181e-01 6.08904375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:20.26, Y:3.24, Z:0.61 [[ 9.77853408e-01 -2.06462493e-01 -3.42921511e-02 2.02603810e+01] [ 2.06404387e-01 9.78452612e-01 -5.26455445e-03 3.24222480e+00] [ 3.46401778e-02 -1.93008790e-03 9.99397985e-01 6.10822704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:20.29, Y:3.25, Z:0.61 [[ 9.78072396e-01 -2.05420549e-01 -3.43043074e-02 2.02925810e+01] [ 2.05361887e-01 9.78671956e-01 -5.26284105e-03 3.24812511e+00] [ 3.46537594e-02 -1.89735774e-03 9.99397577e-01 6.12179356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:20.32, Y:3.25, Z:0.61 [[ 9.78401840e-01 -2.03842311e-01 -3.43242106e-02 2.03246747e+01] [ 2.03782752e-01 9.79001993e-01 -5.26185456e-03 3.25346991e+00] [ 3.46760592e-02 -1.84647392e-03 9.99396899e-01 6.12348548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444391418 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:20.36, Y:3.26, Z:0.61 [[ 9.78590753e-01 -2.02949929e-01 -3.42266642e-02 2.03568729e+01] [ 2.02890284e-01 9.79187438e-01 -5.24343135e-03 3.25898717e+00] [ 3.45784737e-02 -1.81308418e-03 9.99400341e-01 6.13683156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:20.39, Y:3.26, Z:0.62 [[ 9.78675043e-01 -2.02337151e-01 -3.54236817e-02 2.03880708e+01] [ 2.02273012e-01 9.79314160e-01 -5.42261350e-03 3.26381759e+00] [ 3.57881093e-02 -1.85827829e-03 9.99357673e-01 6.15699063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504391418 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:20.42, Y:3.27, Z:0.62 [[ 9.78715272e-01 -2.02041352e-01 -3.59959491e-02 2.04211238e+01] [ 2.01975057e-01 9.79375186e-01 -5.50654637e-03 3.26878267e+00] [ 3.63660894e-02 -1.88094285e-03 9.99336765e-01 6.15100028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:20.45, Y:3.27, Z:0.62 [[ 9.78656148e-01 -2.02400368e-01 -3.55842024e-02 2.04532552e+01] [ 2.02335966e-01 9.79301062e-01 -5.43943134e-03 3.27391430e+00] [ 3.59485901e-02 -1.87663105e-03 9.99351879e-01 6.17789253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:20.48, Y:3.28, Z:0.62 [[ 9.78296273e-01 -2.04338900e-01 -3.43804709e-02 2.04847275e+01] [ 2.04280112e-01 9.78898390e-01 -5.25146234e-03 3.27870445e+00] [ 3.47280657e-02 -1.88576043e-03 9.99395020e-01 6.20102863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:20.52, Y:3.28, Z:0.62 [[ 9.77951718e-01 -2.06096030e-01 -3.36877234e-02 2.05170448e+01] [ 2.06040741e-01 9.78529902e-01 -5.14226995e-03 3.28325475e+00] [ 3.40242461e-02 -1.91215178e-03 9.99419178e-01 6.21403504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:20.55, Y:3.29, Z:0.62 [[ 9.77561110e-01 -2.08011288e-01 -3.32502580e-02 2.05497433e+01] [ 2.07958656e-01 9.78124468e-01 -5.07170833e-03 3.28733670e+00] [ 3.35778635e-02 -1.95677414e-03 9.99434189e-01 6.22679633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:20.58, Y:3.29, Z:0.62 [[ 9.77090716e-01 -2.10209427e-01 -3.32525231e-02 2.05819625e+01] [ 2.10158188e-01 9.77654259e-01 -5.06810388e-03 3.29099619e+00] [ 3.35748340e-02 -2.03629274e-03 9.99434132e-01 6.23659188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:20.62, Y:3.29, Z:0.62 [[ 9.76058302e-01 -2.14691638e-01 -3.48954502e-02 2.06153425e+01] [ 2.14638192e-01 9.76679169e-01 -5.31477419e-03 3.29337108e+00] [ 3.52226969e-02 -2.30236688e-03 9.99376836e-01 6.22251704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:20.65, Y:3.30, Z:0.63 [[ 9.75328494e-01 -2.17862163e-01 -3.56427751e-02 2.06479722e+01] [ 2.17808667e-01 9.75976415e-01 -5.42420256e-03 3.29822720e+00] [ 3.59682364e-02 -2.47292601e-03 9.99349874e-01 6.26175687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:20.68, Y:3.30, Z:0.63 [[ 9.74852567e-01 -2.19631511e-01 -3.77421873e-02 2.06802279e+01] [ 2.19573031e-01 9.75579187e-01 -5.73888572e-03 3.30287943e+00] [ 3.80809325e-02 -2.69259897e-03 9.99271031e-01 6.25098816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:20.71, Y:3.31, Z:0.63 [[ 9.73807393e-01 -2.24029343e-01 -3.88588960e-02 2.07128874e+01] [ 2.23971021e-01 9.74577922e-01 -5.90381114e-03 3.30741829e+00] [ 3.91936491e-02 -2.95409169e-03 9.99227267e-01 6.28711821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:20.75, Y:3.31, Z:0.63 [[ 9.73558686e-01 -2.25110113e-01 -3.88448320e-02 2.07460985e+01] [ 2.25052877e-01 9.74328707e-01 -5.89685043e-03 3.31148248e+00] [ 3.91750756e-02 -3.00121125e-03 9.99227855e-01 6.29991622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:20.78, Y:3.32, Z:0.63 [[ 9.73235231e-01 -2.26501832e-01 -3.88600758e-02 2.07777702e+01] [ 2.26445836e-01 9.74005923e-01 -5.89450137e-03 3.31513197e+00] [ 3.91850593e-02 -3.06296594e-03 9.99227276e-01 6.29722963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:20.81, Y:3.32, Z:0.63 [[ 9.73237693e-01 -2.26545826e-01 -3.85406493e-02 2.08102057e+01] [ 2.26490939e-01 9.73995753e-01 -5.84195704e-03 3.32033826e+00] [ 3.88618997e-02 -3.04349506e-03 9.99239956e-01 6.31438625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:20.84, Y:3.33, Z:0.64 [[ 9.73255206e-01 -2.26498590e-01 -3.83756717e-02 2.08427115e+01] [ 2.26444316e-01 9.74006771e-01 -5.81229686e-03 3.32605423e+00] [ 3.86946411e-02 -3.03310456e-03 9.99246479e-01 6.35230096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:20.87, Y:3.33, Z:0.64 [[ 9.73837868e-01 -2.24074240e-01 -3.78225045e-02 2.08741669e+01] [ 2.24019879e-01 9.74567766e-01 -5.72385072e-03 3.33184043e+00] [ 3.81431612e-02 -2.89889029e-03 9.99268080e-01 6.37678884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:20.91, Y:3.34, Z:0.64 [[ 9.74340886e-01 -2.21911563e-01 -3.76177639e-02 2.09069694e+01] [ 2.21856344e-01 9.75062768e-01 -5.68870670e-03 3.33732595e+00] [ 3.79420708e-02 -2.80300004e-03 9.99276009e-01 6.39472321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:20.94, Y:3.34, Z:0.64 [[ 9.74735825e-01 -2.20143256e-01 -3.77758952e-02 2.09379734e+01] [ 2.20086429e-01 9.75463676e-01 -5.70794363e-03 3.34312371e+00] [ 3.81055789e-02 -2.75022475e-03 9.99269934e-01 6.40900291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:20.97, Y:3.35, Z:0.64 [[ 9.75590291e-01 -2.16091140e-01 -3.90922357e-02 2.09702481e+01] [ 2.16027220e-01 9.76369500e-01 -5.90243698e-03 3.34898088e+00] [ 3.94439310e-02 -2.68662679e-03 9.99218174e-01 6.39603791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044391418 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:21.00, Y:3.35, Z:0.64 [[ 9.75675802e-01 -2.15903589e-01 -3.79785396e-02 2.10026821e+01] [ 2.15843294e-01 9.76411206e-01 -5.72967143e-03 3.35474676e+00] [ 3.83197282e-02 -2.60711133e-03 9.99262128e-01 6.44384413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:21.04, Y:3.36, Z:0.65 [[ 9.75824162e-01 -2.15217029e-01 -3.80635801e-02 2.10354231e+01] [ 2.15156125e-01 9.76562809e-01 -5.73779729e-03 3.36016853e+00] [ 3.84063484e-02 -2.59053117e-03 9.99258846e-01 6.45423526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104391418 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:21.07, Y:3.37, Z:0.65 [[ 9.75944347e-01 -2.14653536e-01 -3.81640022e-02 2.10680384e+01] [ 2.14592064e-01 9.76686851e-01 -5.74821354e-03 3.36509151e+00] [ 3.85081534e-02 -2.57975547e-03 9.99254956e-01 6.46646755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:21.10, Y:3.37, Z:0.65 [[ 9.76032008e-01 -2.13981705e-01 -3.96654583e-02 2.10999181e+01] [ 2.13914947e-01 9.76834050e-01 -5.96944240e-03 3.36919339e+00] [ 4.00239217e-02 -2.65866754e-03 9.99195185e-01 6.45169636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164391418 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:21.13, Y:3.37, Z:0.65 [[ 9.76049100e-01 -2.13814217e-01 -4.01451799e-02 2.11326480e+01] [ 2.13745872e-01 9.76870643e-01 -6.03723666e-03 3.37420048e+00] [ 4.05074947e-02 -2.68822707e-03 9.99175618e-01 6.47477106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194391418 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:21.16, Y:3.38, Z:0.65 [[ 9.76314137e-01 -2.12342164e-01 -4.14910946e-02 2.11645859e+01] [ 2.12268048e-01 9.77191591e-01 -6.23462311e-03 3.37915087e+00] [ 4.18686221e-02 -2.72028295e-03 9.99119422e-01 6.46311105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:21.20, Y:3.39, Z:0.65 [[ 9.76519524e-01 -2.11155076e-01 -4.26984088e-02 2.11966660e+01] [ 2.11075658e-01 9.77448700e-01 -6.41133508e-03 3.38618188e+00] [ 4.30892902e-02 -2.75180085e-03 9.99067435e-01 6.49306669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254391418 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:21.23, Y:3.39, Z:0.65 [[ 9.76681160e-01 -2.10374833e-01 -4.28525605e-02 2.12287156e+01] [ 2.10294318e-01 9.77616982e-01 -6.42927439e-03 3.39193944e+00] [ 4.32459485e-02 -2.73229883e-03 9.99060720e-01 6.53613274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284391418 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:21.26, Y:3.40, Z:0.66 [[ 9.77159013e-01 -2.07940091e-01 -4.38312862e-02 2.12611227e+01] [ 2.07853657e-01 9.78137865e-01 -6.57069281e-03 3.39797037e+00] [ 4.42393512e-02 -2.68988143e-03 9.99017339e-01 6.55124751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314391418 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:21.29, Y:3.40, Z:0.66 [[ 9.77331089e-01 -2.07108199e-01 -4.39333243e-02 2.12931556e+01] [ 2.07020755e-01 9.78314418e-01 -6.58081646e-03 3.40324143e+00] [ 4.43435456e-02 -2.66347343e-03 9.99012791e-01 6.57900595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:21.32, Y:3.41, Z:0.66 [[ 9.77661022e-01 -2.05454717e-01 -4.43540910e-02 2.13246075e+01] [ 2.05364100e-01 9.78663122e-01 -6.63926718e-03 3.40726148e+00] [ 4.47717819e-02 -2.61778525e-03 9.98993811e-01 6.55706680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:21.36, Y:3.41, Z:0.66 [[ 9.77962629e-01 -2.04171892e-01 -4.36226376e-02 2.13550180e+01] [ 2.04083175e-01 9.78931806e-01 -6.52506821e-03 3.41257885e+00] [ 4.40358229e-02 -2.52137351e-03 9.99026771e-01 6.58324755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:21.39, Y:3.42, Z:0.66 [[ 9.77920950e-01 -2.04576015e-01 -4.26529097e-02 2.13855159e+01] [ 2.04491771e-01 9.78847520e-01 -6.37559047e-03 3.41847006e+00] [ 4.30549878e-02 -2.48734556e-03 9.99069608e-01 6.63410265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:21.42, Y:3.42, Z:0.66 [[ 9.78124460e-01 -2.03627760e-01 -4.25238312e-02 2.14174715e+01] [ 2.03543246e-01 9.79045340e-01 -6.35365352e-03 3.42352453e+00] [ 4.29265390e-02 -2.44077471e-03 9.99075250e-01 6.63694462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464391418 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:21.45, Y:3.43, Z:0.67 [[ 9.78212822e-01 -2.03134006e-01 -4.28514998e-02 2.14499556e+01] [ 2.03047880e-01 9.79147902e-01 -6.39876756e-03 3.42883440e+00] [ 4.32577634e-02 -2.44154970e-03 9.99060961e-01 6.65108483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494391418 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:21.48, Y:3.43, Z:0.67 [[ 9.77929871e-01 -2.04250972e-01 -4.39853148e-02 2.14824021e+01] [ 2.04161599e-01 9.78915203e-01 -6.56253319e-03 3.43375491e+00] [ 4.43982972e-02 -2.56241498e-03 9.99010623e-01 6.69568668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:21.51, Y:3.44, Z:0.67 [[ 9.77801211e-01 -2.04508105e-01 -4.56204536e-02 2.15143636e+01] [ 2.04412576e-01 9.78861210e-01 -6.79928278e-03 3.43794078e+00] [ 4.60466009e-02 -2.67704752e-03 9.98935706e-01 6.69398193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554391418 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:21.55, Y:3.44, Z:0.67 [[ 9.77546475e-01 -2.05859103e-01 -4.49991025e-02 2.15458376e+01] [ 2.05767936e-01 9.78577887e-01 -6.69894307e-03 3.44287915e+00] [ 4.54141650e-02 -2.71084424e-03 9.98964566e-01 6.73182037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584391418 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:21.58, Y:3.45, Z:0.67 [[ 9.77390149e-01 -2.06717939e-01 -4.44543704e-02 2.15782908e+01] [ 2.06630064e-01 9.78396793e-01 -6.61306646e-03 3.44759032e+00] [ 4.48610529e-02 -2.72206341e-03 9.98989528e-01 6.74700049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614391418 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:21.61, Y:3.45, Z:0.67 [[ 9.77261771e-01 -2.07338361e-01 -4.43873371e-02 2.16106207e+01] [ 2.07251637e-01 9.78265420e-01 -6.59753806e-03 3.45180113e+00] [ 4.47905196e-02 -2.75182652e-03 9.98992611e-01 6.74967175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:21.64, Y:3.46, Z:0.68 [[ 9.76869536e-01 -2.09690847e-01 -4.19005852e-02 2.16419365e+01] [ 2.09615923e-01 9.77763999e-01 -6.22310971e-03 3.45581273e+00] [ 4.22738129e-02 -2.70386354e-03 9.99102404e-01 6.78940175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:21.67, Y:3.46, Z:0.68 [[ 9.76867665e-01 -2.09834863e-01 -4.12176681e-02 2.16747906e+01] [ 2.09762673e-01 9.77733195e-01 -6.11724272e-03 3.45969112e+00] [ 4.15834931e-02 -2.67019161e-03 9.99131464e-01 6.79759062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:21.71, Y:3.46, Z:0.68 [[ 9.76781047e-01 -2.10212905e-01 -4.13439281e-02 2.17081387e+01] [ 2.10140820e-01 9.77651905e-01 -6.13092936e-03 3.46311166e+00] [ 4.17087705e-02 -2.69947135e-03 9.99126164e-01 6.79157875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:21.74, Y:3.47, Z:0.68 [[ 9.76485189e-01 -2.11482910e-01 -4.18527748e-02 2.17401309e+01] [ 2.11410409e-01 9.77377706e-01 -6.20145018e-03 3.46599368e+00] [ 4.22174698e-02 -2.79248799e-03 9.99104543e-01 6.80300840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764391418 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:21.77, Y:3.47, Z:0.68 [[ 9.76443007e-01 -2.11726963e-01 -4.16022547e-02 2.17715173e+01] [ 2.11655772e-01 9.77324870e-01 -6.15900079e-03 3.47060107e+00] [ 4.19629447e-02 -2.79144408e-03 9.99115268e-01 6.82465341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794391418 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:21.80, Y:3.48, Z:0.69 [[ 9.76372498e-01 -2.12208056e-01 -4.07981245e-02 2.18044391e+01] [ 2.12140304e-01 9.77220598e-01 -6.03276289e-03 3.47593222e+00] [ 4.11489685e-02 -2.76470276e-03 9.99149197e-01 6.86278042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824391418 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:21.84, Y:3.48, Z:0.69 [[ 9.76444562e-01 -2.12012971e-01 -4.00813970e-02 2.18370508e+01] [ 2.11947605e-01 9.77263087e-01 -5.92204642e-03 3.48055208e+00] [ 4.04256204e-02 -2.71260608e-03 9.99178868e-01 6.88563140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:21.87, Y:3.48, Z:0.69 [[ 9.76479817e-01 -2.12185909e-01 -3.82662676e-02 2.18692286e+01] [ 2.12126623e-01 9.77225858e-01 -5.64963169e-03 3.48269826e+00] [ 3.85935584e-02 -2.60054282e-03 9.99251607e-01 6.90038363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884391418 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:21.90, Y:3.49, Z:0.69 [[ 9.76349827e-01 -2.12832114e-01 -3.79935063e-02 2.19016753e+01] [ 2.12774308e-01 9.77085295e-01 -5.60544813e-03 3.48601651e+00] [ 3.83159157e-02 -2.61116369e-03 9.99262264e-01 6.90904922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:21.93, Y:3.49, Z:0.69 [[ 9.76047131e-01 -2.14047562e-01 -3.89312090e-02 2.19339674e+01] [ 2.13988014e-01 9.76819427e-01 -5.73908901e-03 3.48813706e+00] [ 3.92571992e-02 -2.72919071e-03 9.99225412e-01 6.91384873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944391418 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:21.97, Y:3.49, Z:0.69 [[ 9.75961934e-01 -2.14274559e-01 -3.98084906e-02 2.19665284e+01] [ 2.14212660e-01 9.76769445e-01 -5.86407463e-03 3.49232172e+00] [ 4.01402392e-02 -2.80436902e-03 9.99190120e-01 6.92445676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:22.00, Y:3.50, Z:0.69 [[ 9.76004754e-01 -2.14004545e-01 -4.02091353e-02 2.19993571e+01] [ 2.13941371e-01 9.76828576e-01 -5.91804659e-03 3.49652977e+00] [ 4.05439212e-02 -2.82635592e-03 9.99173760e-01 6.93566884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:22.03, Y:3.50, Z:0.69 [[ 9.76280997e-01 -2.12441170e-01 -4.17631970e-02 2.20321430e+01] [ 2.12371827e-01 9.77169633e-01 -6.14133223e-03 3.50035083e+00] [ 4.21143997e-02 -2.87366050e-03 9.99108662e-01 6.93809644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:22.06, Y:3.50, Z:0.69 [[ 9.76730212e-01 -2.10287230e-01 -4.21589092e-02 2.20646276e+01] [ 2.10214798e-01 9.77635602e-01 -6.19414858e-03 3.50385638e+00] [ 4.25186010e-02 -2.81241452e-03 9.99091717e-01 6.93049259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:22.10, Y:3.51, Z:0.69 [[ 9.76760577e-01 -2.10145982e-01 -4.21597119e-02 2.20978216e+01] [ 2.10073654e-01 9.77665976e-01 -6.18868109e-03 3.50860772e+00] [ 4.25186423e-02 -2.81178501e-03 9.99091717e-01 6.94073223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:22.13, Y:3.51, Z:0.70 [[ 9.77137005e-01 -2.08349879e-01 -4.23509334e-02 2.21295910e+01] [ 2.08275460e-01 9.78050488e-01 -6.21099763e-03 3.51314538e+00] [ 4.27154116e-02 -2.75166450e-03 9.99083491e-01 6.95224183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124391418 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:22.16, Y:3.52, Z:0.70 [[ 9.77523272e-01 -2.06581619e-01 -4.20985476e-02 2.21621301e+01] [ 2.06506648e-01 9.78425748e-01 -6.16934002e-03 3.51975747e+00] [ 4.24647751e-02 -2.66295652e-03 9.99094416e-01 7.00671207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:22.19, Y:3.52, Z:0.70 [[ 9.78039560e-01 -2.04351734e-01 -4.09754445e-02 2.21947248e+01] [ 2.04278969e-01 9.78894329e-01 -5.99969628e-03 3.52386421e+00] [ 4.13366786e-02 -2.50248126e-03 9.99142140e-01 7.00221737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:22.23, Y:3.53, Z:0.70 [[ 9.78671235e-01 -2.01843340e-01 -3.82345374e-02 2.22260506e+01] [ 2.01778244e-01 9.79415258e-01 -5.59397300e-03 3.52947555e+00] [ 3.85765955e-02 -2.24023738e-03 9.99253135e-01 7.04119599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:22.26, Y:3.53, Z:0.70 [[ 9.79287336e-01 -1.98981424e-01 -3.74527216e-02 2.22586386e+01] [ 1.98917026e-01 9.80001038e-01 -5.47562052e-03 3.53349399e+00] [ 3.77932528e-02 -2.08777818e-03 9.99283399e-01 7.03041607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244391418 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:22.29, Y:3.54, Z:0.70 [[ 9.79602358e-01 -1.97534478e-01 -3.68693749e-02 2.22908505e+01] [ 1.97471214e-01 9.80293890e-01 -5.38589977e-03 3.53863487e+00] [ 3.72067239e-02 -2.00460011e-03 9.99305580e-01 7.03995495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274391418 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:22.32, Y:3.54, Z:0.70 [[ 9.79998170e-01 -1.95437548e-01 -3.75200151e-02 2.23221369e+01] [ 1.95370670e-01 9.80714184e-01 -5.47645481e-03 3.54427604e+00] [ 3.78667159e-02 -1.96339480e-03 9.99280870e-01 7.04724107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:22.35, Y:3.55, Z:0.71 [[ 9.80050868e-01 -1.95103148e-01 -3.78821648e-02 2.23539688e+01] [ 1.95034871e-01 9.80780744e-01 -5.52547303e-03 3.54941177e+00] [ 3.82321350e-02 -1.97309847e-03 9.99266937e-01 7.06898275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334391418 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:22.39, Y:3.55, Z:0.71 [[ 9.79864585e-01 -1.96249169e-01 -3.67649084e-02 2.23863655e+01] [ 1.96185799e-01 9.80552097e-01 -5.35883841e-03 3.55464267e+00] [ 3.71015756e-02 -1.96181696e-03 9.99309574e-01 7.07846878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364391418 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:22.42, Y:3.56, Z:0.71 [[ 9.79607791e-01 -1.97576924e-01 -3.64956909e-02 2.24187227e+01] [ 1.97515555e-01 9.80285343e-01 -5.31531953e-03 3.55914302e+00] [ 3.68263754e-02 -2.00153823e-03 9.99319675e-01 7.10105932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:22.45, Y:3.56, Z:0.71 [[ 9.79213646e-01 -1.99595342e-01 -3.60878739e-02 2.24505583e+01] [ 1.99536856e-01 9.79876249e-01 -5.25169881e-03 3.56309606e+00] [ 3.64098652e-02 -2.05832578e-03 9.99334821e-01 7.11358811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:22.48, Y:3.57, Z:0.71 [[ 9.79073414e-01 -2.00317857e-01 -3.58887976e-02 2.24829905e+01] [ 2.00260633e-01 9.79728759e-01 -5.21899601e-03 3.56837521e+00] [ 3.62067453e-02 -2.07733309e-03 9.99342162e-01 7.12271479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454391418 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:22.52, Y:3.57, Z:0.71 [[ 9.79078673e-01 -2.00374544e-01 -3.54259118e-02 2.25157341e+01] [ 2.00318979e-01 9.79717210e-01 -5.14731940e-03 3.57366045e+00] [ 3.57387673e-02 -2.05685185e-03 9.99359050e-01 7.11218074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484391418 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:22.55, Y:3.58, Z:0.71 [[ 9.78873552e-01 -2.01317299e-01 -3.57479151e-02 2.25480868e+01] [ 2.01261509e-01 9.79523799e-01 -5.18961146e-03 3.57999165e+00] [ 3.60606922e-02 -2.11470593e-03 9.99347364e-01 7.13009651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514391418 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:22.58, Y:3.59, Z:0.72 [[ 9.78815793e-01 -2.01331549e-01 -3.72189590e-02 2.25771328e+01] [ 2.00664740e-01 9.79437071e-01 -2.08970295e-02 3.59207446e+00] [ 4.06608595e-02 1.29858098e-02 9.99088616e-01 7.17897107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544391418 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:22.61, Y:3.58, Z:0.71 [[ 9.78599433e-01 -2.02388719e-01 -3.71746628e-02 2.26121907e+01] [ 2.02883275e-01 9.79151744e-01 1.00119479e-02 3.58286650e+00] [ 3.43733306e-02 -1.73398039e-02 9.99258628e-01 7.08622572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574391418 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:22.64, Y:3.59, Z:0.71 [[ 9.78317949e-01 -2.04246530e-01 -3.43124746e-02 2.26428041e+01] [ 2.04197254e-01 9.78917139e-01 -4.97166811e-03 3.59370519e+00] [ 3.46045154e-02 -2.14264094e-03 9.99398788e-01 7.13531007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604391418 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:22.67, Y:3.61, Z:0.71 [[ 0.97828704 -0.2055956 -0.02617094 22.67293295] [ 0.20480554 0.97834354 -0.02997689 3.60998986] [ 0.03176729 0.02396605 0.99920792 0.71326486] [ 0. 0. 0. 1. ]] SLAMing on 24.634391418 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:22.71, Y:3.59, Z:0.71 [[ 9.77822914e-01 -2.06283701e-01 -3.61854164e-02 2.27077799e+01] [ 2.07117996e-01 9.78090090e-01 2.10217065e-02 3.59267780e+00] [ 3.10561618e-02 -2.80501572e-02 9.99123968e-01 7.08353276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664391418 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:22.74, Y:3.61, Z:0.72 [[ 9.77630095e-01 -2.07943639e-01 -3.16044295e-02 2.27381026e+01] [ 2.07904171e-01 9.78138541e-01 -4.56622842e-03 3.61125053e+00] [ 3.18630287e-02 -2.10661040e-03 9.99490025e-01 7.18811557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694391418 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:22.77, Y:3.62, Z:0.72 [[ 9.77708599e-01 -2.07680809e-01 -3.08962474e-02 2.27709885e+01] [ 2.07643072e-01 9.78194490e-01 -4.46028146e-03 3.61705904e+00] [ 3.11488538e-02 -2.05453617e-03 9.99512645e-01 7.19371903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:22.80, Y:3.62, Z:0.72 [[ 9.77716671e-01 -2.07703177e-01 -3.04877342e-02 2.28029457e+01] [ 2.07666553e-01 9.78189789e-01 -4.39770949e-03 3.62226533e+00] [ 3.07362085e-02 -2.03156878e-03 9.99525467e-01 7.20441618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754391418 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:22.84, Y:3.63, Z:0.72 [[ 9.77704480e-01 -2.07739408e-01 -3.06314734e-02 2.28355708e+01] [ 2.07702734e-01 9.78182054e-01 -4.40943602e-03 3.62637457e+00] [ 3.08791712e-02 -2.05111541e-03 9.99521020e-01 7.19289141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:22.87, Y:3.63, Z:0.72 [[ 9.77499466e-01 -2.08631275e-01 -3.11092427e-02 2.28678825e+01] [ 2.08594013e-01 9.77992084e-01 -4.47452022e-03 3.63193518e+00] [ 3.13581180e-02 -2.11536065e-03 9.99505975e-01 7.20097546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:22.90, Y:3.64, Z:0.72 [[ 9.77324100e-01 -2.09430912e-01 -3.12457490e-02 2.28997205e+01] [ 2.09393854e-01 9.77821074e-01 -4.49020432e-03 3.63824485e+00] [ 3.14931394e-02 -2.15428290e-03 9.99501646e-01 7.22274800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:22.93, Y:3.64, Z:0.72 [[ 9.77181882e-01 -2.10090725e-01 -3.12642923e-02 2.29320805e+01] [ 2.10054249e-01 9.77679451e-01 -4.48367282e-03 3.64429064e+00] [ 3.15084342e-02 -2.18583357e-03 9.99501096e-01 7.23516549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:22.96, Y:3.65, Z:0.72 [[ 9.76997949e-01 -2.11040165e-01 -3.06113707e-02 2.29633921e+01] [ 2.11005775e-01 9.77474973e-01 -4.38627466e-03 3.64917810e+00] [ 3.08475288e-02 -2.17379464e-03 9.99521738e-01 7.24270090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:23.00, Y:3.65, Z:0.72 [[ 9.76779844e-01 -2.12153364e-01 -2.98678078e-02 2.29950922e+01] [ 2.12121414e-01 9.77233988e-01 -4.27068844e-03 3.65289853e+00] [ 3.00938779e-02 -2.16407923e-03 9.99544734e-01 7.22684716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:23.03, Y:3.66, Z:0.72 [[ 9.76521830e-01 -2.13339995e-01 -2.98523553e-02 2.30279868e+01] [ 2.13308714e-01 9.76975535e-01 -4.26563552e-03 3.65711167e+00] [ 3.00750515e-02 -2.20228134e-03 9.99545217e-01 7.23124788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:23.06, Y:3.66, Z:0.73 [[ 9.76244338e-01 -2.14559300e-01 -3.01877268e-02 2.30598361e+01] [ 2.14527998e-01 9.76708330e-01 -4.31010524e-03 3.66192661e+00] [ 3.04093773e-02 -2.26839675e-03 9.99534954e-01 7.25591028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:23.09, Y:3.67, Z:0.73 [[ 9.75840949e-01 -2.16397687e-01 -3.01078781e-02 2.30925525e+01] [ 2.16367590e-01 9.76302533e-01 -4.29306557e-03 3.66890979e+00] [ 3.03234071e-02 -2.32501987e-03 9.99537436e-01 7.25925063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:23.12, Y:3.67, Z:0.73 [[ 9.75712931e-01 -2.16985666e-01 -3.00249432e-02 2.31237499e+01] [ 2.16956126e-01 9.76171984e-01 -4.27745821e-03 3.67462857e+00] [ 3.02376554e-02 -2.34052405e-03 9.99539997e-01 7.27955422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:23.16, Y:3.68, Z:0.73 [[ 9.75804464e-01 -2.16693446e-01 -2.91478603e-02 2.31562357e+01] [ 2.16665739e-01 9.76237055e-01 -4.14356690e-03 3.67943620e+00] [ 2.93531051e-02 -2.27203161e-03 9.99566523e-01 7.28318119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:23.19, Y:3.68, Z:0.73 [[ 9.75693239e-01 -2.17304255e-01 -2.83118964e-02 2.31880656e+01] [ 2.17278637e-01 9.76101363e-01 -4.01534909e-03 3.68418495e+00] [ 2.85078331e-02 -2.23382130e-03 9.99591073e-01 7.32196392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:23.22, Y:3.69, Z:0.73 [[ 9.75707438e-01 -2.17364417e-01 -2.73442099e-02 2.32207995e+01] [ 2.17340789e-01 9.76088116e-01 -3.86920911e-03 3.68779716e+00] [ 2.75313867e-02 -2.16779604e-03 9.99618589e-01 7.29843282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:23.25, Y:3.69, Z:0.73 [[ 9.75826740e-01 -2.16849594e-01 -2.71740272e-02 2.32535601e+01] [ 2.16826134e-01 9.76202675e-01 -3.84241560e-03 3.69281818e+00] [ 2.73605843e-02 -2.14250738e-03 9.99623333e-01 7.33777976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:23.29, Y:3.70, Z:0.73 [[ 9.76307303e-01 -2.14737299e-01 -2.66822667e-02 2.32854831e+01] [ 2.14714145e-01 9.76669684e-01 -3.76363597e-03 3.69913906e+00] [ 2.68679540e-02 -2.05459481e-03 9.99636880e-01 7.34097553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204391418 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:23.32, Y:3.70, Z:0.74 [[ 9.76696299e-01 -2.12947745e-01 -2.67880141e-02 2.33182133e+01] [ 2.12923877e-01 9.77061505e-01 -3.77340624e-03 3.70494608e+00] [ 2.69770757e-02 -2.01833590e-03 9.99634015e-01 7.36587535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234391418 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:23.35, Y:3.71, Z:0.74 [[ 9.77151678e-01 -2.10939301e-01 -2.60616395e-02 2.33506621e+01] [ 2.10916219e-01 9.77497280e-01 -3.66266678e-03 3.71018718e+00] [ 2.62477821e-02 -1.91784147e-03 9.99653628e-01 7.35133883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264391418 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:23.38, Y:3.72, Z:0.74 [[ 9.77316961e-01 -2.10327153e-01 -2.47799490e-02 2.33798758e+01] [ 2.10133707e-01 9.77619477e-01 -1.01971853e-02 3.71834833e+00] [ 2.63701057e-02 4.75877959e-03 9.99640921e-01 7.37737185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294391418 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:23.41, Y:3.72, Z:0.74 [[ 9.77531122e-01 -2.08981869e-01 -2.75587361e-02 2.34138852e+01] [ 2.09141692e-01 9.77880690e-01 3.01820844e-03 3.71579772e+00] [ 2.63184050e-02 -8.71407337e-03 9.99615629e-01 7.36217424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:23.45, Y:3.72, Z:0.74 [[ 9.77649305e-01 -2.08518426e-01 -2.68682567e-02 2.34461908e+01] [ 2.08493385e-01 9.78016545e-01 -3.76123050e-03 3.72241122e+00] [ 2.70618854e-02 -1.92468939e-03 9.99631907e-01 7.36056419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:23.48, Y:3.73, Z:0.74 [[ 9.77629494e-01 -2.08576476e-01 -2.71371753e-02 2.34787865e+01] [ 2.08551044e-01 9.78004118e-01 -3.79553337e-03 3.72624331e+00] [ 2.73319281e-02 -1.94886088e-03 9.99624513e-01 7.36537522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:23.51, Y:3.73, Z:0.74 [[ 9.77562655e-01 -2.08904887e-01 -2.70185881e-02 2.35114424e+01] [ 2.08879892e-01 9.77934014e-01 -3.77565129e-03 3.73096136e+00] [ 2.72111483e-02 -1.95270407e-03 9.99627801e-01 7.39648245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:23.54, Y:3.74, Z:0.74 [[ 9.77560849e-01 -2.08895704e-01 -2.71545839e-02 2.35430965e+01] [ 2.08870530e-01 9.77935951e-01 -3.79184286e-03 3.73684747e+00] [ 2.73475435e-02 -1.96503520e-03 9.99624055e-01 7.39676282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:23.57, Y:3.75, Z:0.74 [[ 9.77228719e-01 -2.10726559e-01 -2.48666077e-02 2.35699489e+01] [ 2.10428119e-01 9.77507748e-01 -1.40929081e-02 3.74933060e+00] [ 2.72770518e-02 8.53936107e-03 9.99591437e-01 7.42270630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:23.60, Y:3.75, Z:0.74 [[ 9.77523830e-01 -2.09505306e-01 -2.35518258e-02 2.36024794e+01] [ 2.09319773e-01 9.77794954e-01 -1.01123608e-02 3.75172720e+00] [ 2.51474497e-02 4.95521079e-03 9.99671472e-01 7.41969031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:23.64, Y:3.74, Z:0.74 [[ 9.78120593e-01 -2.05956212e-01 -2.93622988e-02 2.36400881e+01] [ 2.06395178e-01 9.78385447e-01 1.27651296e-02 3.74100643e+00] [ 2.60985881e-02 -1.85460730e-02 9.99487322e-01 7.37297937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:23.67, Y:3.76, Z:0.75 [[ 9.77780877e-01 -2.08434344e-01 -2.23535405e-02 2.36659673e+01] [ 2.07987212e-01 9.77910973e-01 -2.07713517e-02 3.76283939e+00] [ 2.61892356e-02 1.56605799e-02 9.99534327e-01 7.45810364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:23.70, Y:3.76, Z:0.74 [[ 9.77766881e-01 -2.08455373e-01 -2.27658299e-02 2.36987235e+01] [ 2.08272158e-01 9.78018050e-01 -1.01687151e-02 3.76247621e+00] [ 2.43851159e-02 5.20114431e-03 9.99689109e-01 7.41672306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:23.73, Y:3.75, Z:0.74 [[ 9.77738344e-01 -2.07793064e-01 -2.91508692e-02 2.37341159e+01] [ 2.08421126e-01 9.77825472e-01 2.04445513e-02 3.75107549e+00] [ 2.42562265e-02 -2.60650787e-02 9.99365923e-01 7.40295927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:23.77, Y:3.77, Z:0.75 [[ 9.77644991e-01 -2.08749426e-01 -2.51783484e-02 2.37652196e+01] [ 2.08728919e-01 9.77967384e-01 -3.46915387e-03 3.76699813e+00] [ 2.53477874e-02 -1.86384854e-03 9.99676956e-01 7.52240520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:23.80, Y:3.77, Z:0.75 [[ 9.77662329e-01 -2.08746377e-01 -2.45218551e-02 2.37984461e+01] [ 2.08726995e-01 9.77968121e-01 -3.37584562e-03 3.76997401e+00] [ 2.46862881e-02 -1.81793605e-03 9.99693594e-01 7.51522488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:23.83, Y:3.77, Z:0.75 [[ 9.77505943e-01 -2.09469429e-01 -2.45904206e-02 2.38309849e+01] [ 2.09450239e-01 9.77813457e-01 -3.38233308e-03 3.77283076e+00] [ 2.47533396e-02 -1.84421879e-03 9.99691888e-01 7.52785776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714391417999998 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:23.86, Y:3.77, Z:0.75 [[ 9.77301731e-01 -2.10309602e-01 -2.55185881e-02 2.38644338e+01] [ 2.10289303e-01 9.77632912e-01 -3.50681799e-03 3.77431202e+00] [ 2.56853291e-02 -1.93906682e-03 9.99668197e-01 7.53629962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:23.90, Y:3.78, Z:0.75 [[ 9.77268505e-01 -2.10381233e-01 -2.61916968e-02 2.38969477e+01] [ 2.10359939e-01 9.77617389e-01 -3.59688361e-03 3.77755952e+00] [ 2.63621751e-02 -1.99456269e-03 9.99650468e-01 7.50403494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:23.93, Y:3.78, Z:0.75 [[ 9.77005300e-01 -2.11501828e-01 -2.69744355e-02 2.39285662e+01] [ 2.11479892e-01 9.77375360e-01 -3.69609371e-03 3.78284955e+00] [ 2.71458792e-02 -2.09344755e-03 9.99629291e-01 7.53775128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:23.96, Y:3.79, Z:0.75 [[ 9.77089885e-01 -2.11054413e-01 -2.74115196e-02 2.39613593e+01] [ 2.11031824e-01 9.77472008e-01 -3.74733087e-03 3.78694793e+00] [ 2.75848838e-02 -2.12322390e-03 9.99617210e-01 7.54232277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:23.99, Y:3.79, Z:0.76 [[ 9.77211790e-01 -2.10530652e-01 -2.70917268e-02 2.39932899e+01] [ 2.10508457e-01 9.77585031e-01 -3.70105003e-03 3.79060615e+00] [ 2.72636510e-02 -2.08632787e-03 9.99626100e-01 7.55733627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:24.03, Y:3.79, Z:0.76 [[ 9.77506949e-01 -2.09215340e-01 -2.66290496e-02 2.40264921e+01] [ 2.09193637e-01 9.77867501e-01 -3.62938883e-03 3.79295222e+00] [ 2.67990060e-02 -2.02287494e-03 9.99638795e-01 7.55854237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894391418 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:24.06, Y:3.80, Z:0.75 [[ 9.77620159e-01 -2.08775388e-01 -2.59164606e-02 2.40589924e+01] [ 2.08754748e-01 9.77961654e-01 -3.52955977e-03 3.79623815e+00] [ 2.60821899e-02 -1.95961541e-03 9.99657881e-01 7.53039116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:24.09, Y:3.80, Z:0.76 [[ 9.77483582e-01 -2.09379045e-01 -2.61966014e-02 2.40918054e+01] [ 2.09358324e-01 9.77832503e-01 -3.56195756e-03 3.80138101e+00] [ 2.63616876e-02 -2.00272153e-03 9.99650464e-01 7.57750644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:24.13, Y:3.81, Z:0.76 [[ 9.77512632e-01 -2.09243329e-01 -2.61970131e-02 2.41250497e+01] [ 2.09222640e-01 9.77861555e-01 -3.55892719e-03 3.80576933e+00] [ 2.63617337e-02 -2.00211195e-03 9.99650464e-01 7.58792242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984391418 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:24.16, Y:3.81, Z:0.76 [[ 9.77560802e-01 -2.09105504e-01 -2.54905130e-02 2.41567894e+01] [ 2.09085937e-01 9.77891148e-01 -3.46029963e-03 3.81056681e+00] [ 2.56505147e-02 -1.94705451e-03 9.99669075e-01 7.57625716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014391418 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:24.19, Y:3.81, Z:0.76 [[ 9.77737552e-01 -2.08251638e-01 -2.57008866e-02 2.41897556e+01] [ 2.08231678e-01 9.78073339e-01 -3.48017256e-03 3.81435930e+00] [ 2.58621036e-02 -1.94904336e-03 9.99663620e-01 7.55769403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044391418 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:24.22, Y:3.82, Z:0.76 [[ 9.77743285e-01 -2.08262471e-01 -2.53931492e-02 2.42215751e+01] [ 2.08243042e-01 9.78071074e-01 -3.43645699e-03 3.81878785e+00] [ 2.55519898e-02 -1.92797389e-03 9.99671635e-01 7.58426938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074391418 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:24.25, Y:3.82, Z:0.75 [[ 9.78131349e-01 -2.06451834e-01 -2.52329917e-02 2.42545592e+01] [ 2.06432263e-01 9.78454964e-01 -3.40643864e-03 3.82089892e+00] [ 2.53926115e-02 -1.87695916e-03 9.99675794e-01 7.53702865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104391418 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:24.29, Y:3.83, Z:0.75 [[ 9.78354889e-01 -2.05423734e-01 -2.49559805e-02 2.42871321e+01] [ 2.05404331e-01 9.78671411e-01 -3.36609162e-03 3.82509655e+00] [ 2.51151798e-02 -1.83283429e-03 9.99682884e-01 7.53595226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134391418 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:24.32, Y:3.83, Z:0.76 [[ 9.78621187e-01 -2.04209718e-01 -2.44737291e-02 2.43186594e+01] [ 2.04190739e-01 9.78925565e-01 -3.29868029e-03 3.83010924e+00] [ 2.46315817e-02 -1.76915041e-03 9.99695031e-01 7.55123752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:24.35, Y:3.84, Z:0.76 [[ 9.79122171e-01 -2.01877785e-01 -2.37725381e-02 2.43508090e+01] [ 2.01859314e-01 9.79409303e-01 -3.19910328e-03 3.83709322e+00] [ 2.39288729e-02 -1.66639527e-03 9.99712275e-01 7.56942264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194391418 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:24.38, Y:3.84, Z:0.76 [[ 9.79539187e-01 -1.99892700e-01 -2.33642780e-02 2.43831035e+01] [ 1.99874358e-01 9.79816499e-01 -3.14150197e-03 3.84207365e+00] [ 2.35206684e-02 -1.59269578e-03 9.99722082e-01 7.56391479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224391418 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:24.41, Y:3.87, Z:0.76 [[ 9.80218834e-01 -1.97550828e-01 -1.20294835e-02 2.44100077e+01] [ 1.96885349e-01 9.79504869e-01 -4.25014268e-02 3.86633899e+00] [ 2.01791297e-02 3.92922700e-02 9.99023984e-01 7.59521311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254391418 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:24.45, Y:3.83, Z:0.74 [[ 9.80380908e-01 -1.95063385e-01 -2.83469675e-02 2.44487151e+01] [ 1.96041939e-01 9.79888420e-01 3.72322723e-02 3.83204196e+00] [ 2.05142121e-02 -4.20590034e-02 9.98904504e-01 7.44190160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:24.47, Y:3.88, Z:0.77 [[ 9.80905925e-01 -1.93919560e-01 -1.47908890e-02 2.44709674e+01] [ 1.92946078e-01 9.79878445e-01 -5.10885981e-02 3.87747856e+00] [ 2.44003518e-02 4.72592645e-02 9.98584591e-01 7.68096616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314391418 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:24.51, Y:3.84, Z:0.74 [[ 9.80718907e-01 -1.93083211e-01 -3.01545912e-02 2.45130868e+01] [ 1.94293502e-01 9.79940523e-01 4.43464292e-02 3.83725223e+00] [ 2.09871549e-02 -4.93502226e-02 9.98561012e-01 7.39796557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:24.53, Y:3.88, Z:0.76 [[ 9.81470399e-01 -1.90780617e-01 -1.78497056e-02 2.45348767e+01] [ 1.89806107e-01 9.80749234e-01 -4.58757274e-02 3.88439200e+00] [ 2.62582846e-02 4.16376854e-02 9.98787668e-01 7.62034205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:24.57, Y:3.87, Z:0.75 [[ 9.81714011e-01 -1.88896405e-01 -2.35743141e-02 2.45715727e+01] [ 1.88848118e-01 9.81996988e-01 -4.27828576e-03 3.86906327e+00] [ 2.39580582e-02 -2.51911771e-04 9.99712933e-01 7.50166588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404391418 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:24.61, Y:3.85, Z:0.74 [[ 9.81246486e-01 -1.90313228e-01 -3.05975453e-02 2.46087401e+01] [ 1.91453418e-01 9.80683566e-01 4.00665859e-02 3.85326148e+00] [ 2.23813085e-02 -4.51732013e-02 9.98728421e-01 7.41168035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434391418 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:24.64, Y:3.88, Z:0.75 [[ 9.81446899e-01 -1.90161262e-01 -2.45087557e-02 2.46381343e+01] [ 1.90138969e-01 9.81751779e-01 -3.25826106e-03 3.88039358e+00] [ 2.46811096e-02 -1.46225931e-03 9.99694306e-01 7.54073697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464391417999998 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:24.67, Y:3.89, Z:0.76 [[ 9.81585049e-01 -1.89520653e-01 -2.39314354e-02 2.46696093e+01] [ 1.89499419e-01 9.81875707e-01 -3.17274459e-03 3.88547207e+00] [ 2.40989957e-02 -1.42067446e-03 9.99708568e-01 7.55601590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:24.70, Y:3.89, Z:0.76 [[ 9.81899131e-01 -1.87965308e-01 -2.33053468e-02 2.47008065e+01] [ 1.87944821e-01 9.82174740e-01 -3.08602334e-03 3.89119038e+00] [ 2.34699883e-02 -1.34995559e-03 9.99723630e-01 7.55284159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:24.73, Y:3.90, Z:0.75 [[ 9.82085854e-01 -1.86839764e-01 -2.44597377e-02 2.47325962e+01] [ 1.86817046e-01 9.82389410e-01 -3.23092578e-03 3.89668373e+00] [ 2.46326527e-02 -1.39644945e-03 9.99695595e-01 7.52487396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:24.77, Y:3.90, Z:0.75 [[ 9.82111243e-01 -1.86706113e-01 -2.44608504e-02 2.47658577e+01] [ 1.86683563e-01 9.82414812e-01 -3.22247795e-03 3.90093307e+00] [ 2.46323580e-02 -1.40160688e-03 9.99695595e-01 7.53585109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:24.80, Y:3.91, Z:0.75 [[ 9.82099792e-01 -1.86681908e-01 -2.50971025e-02 2.47979969e+01] [ 1.86658257e-01 9.82419355e-01 -3.30255992e-03 3.90630944e+00] [ 2.52724074e-02 -1.44113799e-03 9.99679563e-01 7.54988156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614391418 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:24.83, Y:3.91, Z:0.75 [[ 9.82361573e-01 -1.85317636e-01 -2.49622413e-02 2.48304521e+01] [ 1.85293830e-01 9.82677676e-01 -3.28358499e-03 3.91318909e+00] [ 2.51383435e-02 -1.39968159e-03 9.99683002e-01 7.54497734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:24.86, Y:3.92, Z:0.76 [[ 9.82608898e-01 -1.84017060e-01 -2.48490529e-02 2.48619076e+01] [ 1.83993270e-01 9.82922097e-01 -3.26007862e-03 3.91820265e+00] [ 2.50245932e-02 -1.36867624e-03 9.99685899e-01 7.55147917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:24.89, Y:3.92, Z:0.75 [[ 9.83016863e-01 -1.81864059e-01 -2.45623923e-02 2.48932240e+01] [ 1.81840339e-01 9.83322814e-01 -3.21461840e-03 3.92401794e+00] [ 2.47373843e-02 -1.30640965e-03 9.99693130e-01 7.54840591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:24.93, Y:3.93, Z:0.76 [[ 9.83288849e-01 -1.80389469e-01 -2.45495007e-02 2.49259131e+01] [ 1.80365528e-01 9.83594433e-01 -3.20435259e-03 3.92939618e+00] [ 2.47247837e-02 -1.27707949e-03 9.99693480e-01 7.55748053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:24.96, Y:3.94, Z:0.76 [[ 9.83621751e-01 -1.78536667e-01 -2.47570111e-02 2.49589354e+01] [ 1.78511765e-01 9.83932475e-01 -3.23018129e-03 3.93523527e+00] [ 2.49359331e-02 -1.24214117e-03 9.99688280e-01 7.56962999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:24.99, Y:3.94, Z:0.76 [[ 9.83951367e-01 -1.76724246e-01 -2.46626957e-02 2.49919471e+01] [ 1.76699166e-01 9.84259672e-01 -3.20980257e-03 3.94149229e+00] [ 2.48417467e-02 -1.19958812e-03 9.99690676e-01 7.57280610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:25.02, Y:3.95, Z:0.76 [[ 9.84550695e-01 -1.73251789e-01 -2.53721714e-02 2.50230575e+01] [ 1.73224323e-01 9.84876890e-01 -3.29320092e-03 3.95023129e+00] [ 2.55590182e-02 -1.15275394e-03 9.99672650e-01 7.59052988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824391418 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:25.06, Y:3.96, Z:0.76 [[ 9.84910005e-01 -1.71178676e-01 -2.54979013e-02 2.50556024e+01] [ 1.71150445e-01 9.85239374e-01 -3.30168373e-03 3.95612414e+00] [ 2.56867141e-02 -1.11211581e-03 9.99669423e-01 7.59780714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:25.09, Y:3.96, Z:0.76 [[ 9.85495749e-01 -1.67552432e-01 -2.69130265e-02 2.50882479e+01] [ 1.67519883e-01 9.85862571e-01 -3.47560523e-03 3.96178648e+00] [ 2.71148917e-02 -1.08327287e-03 9.99631737e-01 7.58441134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:25.12, Y:3.97, Z:0.76 [[ 9.85764306e-01 -1.65959879e-01 -2.69453458e-02 2.51205878e+01] [ 1.65926894e-01 9.86131947e-01 -3.47107627e-03 3.96715075e+00] [ 2.71477257e-02 -1.04929445e-03 9.99630882e-01 7.59250025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:25.15, Y:3.97, Z:0.76 [[ 9.86119578e-01 -1.63865668e-01 -2.67622887e-02 2.51529466e+01] [ 1.63832596e-01 9.86482162e-01 -3.43874253e-03 3.97274155e+00] [ 2.69640122e-02 -9.93523892e-04 9.99635911e-01 7.60173279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:25.18, Y:3.98, Z:0.76 [[ 9.86854205e-01 -1.59317481e-01 -2.71425472e-02 2.51841754e+01] [ 1.59281995e-01 9.87226999e-01 -3.47840376e-03 3.98108422e+00] [ 2.73500259e-02 -8.90641674e-04 9.99625521e-01 7.60509893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:25.22, Y:3.99, Z:0.76 [[ 9.87236621e-01 -1.57031583e-01 -2.65506316e-02 2.52154643e+01] [ 1.56997014e-01 9.87593243e-01 -3.39457067e-03 3.98765401e+00] [ 2.67542792e-02 -8.17125413e-04 9.99641706e-01 7.62754052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:25.25, Y:3.99, Z:0.76 [[ 9.87575953e-01 -1.54781913e-01 -2.71347649e-02 2.52479444e+01] [ 1.54745176e-01 9.87948354e-01 -3.46131710e-03 3.99393083e+00] [ 2.73434956e-02 -7.80660416e-04 9.99625792e-01 7.64687579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:25.28, Y:4.00, Z:0.76 [[ 9.88010989e-01 -1.51853190e-01 -2.78369208e-02 2.52801709e+01] [ 1.51813621e-01 9.88402793e-01 -3.54176255e-03 4.00045154e+00] [ 2.80519182e-02 -7.26723423e-04 9.99606203e-01 7.64832257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:25.31, Y:4.01, Z:0.77 [[ 9.88200564e-01 -1.50559075e-01 -2.81355619e-02 2.53119547e+01] [ 1.50518406e-01 9.88600761e-01 -3.56994558e-03 4.00518791e+00] [ 2.83523256e-02 -7.07097689e-04 9.99597742e-01 7.65762881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:25.34, Y:4.01, Z:0.77 [[ 9.88336757e-01 -1.49674511e-01 -2.80712472e-02 2.53444865e+01] [ 1.49633842e-01 9.88735086e-01 -3.55575989e-03 4.01158405e+00] [ 2.82872336e-02 -6.86120351e-04 9.99599601e-01 7.66587443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:25.38, Y:4.02, Z:0.77 [[ 9.88405400e-01 -1.49263633e-01 -2.78412184e-02 2.53773753e+01] [ 1.49223557e-01 9.88797207e-01 -3.52332682e-03 4.01710426e+00] [ 2.80552235e-02 -6.72090394e-04 9.99606149e-01 7.68125680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:25.41, Y:4.02, Z:0.77 [[ 9.88549094e-01 -1.48407068e-01 -2.73135550e-02 2.54103311e+01] [ 1.48368258e-01 9.88926152e-01 -3.45337012e-03 4.02257097e+00] [ 2.75235933e-02 -6.38638665e-04 9.99620950e-01 7.68398568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:25.44, Y:4.03, Z:0.77 [[ 9.88586596e-01 -1.48283801e-01 -2.66168352e-02 2.54432148e+01] [ 1.48246983e-01 9.88944653e-01 -3.36223641e-03 4.02882137e+00] [ 2.68211420e-02 -6.22003666e-04 9.99640055e-01 7.70920615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214391417999998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:25.48, Y:4.04, Z:0.77 [[ 9.88690962e-01 -1.47487944e-01 -2.71567373e-02 2.54754334e+01] [ 1.47449375e-01 9.89063662e-01 -3.42830242e-03 4.03541650e+00] [ 2.73653753e-02 -6.14712336e-04 9.99625309e-01 7.71264358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:25.51, Y:4.04, Z:0.77 [[ 9.88681512e-01 -1.47572576e-01 -2.70407594e-02 2.55078461e+01] [ 1.47534609e-01 9.89051033e-01 -3.40480647e-03 4.04052646e+00] [ 2.72471471e-02 -6.23178657e-04 9.99628533e-01 7.72456266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:25.54, Y:4.05, Z:0.77 [[ 9.88573838e-01 -1.48119766e-01 -2.79696680e-02 2.55402061e+01] [ 1.48079634e-01 9.88969204e-01 -3.51220485e-03 4.04585801e+00] [ 2.81813672e-02 -6.69664370e-04 9.99602602e-01 7.73528926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:25.57, Y:4.05, Z:0.77 [[ 9.88192611e-01 -1.50308555e-01 -2.97102936e-02 2.55716102e+01] [ 1.50264582e-01 9.88638820e-01 -3.72000574e-03 4.05224136e+00] [ 2.99318983e-02 -7.88322672e-04 9.99551629e-01 7.73791212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:25.60, Y:4.06, Z:0.77 [[ 9.87931657e-01 -1.51957970e-01 -2.99969383e-02 2.56040935e+01] [ 1.51914082e-01 9.88386589e-01 -3.75001964e-03 4.05721131e+00] [ 3.02184169e-02 -8.52194220e-04 9.99542956e-01 7.74029311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:25.64, Y:4.06, Z:0.78 [[ 9.87641887e-01 -1.53794961e-01 -3.01763709e-02 2.56370327e+01] [ 1.53751698e-01 9.88102352e-01 -3.76272192e-03 4.06219068e+00] [ 3.03960307e-02 -9.23446488e-04 9.99537507e-01 7.76232746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:25.67, Y:4.07, Z:0.78 [[ 9.87279841e-01 -1.55992236e-01 -3.07398358e-02 2.56688643e+01] [ 1.55948733e-01 9.87757755e-01 -3.82240957e-03 4.06817156e+00] [ 3.09597774e-02 -1.02005052e-03 9.99520111e-01 7.76899026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:25.70, Y:4.07, Z:0.78 [[ 9.87211272e-01 -1.56348410e-01 -3.11300471e-02 2.57018239e+01] [ 1.56304170e-01 9.87701408e-01 -3.86463361e-03 4.07372969e+00] [ 3.13514206e-02 -1.05054631e-03 9.99507871e-01 7.78279200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:25.73, Y:4.08, Z:0.78 [[ 9.87179624e-01 -1.56282712e-01 -3.24361525e-02 2.57331262e+01] [ 1.56235003e-01 9.87711748e-01 -4.01586136e-03 4.07885266e+00] [ 3.26651786e-02 -1.10328589e-03 9.99465742e-01 7.77341542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:25.77, Y:4.09, Z:0.78 [[ 9.87098024e-01 -1.56504415e-01 -3.38209912e-02 2.57655537e+01] [ 1.56453036e-01 9.87676568e-01 -4.17672519e-03 4.08627428e+00] [ 3.40578764e-02 -1.16855955e-03 9.99419179e-01 7.80428558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514391418 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:25.80, Y:4.09, Z:0.78 [[ 9.87135799e-01 -1.56123659e-01 -3.44719730e-02 2.57979841e+01] [ 1.56070439e-01 9.87736802e-01 -4.24595688e-03 4.09170123e+00] [ 3.47121307e-02 -1.18871992e-03 9.99396645e-01 7.81060772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544391418 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:25.83, Y:4.10, Z:0.78 [[ 9.87180081e-01 -1.55817022e-01 -3.45910965e-02 2.58293577e+01] [ 1.55763627e-01 9.87785216e-01 -4.24967085e-03 4.09837124e+00] [ 3.48307448e-02 -1.19284427e-03 9.99392514e-01 7.82080626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574391418 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.86, Y:4.10, Z:0.78 [[ 9.87260139e-01 -1.55356999e-01 -3.43747048e-02 2.58625064e+01] [ 1.55304341e-01 9.87857688e-01 -4.21297989e-03 4.10374976e+00] [ 3.46118323e-02 -1.17923377e-03 9.99400135e-01 7.83785138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:25.90, Y:4.11, Z:0.79 [[ 9.87339436e-01 -1.54884935e-01 -3.42271084e-02 2.58956432e+01] [ 1.54832813e-01 9.87931826e-01 -4.18422164e-03 4.10932627e+00] [ 3.44621226e-02 -1.16823245e-03 9.99405322e-01 7.85153964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634391418 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:25.93, Y:4.11, Z:0.79 [[ 9.87637649e-01 -1.52833216e-01 -3.48408145e-02 2.59285430e+01] [ 1.52778334e-01 9.88251353e-01 -4.24783807e-03 4.11469209e+00] [ 3.50806928e-02 -1.12759678e-03 9.99383847e-01 7.86260254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664391418 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:25.96, Y:4.12, Z:0.79 [[ 9.88017353e-01 -1.50249672e-01 -3.53092822e-02 2.59602363e+01] [ 1.50192071e-01 9.88647515e-01 -4.29326609e-03 4.12014786e+00] [ 3.55534959e-02 -1.06135282e-03 9.99367211e-01 7.87507116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.99, Y:4.12, Z:0.79 [[ 9.88111557e-01 -1.49793635e-01 -3.46037201e-02 2.59924640e+01] [ 1.49738396e-01 9.88716743e-01 -4.19711380e-03 4.12427736e+00] [ 3.48419783e-02 -1.03428888e-03 9.99392299e-01 7.88631733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:26.02, Y:4.13, Z:0.79 [[ 9.88286505e-01 -1.48617735e-01 -3.46778533e-02 2.60242041e+01] [ 1.48561898e-01 9.88894210e-01 -4.19573267e-03 4.12837028e+00] [ 3.49162886e-02 -1.00522173e-03 9.99389735e-01 7.89779284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754391418 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:26.06, Y:4.13, Z:0.79 [[ 9.88518735e-01 -1.47120893e-01 -3.44405915e-02 2.60570671e+01] [ 1.47065233e-01 9.89118057e-01 -4.15769003e-03 4.13192476e+00] [ 3.46774940e-02 -9.55059138e-04 9.99398098e-01 7.88979388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784391418 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:26.09, Y:4.14, Z:0.79 [[ 9.88617386e-01 -1.46504628e-01 -3.42353421e-02 2.60903894e+01] [ 1.46449405e-01 9.89209546e-01 -4.12873281e-03 4.13586313e+00] [ 3.44708057e-02 -9.32008452e-04 9.99405271e-01 7.91255726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:26.12, Y:4.14, Z:0.79 [[ 9.88566942e-01 -1.46647134e-01 -3.50716376e-02 2.61222722e+01] [ 1.46589676e-01 9.89188392e-01 -4.21807668e-03 4.13827579e+00] [ 3.53110256e-02 -9.71288838e-04 9.99375899e-01 7.91289521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:26.16, Y:4.14, Z:0.79 [[ 9.88419554e-01 -1.47427437e-01 -3.59435170e-02 2.61556473e+01] [ 1.47368003e-01 9.89072333e-01 -4.31185685e-03 4.14196911e+00] [ 3.61864242e-02 -1.03500070e-03 9.99344521e-01 7.92568163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:26.19, Y:4.15, Z:0.79 [[ 9.88439993e-01 -1.47290026e-01 -3.59448045e-02 2.61889667e+01] [ 1.47230892e-01 9.89092799e-01 -4.30109817e-03 4.14583036e+00] [ 3.61862561e-02 -1.04080819e-03 9.99344521e-01 7.93665243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904391418 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:26.22, Y:4.15, Z:0.79 [[ 9.88291269e-01 -1.47864953e-01 -3.76340606e-02 2.62213249e+01] [ 1.47800785e-01 9.89006929e-01 -4.49692597e-03 4.14875927e+00] [ 3.78852845e-02 -1.11807102e-03 9.99281469e-01 7.92681745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:26.25, Y:4.15, Z:0.80 [[ 9.87970197e-01 -1.49577702e-01 -3.92606883e-02 2.62540550e+01] [ 1.49509646e-01 9.88749189e-01 -4.68044144e-03 4.15296205e+00] [ 3.95190634e-02 -1.24571497e-03 9.99218040e-01 7.95365184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964391417999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.29, Y:4.16, Z:0.80 [[ 9.87699583e-01 -1.50782375e-01 -4.14030154e-02 2.62867918e+01] [ 1.50707945e-01 9.88566032e-01 -4.93104337e-03 4.15524653e+00] [ 4.16731291e-02 -1.36937388e-03 9.99130359e-01 7.96443860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994391418 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:26.32, Y:4.16, Z:0.80 [[ 9.87599598e-01 -1.51448841e-01 -4.13555621e-02 2.63202436e+01] [ 1.51375369e-01 9.88464105e-01 -4.92048547e-03 4.15726467e+00] [ 4.16236905e-02 -1.40074399e-03 9.99132377e-01 7.95047783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:26.35, Y:4.16, Z:0.80 [[ 9.87374968e-01 -1.53463289e-01 -3.92389087e-02 2.63530062e+01] [ 1.53398914e-01 9.88153338e-01 -4.66408392e-03 4.15855250e+00] [ 3.94898242e-02 -1.41400625e-03 9.99218972e-01 7.98695815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:26.39, Y:4.16, Z:0.80 [[ 9.87481863e-01 -1.53091163e-01 -3.79824573e-02 2.63863519e+01] [ 1.53030783e-01 9.88211135e-01 -4.50915677e-03 4.16132158e+00] [ 3.82249993e-02 -1.35977466e-03 9.99268232e-01 8.00581449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:26.42, Y:4.16, Z:0.80 [[ 9.87676454e-01 -1.52108743e-01 -3.68531193e-02 2.64180841e+01] [ 1.52051653e-01 9.88362917e-01 -4.36335393e-03 4.16495118e+00] [ 3.70879608e-02 -1.29399579e-03 9.99311167e-01 8.02539323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:26.45, Y:4.17, Z:0.81 [[ 9.87813987e-01 -1.51455003e-01 -3.58456412e-02 2.64503545e+01] [ 1.51400948e-01 9.88463369e-01 -4.23338501e-03 4.16909705e+00] [ 3.60732706e-02 -1.24526714e-03 9.99348372e-01 8.05012869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:26.48, Y:4.17, Z:0.81 [[ 9.87986291e-01 -1.50596713e-01 -3.46946602e-02 2.64819604e+01] [ 1.50545896e-01 9.88594571e-01 -4.08740428e-03 4.17256607e+00] [ 3.49145024e-02 -1.18483932e-03 9.99389601e-01 8.06980717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:26.51, Y:4.17, Z:0.81 [[ 9.87874196e-01 -1.51415157e-01 -3.43223451e-02 2.65147016e+01] [ 1.51366251e-01 9.88469517e-01 -4.03391260e-03 4.17429935e+00] [ 3.45373874e-02 -1.21024655e-03 9.99402674e-01 8.07367023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:26.55, Y:4.17, Z:0.81 [[ 9.87156860e-01 -1.55881662e-01 -3.49605660e-02 2.65484848e+01] [ 1.55833873e-01 9.87774750e-01 -4.10442798e-03 4.17264804e+00] [ 3.51729695e-02 -1.39632617e-03 9.99380264e-01 8.06820198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:26.58, Y:4.17, Z:0.81 [[ 9.86709578e-01 -1.58386935e-01 -3.63013365e-02 2.65813140e+01] [ 1.58337516e-01 9.87375898e-01 -4.25047325e-03 4.17322911e+00] [ 3.65162842e-02 -1.55388079e-03 9.99331850e-01 8.06095364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:26.61, Y:4.17, Z:0.81 [[ 9.86228895e-01 -1.61174693e-01 -3.70848301e-02 2.66133708e+01] [ 1.61125284e-01 9.86924432e-01 -4.33685480e-03 4.17462006e+00] [ 3.72989161e-02 -1.69817225e-03 9.99302710e-01 8.07681330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:26.65, Y:4.18, Z:0.81 [[ 9.85386892e-01 -1.65982244e-01 -3.82435453e-02 2.66463259e+01] [ 1.65933718e-01 9.86126815e-01 -4.46168767e-03 4.17541990e+00] [ 3.84535465e-02 -1.94940512e-03 9.99258487e-01 8.08939410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:26.68, Y:4.18, Z:0.81 [[ 9.85115636e-01 -1.67440947e-01 -3.88678826e-02 2.66798038e+01] [ 1.67392137e-01 9.85879989e-01 -4.52988768e-03 4.17783965e+00] [ 3.90775564e-02 -2.04371474e-03 9.99234091e-01 8.09365679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:26.71, Y:4.18, Z:0.81 [[ 9.84842847e-01 -1.69044080e-01 -3.88415524e-02 2.67122369e+01] [ 1.68996805e-01 9.85606230e-01 -4.52102354e-03 4.18030983e+00] [ 3.90467282e-02 -2.11160056e-03 9.99235155e-01 8.11527939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:26.75, Y:4.18, Z:0.81 [[ 9.84615755e-01 -1.70296522e-01 -3.91268296e-02 2.67452577e+01] [ 1.70249952e-01 9.85390435e-01 -4.54367444e-03 4.18213515e+00] [ 3.93289756e-02 -2.18756740e-03 9.99223922e-01 8.12384598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:26.78, Y:4.18, Z:0.81 [[ 9.84101632e-01 -1.73067722e-01 -3.98941250e-02 2.67791224e+01] [ 1.73021768e-01 9.84907127e-01 -4.62796738e-03 4.18144317e+00] [ 4.00929598e-02 -2.34816179e-03 9.99193195e-01 8.11457380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:26.81, Y:4.18, Z:0.81 [[ 9.83710751e-01 -1.75375568e-01 -3.94533619e-02 2.68119896e+01] [ 1.75332658e-01 9.84498631e-01 -4.57213266e-03 4.18411279e+00] [ 3.96436211e-02 -2.41980675e-03 9.99210953e-01 8.14180936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:26.84, Y:4.19, Z:0.82 [[ 9.83365241e-01 -1.77244261e-01 -3.97149255e-02 2.68439673e+01] [ 1.77202520e-01 9.84163673e-01 -4.59687581e-03 4.18547086e+00] [ 3.99007568e-02 -2.51717699e-03 9.99200477e-01 8.15858042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:26.88, Y:4.19, Z:0.82 [[ 9.83305148e-01 -1.77598177e-01 -3.96216295e-02 2.68772134e+01] [ 1.77557218e-01 9.84099828e-01 -4.57851546e-03 4.18818494e+00] [ 3.98047748e-02 -2.53302850e-03 9.99204265e-01 8.17052772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:26.91, Y:4.19, Z:0.82 [[ 9.83376980e-01 -1.77220572e-01 -3.95295273e-02 2.69100761e+01] [ 1.77179693e-01 9.84167941e-01 -4.56300452e-03 4.19081484e+00] [ 3.97123518e-02 -2.51667593e-03 9.99207984e-01 8.18214942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:26.94, Y:4.19, Z:0.82 [[ 9.83669475e-01 -1.75803976e-01 -3.85658679e-02 2.69437132e+01] [ 1.75764160e-01 9.84422258e-01 -4.44713562e-03 4.19184845e+00] [ 3.87469229e-02 -2.40398583e-03 9.99246164e-01 8.18861915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:26.98, Y:4.19, Z:0.82 [[ 9.83951491e-01 -1.74289628e-01 -3.82438165e-02 2.69772052e+01] [ 1.74249514e-01 9.84691677e-01 -4.40533884e-03 4.19329468e+00] [ 3.84261727e-02 -2.32932674e-03 9.99258727e-01 8.17780487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:27.01, Y:4.20, Z:0.82 [[ 9.84055800e-01 -1.73739262e-01 -3.80637722e-02 2.70098119e+01] [ 1.73699293e-01 9.84788999e-01 -4.37992521e-03 4.19582641e+00] [ 3.82457491e-02 -2.30155952e-03 9.99265713e-01 8.19757423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:27.04, Y:4.20, Z:0.82 [[ 9.84202374e-01 -1.72973484e-01 -3.77605753e-02 2.70432288e+01] [ 1.72933765e-01 9.84923892e-01 -4.34038331e-03 4.19836725e+00] [ 3.79420640e-02 -2.25826289e-03 9.99277389e-01 8.21775993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:27.08, Y:4.20, Z:0.82 [[ 9.84301325e-01 -1.72552836e-01 -3.71001355e-02 2.70751912e+01] [ 1.72514395e-01 9.84997788e-01 -4.25911745e-03 4.20156488e+00] [ 3.72784742e-02 -2.20805248e-03 9.99302477e-01 8.23660047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714391417999998 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:27.11, Y:4.20, Z:0.83 [[ 9.84432358e-01 -1.71884786e-01 -3.67226536e-02 2.71081733e+01] [ 1.71847043e-01 9.85114668e-01 -4.20540220e-03 4.20385131e+00] [ 3.68988694e-02 -2.17074545e-03 9.99316647e-01 8.25593530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:27.14, Y:4.21, Z:0.83 [[ 9.84573788e-01 -1.71121574e-01 -3.64947099e-02 2.71414225e+01] [ 1.71083939e-01 9.85247612e-01 -4.17484674e-03 4.20569101e+00] [ 3.66707321e-02 -2.13321407e-03 9.99325126e-01 8.26447592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:27.18, Y:4.21, Z:0.83 [[ 9.84663174e-01 -1.70380041e-01 -3.75376550e-02 2.71751631e+01] [ 1.70339865e-01 9.85376035e-01 -4.28946106e-03 4.20547420e+00] [ 3.77195442e-02 -2.17048476e-03 9.99286008e-01 8.26165381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804391417999998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:27.21, Y:4.21, Z:0.83 [[ 9.84631887e-01 -1.70357176e-01 -3.84509947e-02 2.72086847e+01] [ 1.70315191e-01 9.85379862e-01 -4.38903552e-03 4.20731855e+00] [ 3.86365396e-02 -2.22720419e-03 9.99250848e-01 8.27123332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:27.24, Y:4.21, Z:0.83 [[ 9.84468734e-01 -1.71160330e-01 -3.90570509e-02 2.72418642e+01] [ 1.71117832e-01 9.85240506e-01 -4.45336356e-03 4.20961368e+00] [ 3.92428278e-02 -2.29916069e-03 9.99227058e-01 8.28015544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:27.27, Y:4.21, Z:0.83 [[ 9.84180085e-01 -1.72465633e-01 -4.05606379e-02 2.72739636e+01] [ 1.72421180e-01 9.85012492e-01 -4.61806505e-03 4.21027051e+00] [ 4.07491925e-02 -2.44850538e-03 9.99166407e-01 8.29670746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:27.31, Y:4.21, Z:0.83 [[ 9.84011672e-01 -1.73247181e-01 -4.13091291e-02 2.73073085e+01] [ 1.73202232e-01 9.84875105e-01 -4.69188620e-03 4.21223026e+00] [ 4.14971890e-02 -2.53796257e-03 9.99135397e-01 8.30547467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:27.34, Y:4.21, Z:0.83 [[ 9.83842243e-01 -1.74144846e-01 -4.15693820e-02 2.73411208e+01] [ 1.74100343e-01 9.84716623e-01 -4.71625765e-03 4.21171075e+00] [ 4.17553734e-02 -2.59719019e-03 9.99124488e-01 8.30738784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:27.37, Y:4.21, Z:0.83 [[ 9.83854176e-01 -1.74167174e-01 -4.11916955e-02 2.73743144e+01] [ 1.74123708e-01 9.84712720e-01 -4.66829717e-03 4.21364619e+00] [ 4.13750507e-02 -2.57952709e-03 9.99140356e-01 8.32322460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:27.41, Y:4.22, Z:0.83 [[ 9.84006611e-01 -1.73407760e-01 -4.07521656e-02 2.74071563e+01] [ 1.73364774e-01 9.84846877e-01 -4.61345087e-03 4.21558597e+00] [ 4.09346512e-02 -2.52532381e-03 9.99158635e-01 8.32640165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:27.44, Y:4.22, Z:0.84 [[ 9.84102644e-01 -1.72978979e-01 -4.02524400e-02 2.74396249e+01] [ 1.72936878e-01 9.84922390e-01 -4.55204714e-03 4.21701387e+00] [ 4.04329379e-02 -2.48144969e-03 9.99179173e-01 8.35447301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:27.47, Y:4.22, Z:0.84 [[ 9.84152768e-01 -1.72734701e-01 -4.00755818e-02 2.74729274e+01] [ 1.72692939e-01 9.84965303e-01 -4.52777345e-03 4.21919020e+00] [ 4.02551612e-02 -2.46474923e-03 9.99186393e-01 8.36301825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074391418 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:27.50, Y:4.22, Z:0.84 [[ 9.84149496e-01 -1.72705934e-01 -4.02794073e-02 2.75046434e+01] [ 1.72663916e-01 9.84970307e-01 -4.54603251e-03 4.22105978e+00] [ 4.04591470e-02 -2.48082459e-03 9.99178114e-01 8.37140861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:27.54, Y:4.22, Z:0.84 [[ 9.84073407e-01 -1.73064032e-01 -4.06001304e-02 2.75375027e+01] [ 1.73021821e-01 9.84907352e-01 -4.57794390e-03 4.22325879e+00] [ 4.07796443e-02 -2.51967563e-03 9.99164987e-01 8.38162358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:27.57, Y:4.22, Z:0.84 [[ 9.83882698e-01 -1.74098909e-01 -4.07971419e-02 2.75694190e+01] [ 1.74057370e-01 9.84724791e-01 -4.59535917e-03 4.22330397e+00] [ 4.09740041e-02 -2.57974885e-03 9.99156883e-01 8.39711684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:27.60, Y:4.22, Z:0.84 [[ 9.83824202e-01 -1.74565030e-01 -4.02118145e-02 2.76024534e+01] [ 1.74525227e-01 9.84642304e-01 -4.52529674e-03 4.22475082e+00] [ 4.03842122e-02 -2.56587960e-03 9.99180930e-01 8.40648659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:27.64, Y:4.23, Z:0.84 [[ 9.83763425e-01 -1.75179469e-01 -3.90086731e-02 2.76354996e+01] [ 1.75142669e-01 9.84533297e-01 -4.38539343e-03 4.22586747e+00] [ 3.91735684e-02 -2.51789345e-03 9.99229249e-01 8.41338981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:27.67, Y:4.22, Z:0.84 [[ 9.83661037e-01 -1.75982906e-01 -3.79602545e-02 2.76690357e+01] [ 1.75948819e-01 9.84390085e-01 -4.26312694e-03 4.22460077e+00] [ 3.81179356e-02 -2.48559009e-03 9.99270156e-01 8.41507356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254391418 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:27.70, Y:4.23, Z:0.84 [[ 9.83564753e-01 -1.76369078e-01 -3.86565039e-02 2.77006784e+01] [ 1.76334204e-01 9.84320802e-01 -4.33677587e-03 4.22683563e+00] [ 3.88152741e-02 -2.55096397e-03 9.99243147e-01 8.42347230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:27.73, Y:4.23, Z:0.84 [[ 9.83486411e-01 -1.76427950e-01 -4.03442536e-02 2.77335531e+01] [ 1.76390188e-01 9.84309938e-01 -4.52186787e-03 4.22959537e+00] [ 4.05090337e-02 -2.66913488e-03 9.99175607e-01 8.44999710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:27.77, Y:4.23, Z:0.85 [[ 9.83436947e-01 -1.76502838e-01 -4.12131037e-02 2.77656595e+01] [ 1.76463689e-01 9.84296333e-01 -4.61468785e-03 4.23208566e+00] [ 4.13804124e-02 -2.73436177e-03 9.99139722e-01 8.46074486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:27.80, Y:4.23, Z:0.85 [[ 9.83526220e-01 -1.76060566e-01 -4.09737834e-02 2.77984001e+01] [ 1.76021633e-01 9.84375624e-01 -4.58434630e-03 4.23363974e+00] [ 4.11407162e-02 -2.70344748e-03 9.99149705e-01 8.46759712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:27.83, Y:4.23, Z:0.85 [[ 9.83792505e-01 -1.74856227e-01 -3.97190950e-02 2.78314037e+01] [ 1.74818852e-01 9.84590606e-01 -4.43922681e-03 4.23277033e+00] [ 3.98832743e-02 -2.57636855e-03 9.99201024e-01 8.46566749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:27.86, Y:4.23, Z:0.85 [[ 9.83922027e-01 -1.74302455e-01 -3.89371094e-02 2.78629550e+01] [ 1.74266285e-01 9.84688968e-01 -4.34722921e-03 4.23443147e+00] [ 3.90986748e-02 -2.50809082e-03 9.99232207e-01 8.47186269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:27.90, Y:4.24, Z:0.85 [[ 9.84116522e-01 -1.73447781e-01 -3.78224731e-02 2.78958347e+01] [ 1.73413168e-01 9.84840126e-01 -4.21891777e-03 4.23685823e+00] [ 3.79808511e-02 -2.40700822e-03 9.99275568e-01 8.48681874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464391417999998 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:27.93, Y:4.24, Z:0.85 [[ 9.84392548e-01 -1.71910727e-01 -3.76565153e-02 2.79277619e+01] [ 1.71875465e-01 9.85109749e-01 -4.19599486e-03 4.23976756e+00] [ 3.78171369e-02 -2.34172499e-03 9.99281932e-01 8.49981063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:27.96, Y:4.24, Z:0.85 [[ 9.84362695e-01 -1.72017963e-01 -3.79460810e-02 2.79595024e+01] [ 1.71982381e-01 9.85090968e-01 -4.22446100e-03 4.24344968e+00] [ 3.81070248e-02 -2.36765553e-03 9.99270859e-01 8.52489081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:27.99, Y:4.24, Z:0.85 [[ 9.84470743e-01 -1.70924467e-01 -4.00272644e-02 2.79906749e+01] [ 1.70884131e-01 9.85281072e-01 -4.45233604e-03 4.24391073e+00] [ 4.01991192e-02 -2.45682973e-03 9.99188668e-01 8.51259751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554391417999998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:28.02, Y:4.25, Z:0.85 [[ 9.84434954e-01 -1.71056899e-01 -4.03405339e-02 2.80234079e+01] [ 1.71016157e-01 9.85258020e-01 -4.48430280e-03 4.24638575e+00] [ 4.05129055e-02 -2.48437865e-03 9.99175927e-01 8.53909507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:28.06, Y:4.25, Z:0.85 [[ 9.84485115e-01 -1.70835450e-01 -4.00538062e-02 2.80551780e+01] [ 1.70795324e-01 9.85296495e-01 -4.44690778e-03 4.24875964e+00] [ 4.02245643e-02 -2.46308829e-03 9.99187629e-01 8.54940812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:28.09, Y:4.25, Z:0.86 [[ 9.84535776e-01 -1.70811714e-01 -3.88929949e-02 2.80879558e+01] [ 1.70774137e-01 9.85300771e-01 -4.31095723e-03 4.25181470e+00] [ 3.90576599e-02 -2.39762603e-03 9.99234082e-01 8.56829709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:28.12, Y:4.26, Z:0.86 [[ 9.84598438e-01 -1.70620862e-01 -3.81370971e-02 2.81192915e+01] [ 1.70584760e-01 9.85333958e-01 -4.22268300e-03 4.25512415e+00] [ 3.82982547e-02 -2.34796048e-03 9.99263594e-01 8.58413361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674391418 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:28.15, Y:4.26, Z:0.86 [[ 9.84639004e-01 -1.70408210e-01 -3.80404184e-02 2.81524384e+01] [ 1.70372285e-01 9.85370782e-01 -4.20801026e-03 4.25839076e+00] [ 3.82009964e-02 -2.33766199e-03 9.99267341e-01 8.59538227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704391418 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:28.18, Y:4.26, Z:0.86 [[ 9.84387049e-01 -1.71754934e-01 -3.85016863e-02 2.81843664e+01] [ 1.71719337e-01 9.85136726e-01 -4.25441417e-03 4.25986667e+00] [ 3.86601418e-02 -2.42349383e-03 9.99249478e-01 8.59830842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:28.22, Y:4.26, Z:0.86 [[ 9.84201469e-01 -1.72690358e-01 -3.90577645e-02 2.82173831e+01] [ 1.72654621e-01 9.84972990e-01 -4.31171830e-03 4.26178252e+00] [ 3.92154353e-02 -2.49990405e-03 9.99227652e-01 8.60642060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:28.25, Y:4.27, Z:0.86 [[ 9.84232404e-01 -1.72513828e-01 -3.90583364e-02 2.82507347e+01] [ 1.72478158e-01 9.85003928e-01 -4.30653184e-03 4.26533421e+00] [ 3.92155511e-02 -2.49808171e-03 9.99227652e-01 8.61741931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:28.28, Y:4.27, Z:0.86 [[ 9.83940707e-01 -1.73967526e-01 -3.99497767e-02 2.82831237e+01] [ 1.73931707e-01 9.84747900e-01 -4.39725513e-03 4.26717849e+00] [ 4.01054383e-02 -2.62189452e-03 9.99192013e-01 8.62318228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:28.31, Y:4.27, Z:0.86 [[ 9.83402369e-01 -1.76592702e-01 -4.16509078e-02 2.83149266e+01] [ 1.76556437e-01 9.84279878e-01 -4.57674805e-03 4.26854272e+00] [ 4.18043707e-02 -2.85295098e-03 9.99121742e-01 8.63332032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:28.35, Y:4.27, Z:0.86 [[ 9.83211336e-01 -1.77410987e-01 -4.26709652e-02 2.83469465e+01] [ 1.77373844e-01 9.84132393e-01 -4.68528391e-03 4.27105780e+00] [ 4.28251000e-02 -2.96208887e-03 9.99078194e-01 8.62971791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:28.38, Y:4.27, Z:0.87 [[ 9.82808841e-01 -1.79576784e-01 -4.28831122e-02 2.83776243e+01] [ 1.79541463e-01 9.83739154e-01 -4.70526781e-03 4.27449902e+00] [ 4.30307534e-02 -3.07491789e-03 9.99069016e-01 8.66411440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:28.41, Y:4.28, Z:0.87 [[ 9.82319329e-01 -1.82337046e-01 -4.24492427e-02 2.84089186e+01] [ 1.82305105e-01 9.83230989e-01 -4.65509802e-03 4.27504175e+00] [ 4.25862077e-02 -3.16592089e-03 9.99087780e-01 8.67003250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:28.44, Y:4.28, Z:0.87 [[ 9.82171202e-01 -1.83295791e-01 -4.17418616e-02 2.84405645e+01] [ 1.83265877e-01 9.83052740e-01 -4.57483709e-03 4.27728994e+00] [ 4.18729998e-02 -3.15658565e-03 9.99117955e-01 8.68895074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:28.47, Y:4.28, Z:0.87 [[ 9.82099562e-01 -1.83610209e-01 -4.20445227e-02 2.84721293e+01] [ 1.83580286e-01 9.82993934e-01 -4.60473054e-03 4.27976826e+00] [ 4.21749863e-02 -3.19624163e-03 9.99105127e-01 8.69961478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:28.50, Y:4.28, Z:0.87 [[ 9.82100530e-01 -1.83425946e-01 -4.28190537e-02 2.85036276e+01] [ 1.83394862e-01 9.83028158e-01 -4.68667972e-03 4.28409273e+00] [ 4.29519941e-02 -3.25000378e-03 9.99071851e-01 8.71127807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:28.53, Y:4.29, Z:0.87 [[ 9.82332300e-01 -1.82013110e-01 -4.35256228e-02 2.85346863e+01] [ 1.81979800e-01 9.83290749e-01 -4.75977234e-03 4.28846230e+00] [ 4.36646832e-02 -3.24510600e-03 9.99040972e-01 8.70907389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:28.57, Y:4.29, Z:0.87 [[ 9.82532756e-01 -1.81063488e-01 -4.29580792e-02 2.85661672e+01] [ 1.81030363e-01 9.83466313e-01 -4.69246709e-03 4.29360367e+00] [ 4.30974583e-02 -3.16621405e-03 9.99065856e-01 8.74085323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:28.60, Y:4.30, Z:0.88 [[ 9.83299266e-01 -1.76981700e-01 -4.24267741e-02 2.85977100e+01] [ 1.76945750e-01 9.84209711e-01 -4.63107208e-03 4.29716684e+00] [ 4.25764581e-02 -2.95350759e-03 9.99088846e-01 8.75402653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:28.63, Y:4.30, Z:0.87 [[ 9.83380564e-01 -1.76525558e-01 -4.24428406e-02 2.86277413e+01] [ 1.76538505e-01 9.84287609e-01 -3.47253540e-03 4.30174643e+00] [ 4.23889534e-02 -4.07797182e-03 9.99092862e-01 8.74822716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:28.66, Y:4.31, Z:0.88 [[ 9.84482386e-01 -1.70673701e-01 -4.08034274e-02 2.86618287e+01] [ 1.70570068e-01 9.85327076e-01 -6.03361358e-03 4.30560210e+00] [ 4.12345010e-02 -1.01985708e-03 9.99148976e-01 8.78512845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:28.69, Y:4.31, Z:0.88 [[ 9.84828766e-01 -1.68607523e-01 -4.10341982e-02 2.86935106e+01] [ 1.68567293e-01 9.85680042e-01 -4.46339448e-03 4.31002049e+00] [ 4.11991521e-02 -2.52134443e-03 9.99147773e-01 8.78438089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214391417999998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:28.73, Y:4.32, Z:0.88 [[ 9.85105295e-01 -1.67005762e-01 -4.09467222e-02 2.87251209e+01] [ 1.66964461e-01 9.85952870e-01 -4.45056373e-03 4.31643714e+00] [ 4.11148080e-02 -2.45237350e-03 9.99151419e-01 8.81687850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:28.76, Y:4.32, Z:0.88 [[ 9.85527684e-01 -1.64624392e-01 -4.04226780e-02 2.87561807e+01] [ 1.64582292e-01 9.86353586e-01 -4.38996398e-03 4.32140957e+00] [ 4.05937486e-02 -2.32642598e-03 9.99173026e-01 8.81437907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:28.79, Y:4.33, Z:0.88 [[ 9.85991307e-01 -1.61945662e-01 -3.99342674e-02 2.87865129e+01] [ 1.61902573e-01 9.86797238e-01 -4.33217235e-03 4.32673774e+00] [ 4.01086013e-02 -2.19397636e-03 9.99192918e-01 8.83254279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304391417999998 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:28.82, Y:4.33, Z:0.88 [[ 9.86281521e-01 -1.60374940e-01 -3.90978286e-02 2.88193553e+01] [ 1.60332512e-01 9.87053959e-01 -4.23874461e-03 4.33033121e+00] [ 3.92714549e-02 -2.08805757e-03 9.99226397e-01 8.82589633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334391418 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:28.85, Y:4.34, Z:0.89 [[ 9.86512793e-01 -1.58994224e-01 -3.89017491e-02 2.88519522e+01] [ 1.58951336e-01 9.87277431e-01 -4.21271804e-03 4.33603119e+00] [ 3.90766168e-02 -2.02758475e-03 9.99234160e-01 8.85216747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:28.88, Y:4.34, Z:0.89 [[ 9.86646891e-01 -1.58196408e-01 -3.87531814e-02 2.88843458e+01] [ 1.58153421e-01 9.87405653e-01 -4.19181472e-03 4.34128856e+00] [ 3.89282405e-02 -1.99310725e-03 9.99240021e-01 8.86422870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:28.92, Y:4.35, Z:0.89 [[ 9.86781133e-01 -1.57309665e-01 -3.89443678e-02 2.89159788e+01] [ 1.57265749e-01 9.87547355e-01 -4.20779390e-03 4.34872929e+00] [ 3.91213341e-02 -1.97244354e-03 9.99232521e-01 8.86612792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:28.95, Y:4.35, Z:0.89 [[ 9.86618941e-01 -1.58260192e-01 -3.92017482e-02 2.89477859e+01] [ 1.58216600e-01 9.87395362e-01 -4.23158935e-03 4.35426309e+00] [ 3.93773165e-02 -2.02740110e-03 9.99222356e-01 8.89148692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454391418 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:28.98, Y:4.36, Z:0.89 [[ 9.86528599e-01 -1.58723635e-01 -3.95996269e-02 2.89804473e+01] [ 1.58679690e-01 9.87320880e-01 -4.27040751e-03 4.35813519e+00] [ 3.97753531e-02 -2.07077739e-03 9.99206502e-01 8.88234690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484391418 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:29.01, Y:4.36, Z:0.89 [[ 9.86315450e-01 -1.59946871e-01 -3.99853978e-02 2.90119406e+01] [ 1.59903294e-01 9.87123291e-01 -4.30640079e-03 4.36155055e+00] [ 4.01593128e-02 -2.14632717e-03 9.99190984e-01 8.88795297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:29.04, Y:4.37, Z:0.89 [[ 9.85526512e-01 -1.64483525e-01 -4.10202936e-02 2.90446878e+01] [ 1.64441901e-01 9.86376912e-01 -4.40997432e-03 4.36505304e+00] [ 4.11868387e-02 -2.39930846e-03 9.99148581e-01 8.90533225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:29.08, Y:4.37, Z:0.89 [[ 9.85072939e-01 -1.67124830e-01 -4.12382934e-02 2.90764846e+01] [ 1.67085272e-01 9.85932503e-01 -4.42846362e-03 4.36866450e+00] [ 4.13982800e-02 -2.52795178e-03 9.99139526e-01 8.90884787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:29.11, Y:4.37, Z:0.89 [[ 9.84632885e-01 -1.69497421e-01 -4.20559913e-02 2.91090835e+01] [ 1.69458627e-01 9.85526975e-01 -4.51169761e-03 4.37301626e+00] [ 4.22120350e-02 -2.68438471e-03 9.99105069e-01 8.91113373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:29.14, Y:4.38, Z:0.90 [[ 9.83727356e-01 -1.74759259e-01 -4.17095894e-02 2.91405016e+01] [ 1.74726009e-01 9.84606949e-01 -4.46962001e-03 4.38026224e+00] [ 4.18486590e-02 -2.89086261e-03 9.99119779e-01 8.95464610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:29.17, Y:4.38, Z:0.90 [[ 9.83394237e-01 -1.76618550e-01 -4.17332351e-02 2.91724051e+01] [ 1.76587106e-01 9.84274876e-01 -4.46790091e-03 4.38440104e+00] [ 4.18660890e-02 -2.97584319e-03 9.99118799e-01 8.97087072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:29.21, Y:4.39, Z:0.90 [[ 9.82817713e-01 -1.79696404e-01 -4.21728144e-02 2.92051164e+01] [ 1.79667298e-01 9.83717092e-01 -4.51050977e-03 4.38723956e+00] [ 4.22966407e-02 -3.14406672e-03 9.99100150e-01 8.96267243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:29.24, Y:4.39, Z:0.90 [[ 9.82501876e-01 -1.81460043e-01 -4.19799530e-02 2.92377488e+01] [ 1.81433010e-01 9.83393079e-01 -4.48493401e-03 4.39090423e+00] [ 4.20966316e-02 -3.21009316e-03 9.99108387e-01 8.98408953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:29.27, Y:4.39, Z:0.90 [[ 9.82219001e-01 -1.82874702e-01 -4.24579430e-02 2.92703821e+01] [ 1.82848582e-01 9.83130646e-01 -4.53091061e-03 4.39445037e+00] [ 4.25702939e-02 -3.31302817e-03 9.99087981e-01 8.99025927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:29.30, Y:4.40, Z:0.90 [[ 9.81646139e-01 -1.85597499e-01 -4.38682846e-02 2.93023925e+01] [ 1.85572541e-01 9.82619440e-01 -4.67632024e-03 4.40031876e+00] [ 4.39737426e-02 -3.55025732e-03 9.99026379e-01 9.01336771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:29.34, Y:4.41, Z:0.90 [[ 9.81450740e-01 -1.86560809e-01 -4.41532596e-02 2.93353961e+01] [ 1.86536698e-01 9.82436741e-01 -4.70210944e-03 4.40525598e+00] [ 4.42550138e-02 -3.62131444e-03 9.99013704e-01 9.02759977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814391418 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:29.37, Y:4.41, Z:0.90 [[ 9.81348188e-01 -1.86810125e-01 -4.53620010e-02 2.93672675e+01] [ 1.86785182e-01 9.82388930e-01 -4.82560530e-03 4.40942208e+00] [ 4.54645995e-02 -3.73735058e-03 9.98958959e-01 9.01969214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:29.40, Y:4.41, Z:0.90 [[ 9.81343565e-01 -1.87103909e-01 -4.42372436e-02 2.93996824e+01] [ 1.87080685e-01 9.82333301e-01 -4.70135161e-03 4.41355896e+00] [ 4.43353589e-02 -3.66229268e-03 9.99009992e-01 9.04659664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:29.43, Y:4.42, Z:0.91 [[ 9.81342465e-01 -1.87273143e-01 -4.35400495e-02 2.94316441e+01] [ 1.87251037e-01 9.82301220e-01 -4.62202379e-03 4.41723399e+00] [ 4.36350247e-02 -3.61713120e-03 9.99040991e-01 9.06229969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:29.46, Y:4.42, Z:0.91 [[ 9.80814887e-01 -1.89585251e-01 -4.53827086e-02 2.94592188e+01] [ 1.90071987e-01 9.81747823e-01 6.62205167e-03 4.42221881e+00] [ 4.32989321e-02 -1.51209885e-02 9.98947725e-01 9.08652744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:29.49, Y:4.43, Z:0.91 [[ 9.81226302e-01 -1.88003931e-01 -4.30054161e-02 2.94909495e+01] [ 1.87921833e-01 9.82165781e-01 -5.98022029e-03 4.43282820e+00] [ 4.33627530e-02 -2.21370719e-03 9.99056941e-01 9.13811016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964391417999998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:29.52, Y:4.43, Z:0.91 [[ 9.81437314e-01 -1.86659668e-01 -4.40337059e-02 2.95223158e+01] [ 1.86829012e-01 9.82392409e-01 -2.74264869e-04 4.43446572e+00] [ 4.33095726e-02 -7.95759998e-03 9.99030008e-01 9.14677811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:29.56, Y:4.44, Z:0.92 [[ 9.82686852e-01 -1.81159272e-01 -3.88312849e-02 2.95576593e+01] [ 1.80470075e-01 9.83364659e-01 -2.06033669e-02 4.44358949e+00] [ 4.19178042e-02 1.32387729e-02 9.99033349e-01 9.17103458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024391418 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:29.59, Y:4.44, Z:0.91 [[ 9.82885096e-01 -1.79956175e-01 -3.94038366e-02 2.95913674e+01] [ 1.79934232e-01 9.83669965e-01 -4.13181428e-03 4.43975514e+00] [ 3.95039161e-02 -3.02900041e-03 9.99214825e-01 9.14107761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054391417999998 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:29.62, Y:4.44, Z:0.91 [[ 9.82988604e-01 -1.79259265e-01 -3.99940091e-02 2.96241754e+01] [ 1.79236286e-01 9.83797138e-01 -4.18875321e-03 4.44310856e+00] [ 4.00968645e-02 -3.05088099e-03 9.99191140e-01 9.14818618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:29.66, Y:4.45, Z:0.91 [[ 9.83045011e-01 -1.78724503e-01 -4.09885078e-02 2.96565004e+01] [ 1.78700112e-01 9.83894244e-01 -4.28794060e-03 4.44604849e+00] [ 4.10947169e-02 -3.10941232e-03 9.99150417e-01 9.14943813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:29.69, Y:4.45, Z:0.91 [[ 9.82985789e-01 -1.78639865e-01 -4.27403523e-02 2.96889776e+01] [ 1.78613470e-01 9.83909182e-01 -4.46652293e-03 4.44995785e+00] [ 4.28505241e-02 -3.24347406e-03 9.99076230e-01 9.14978435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:29.72, Y:4.45, Z:0.92 [[ 9.82233155e-01 -1.82021007e-01 -4.56769348e-02 2.97164428e+01] [ 1.82492948e-01 9.83186663e-01 6.34890057e-03 4.45265967e+00] [ 4.37533198e-02 -1.45718191e-02 9.98936089e-01 9.17421336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:29.75, Y:4.46, Z:0.92 [[ 9.82613606e-01 -1.80972190e-01 -4.14676647e-02 2.97512979e+01] [ 1.80444956e-01 9.83452421e-01 -1.61540273e-02 4.46191878e+00] [ 4.37049050e-02 8.39053610e-03 9.99009249e-01 9.21621968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:29.78, Y:4.46, Z:0.92 [[ 9.82533464e-01 -1.81060442e-01 -4.29547193e-02 2.97836648e+01] [ 1.81037321e-01 9.83466113e-01 -4.46010703e-03 4.45860680e+00] [ 4.30520598e-02 -3.39420289e-03 9.99067065e-01 9.18933395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:29.82, Y:4.46, Z:0.92 [[ 9.82488377e-01 -1.81325892e-01 -4.28661817e-02 2.98166438e+01] [ 1.81303306e-01 9.83417175e-01 -4.44651322e-03 4.46119148e+00] [ 4.29616073e-02 -3.40313292e-03 9.99070928e-01 9.19438988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:29.85, Y:4.47, Z:0.92 [[ 9.82504302e-01 -1.81206295e-01 -4.30066895e-02 2.98497274e+01] [ 1.81183669e-01 9.83439181e-01 -4.45595699e-03 4.46549346e+00] [ 4.31019109e-02 -3.41411287e-03 9.99064847e-01 9.21973943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:29.88, Y:4.47, Z:0.92 [[ 9.82603613e-01 -1.80642094e-01 -4.31111772e-02 2.98828952e+01] [ 1.80619053e-01 9.83543011e-01 -4.46138098e-03 4.47002263e+00] [ 4.32076103e-02 -3.40293092e-03 9.99060320e-01 9.23005738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:29.91, Y:4.47, Z:0.92 [[ 9.82807218e-01 -1.79532818e-01 -4.31038202e-02 2.99143747e+01] [ 1.79508950e-01 9.83746251e-01 -4.45539862e-03 4.47381928e+00] [ 4.32031118e-02 -3.35872358e-03 9.99060664e-01 9.24328463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:29.95, Y:4.48, Z:0.93 [[ 9.83046140e-01 -1.78301837e-01 -4.27637949e-02 2.99472647e+01] [ 1.78277385e-01 9.83970364e-01 -4.41559954e-03 4.47715579e+00] [ 4.28656163e-02 -3.28307945e-03 9.99075453e-01 9.25233418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:29.98, Y:4.48, Z:0.93 [[ 9.83332444e-01 -1.76565379e-01 -4.33816854e-02 2.99767017e+01] [ 1.76574588e-01 9.84280495e-01 -3.64988960e-03 4.48181028e+00] [ 4.33441909e-02 -4.07104835e-03 9.99051904e-01 9.25757886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:30.01, Y:4.48, Z:0.93 [[ 9.83866324e-01 -1.73549862e-01 -4.34454028e-02 3.00109382e+01] [ 1.73471183e-01 9.84823005e-01 -5.60338417e-03 4.48400325e+00] [ 4.37584987e-02 -2.02354443e-03 9.99040089e-01 9.26386689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:30.04, Y:4.49, Z:0.93 [[ 9.84172018e-01 -1.71876864e-01 -4.31715412e-02 3.00422718e+01] [ 1.71846900e-01 9.85113698e-01 -4.43215752e-03 4.48868597e+00] [ 4.32906620e-02 -3.05689012e-03 9.99057843e-01 9.28179573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:30.08, Y:4.49, Z:0.93 [[ 9.84271123e-01 -1.71003512e-01 -4.43638895e-02 3.00750277e+01] [ 1.70971353e-01 9.85265511e-01 -4.54643547e-03 4.49259431e+00] [ 4.44876666e-02 -3.11002905e-03 9.99005093e-01 9.28084645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:30.11, Y:4.50, Z:0.93 [[ 9.84337881e-01 -1.70924554e-01 -4.31709767e-02 3.01078129e+01] [ 1.70894242e-01 9.85279468e-01 -4.41911096e-03 4.49643922e+00] [ 4.32908115e-02 -3.02777304e-03 9.99057925e-01 9.30882164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:30.14, Y:4.50, Z:0.93 [[ 9.84309614e-01 -1.71386650e-01 -4.19666569e-02 3.01398415e+01] [ 1.71358618e-01 9.85199376e-01 -4.29113631e-03 4.49907866e+00] [ 4.20809676e-02 -2.96754162e-03 9.99109797e-01 9.31669392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:30.17, Y:4.50, Z:0.93 [[ 9.84304156e-01 -1.71383275e-01 -4.21082030e-02 3.01717162e+01] [ 1.71355227e-01 9.85199921e-01 -4.30145474e-03 4.50235483e+00] [ 4.22221956e-02 -2.98152090e-03 9.99103797e-01 9.31974153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594391418 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:30.20, Y:4.51, Z:0.93 [[ 9.84110220e-01 -1.72801440e-01 -4.08256855e-02 3.02014738e+01] [ 1.72615352e-01 9.84956277e-01 -8.06676283e-03 4.51022487e+00] [ 4.16054635e-02 8.91443687e-04 9.99133720e-01 9.34008568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:30.24, Y:4.51, Z:0.93 [[ 9.84161754e-01 -1.72426636e-01 -4.11666886e-02 3.02364141e+01] [ 1.72548562e-01 9.85000830e-01 -5.99611587e-04 4.50773715e+00] [ 4.06526114e-02 -6.51313814e-03 9.99152113e-01 9.33467584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:30.27, Y:4.51, Z:0.94 [[ 9.83995442e-01 -1.73407046e-01 -4.10239651e-02 3.02694337e+01] [ 1.73383012e-01 9.84845643e-01 -4.17024804e-03 4.51206054e+00] [ 4.11254237e-02 -3.00935357e-03 9.99149460e-01 9.35067686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:30.30, Y:4.52, Z:0.94 [[ 9.84026518e-01 -1.73230490e-01 -4.10244955e-02 3.03028252e+01] [ 1.73206521e-01 9.84876720e-01 -4.16502419e-03 4.51530758e+00] [ 4.11255798e-02 -3.00721588e-03 9.99149460e-01 9.36151117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714391417999998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:30.34, Y:4.52, Z:0.94 [[ 9.83768374e-01 -1.74626331e-01 -4.12968630e-02 3.03357428e+01] [ 1.74603550e-01 9.84629920e-01 -4.18577500e-03 4.51757720e+00] [ 4.13930734e-02 -3.09274582e-03 9.99138153e-01 9.37009279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:30.37, Y:4.52, Z:0.94 [[ 9.83311387e-01 -1.77057392e-01 -4.18257846e-02 3.03674595e+01] [ 1.77036441e-01 9.84195190e-01 -4.23388141e-03 4.51983765e+00] [ 4.19143760e-02 -3.24146426e-03 9.99115948e-01 9.37704199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:30.40, Y:4.52, Z:0.94 [[ 9.83180775e-01 -1.77812923e-01 -4.16908703e-02 3.04007477e+01] [ 1.77793081e-01 9.84058876e-01 -4.21306740e-03 4.52341836e+00] [ 4.17754088e-02 -3.27014141e-03 9.99121675e-01 9.39090198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804391417999998 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:30.43, Y:4.53, Z:0.94 [[ 9.83153685e-01 -1.78190269e-01 -4.07069878e-02 3.04328915e+01] [ 1.78171863e-01 9.83990805e-01 -4.10893775e-03 4.52651892e+00] [ 4.07874745e-02 -3.21312258e-03 9.99162678e-01 9.40232749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:30.47, Y:4.53, Z:0.94 [[ 9.83090134e-01 -1.78800302e-01 -3.95504813e-02 3.04657007e+01] [ 1.78783576e-01 9.83880342e-01 -3.98814967e-03 4.52844609e+00] [ 3.96260234e-02 -3.15026588e-03 9.99209615e-01 9.40803360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:30.50, Y:4.53, Z:0.94 [[ 9.83096482e-01 -1.78624209e-01 -4.01833277e-02 3.04988539e+01] [ 1.78606996e-01 9.83912172e-01 -4.04705930e-03 4.53020551e+00] [ 4.02597680e-02 -3.19837369e-03 9.99184128e-01 9.39959686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:30.53, Y:4.53, Z:0.94 [[ 9.82963133e-01 -1.79488784e-01 -3.95885930e-02 3.05305651e+01] [ 1.79472980e-01 9.83754844e-01 -3.98189230e-03 4.53350969e+00] [ 3.96601752e-02 -3.19102944e-03 9.99208130e-01 9.42513120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:30.56, Y:4.54, Z:0.94 [[ 9.82954582e-01 -1.79445416e-01 -3.99954027e-02 3.05634898e+01] [ 1.79429546e-01 9.83762631e-01 -4.01546398e-03 4.53762288e+00] [ 4.00665392e-02 -3.22933822e-03 9.99191795e-01 9.44484558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954391418 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:30.60, Y:4.54, Z:0.94 [[ 9.83124266e-01 -1.78338752e-01 -4.07672393e-02 3.05957214e+01] [ 1.78321514e-01 9.83963782e-01 -4.08822246e-03 4.54100437e+00] [ 4.08425755e-02 -3.25044512e-03 9.99160307e-01 9.43754234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:30.63, Y:4.56, Z:0.94 [[ 9.83598713e-01 -1.77110768e-01 -3.41371954e-02 3.06262443e+01] [ 1.76258997e-01 9.83985704e-01 -2.65499626e-02 4.55572890e+00] [ 3.82927966e-02 2.00975212e-02 9.99064438e-01 9.44749847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014391417999995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:30.66, Y:4.53, Z:0.94 [[ 9.83820711e-01 -1.74218658e-01 -4.17692179e-02 3.06607944e+01] [ 1.75121327e-01 9.84363570e-01 1.89969464e-02 4.53416307e+00] [ 3.78064739e-02 -2.60042702e-02 9.98946669e-01 9.37072235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044391418 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:30.69, Y:4.55, Z:0.94 [[ 9.83980382e-01 -1.73796299e-01 -3.97171680e-02 3.06925850e+01] [ 1.73776941e-01 9.84777055e-01 -3.96568613e-03 4.54786429e+00] [ 3.98017773e-02 -2.99977063e-03 9.99203092e-01 9.44045210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:30.72, Y:4.56, Z:0.95 [[ 9.84521245e-01 -1.72059008e-01 -3.33708871e-02 3.07228902e+01] [ 1.71258977e-01 9.84895191e-01 -2.55308787e-02 4.56409162e+00] [ 3.72596439e-02 1.94206285e-02 9.99116889e-01 9.47677063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:30.76, Y:4.55, Z:0.94 [[ 9.84742685e-01 -1.68857980e-01 -4.20574233e-02 3.07563634e+01] [ 1.69730065e-01 9.85324681e-01 1.80825171e-02 4.54671757e+00] [ 3.83868399e-02 -2.49450357e-02 9.98951548e-01 9.42360170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13439141799999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:30.79, Y:4.56, Z:0.95 [[ 9.85117132e-01 -1.67069659e-01 -4.03975996e-02 3.07878548e+01] [ 1.67044413e-01 9.85941162e-01 -4.02351905e-03 4.56245630e+00] [ 4.05018643e-02 -2.78455579e-03 9.99175583e-01 9.49477541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164391417999994 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:30.82, Y:4.57, Z:0.95 [[ 9.85687265e-01 -1.63858033e-01 -3.96378577e-02 3.08194892e+01] [ 1.63831326e-01 9.86480485e-01 -3.94320827e-03 4.56736644e+00] [ 3.97480994e-02 -2.60715260e-03 9.99206331e-01 9.51462589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194391417999995 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:30.85, Y:4.57, Z:0.95 [[ 9.85975572e-01 -1.62164341e-01 -3.94321948e-02 3.08525422e+01] [ 1.62136725e-01 9.86760522e-01 -3.91861542e-03 4.56977622e+00] [ 3.95455928e-02 -2.52974783e-03 9.99214565e-01 9.50715164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224391417999996 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:30.88, Y:4.57, Z:0.95 [[ 9.86123645e-01 -1.61401465e-01 -3.88551731e-02 3.08843238e+01] [ 1.61374239e-01 9.86885749e-01 -3.85670219e-03 4.57243100e+00] [ 3.89680939e-02 -2.46703875e-03 9.99237410e-01 9.51965945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:30.92, Y:4.58, Z:0.95 [[ 9.86138583e-01 -1.61443530e-01 -3.82972873e-02 3.09170899e+01] [ 1.61417262e-01 9.86878943e-01 -3.79739225e-03 4.57565593e+00] [ 3.84078508e-02 -2.43708826e-03 9.99259174e-01 9.52310781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:30.95, Y:4.58, Z:0.95 [[ 9.86180124e-01 -1.61336515e-01 -3.76734926e-02 3.09499994e+01] [ 1.61311183e-01 9.86896540e-01 -3.73116392e-03 4.57964830e+00] [ 3.77818124e-02 -2.39755594e-03 9.99283136e-01 9.53675713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:30.98, Y:4.58, Z:0.95 [[ 9.86233665e-01 -1.60984991e-01 -3.77755351e-02 3.09824391e+01] [ 1.60959435e-01 9.86953949e-01 -3.73678594e-03 4.58361122e+00] [ 3.78842800e-02 -2.39498470e-03 9.99279263e-01 9.53647758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344391417999994 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:31.01, Y:4.59, Z:0.96 [[ 9.86297185e-01 -1.60771504e-01 -3.70187241e-02 3.10146077e+01] [ 1.60746984e-01 9.86988871e-01 -3.65725749e-03 4.58790695e+00] [ 3.71250514e-02 -2.34350549e-03 9.99307880e-01 9.55810711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374391417999995 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:31.05, Y:4.59, Z:0.96 [[ 9.86214319e-01 -1.61329632e-01 -3.67976460e-02 3.10463992e+01] [ 1.61306040e-01 9.86897763e-01 -3.62868978e-03 4.59180050e+00] [ 3.69009297e-02 -2.35701673e-03 9.99316149e-01 9.56503675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404391417999996 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:31.08, Y:4.59, Z:0.96 [[ 9.86053763e-01 -1.62346500e-01 -3.66277204e-02 3.10790898e+01] [ 1.62323956e-01 9.86730923e-01 -3.60831213e-03 4.59422523e+00] [ 3.67275012e-02 -2.38756671e-03 9.99322466e-01 9.57117428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:31.11, Y:4.60, Z:0.96 [[ 9.85556772e-01 -1.65509302e-01 -3.58401906e-02 3.11118832e+01] [ 1.65489943e-01 9.86205172e-01 -3.52663828e-03 4.59615936e+00] [ 3.59294728e-02 -2.45548886e-03 9.99351311e-01 9.58363009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:31.15, Y:4.60, Z:0.96 [[ 9.85308394e-01 -1.66979816e-01 -3.58484131e-02 3.11452970e+01] [ 1.66961566e-01 9.85957110e-01 -3.52329492e-03 4.59872379e+00] [ 3.59333169e-02 -2.51377514e-03 9.99351028e-01 9.58423465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:31.18, Y:4.60, Z:0.96 [[ 9.85041908e-01 -1.68547334e-01 -3.58362387e-02 3.11784828e+01] [ 1.68530279e-01 9.85690200e-01 -3.51786056e-03 4.60164300e+00] [ 3.59163553e-02 -2.57425124e-03 9.99351484e-01 9.58922438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52439141799999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:31.21, Y:4.61, Z:0.96 [[ 9.84576579e-01 -1.71351536e-01 -3.53215496e-02 3.12113857e+01] [ 1.71336910e-01 9.85206410e-01 -3.46313276e-03 4.60546571e+00] [ 3.53924302e-02 -2.64216576e-03 9.99369999e-01 9.61605801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554391417999994 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:31.24, Y:4.61, Z:0.96 [[ 9.84540105e-01 -1.71536732e-01 -3.54391052e-02 3.12436258e+01] [ 1.71522304e-01 9.85174127e-01 -3.46971384e-03 4.60822171e+00] [ 3.55088729e-02 -2.66252453e-03 9.99365814e-01 9.62176002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584391417999996 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:31.28, Y:4.61, Z:0.96 [[ 9.84549811e-01 -1.71545226e-01 -3.51269951e-02 3.12764361e+01] [ 1.71531413e-01 9.85172683e-01 -3.42900403e-03 4.61079814e+00] [ 3.51943853e-02 -2.64935783e-03 9.99376974e-01 9.62636514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:31.31, Y:4.61, Z:0.96 [[ 9.84493525e-01 -1.71858716e-01 -3.51721637e-02 3.13096640e+01] [ 1.71845217e-01 9.85117994e-01 -3.42912821e-03 4.61269410e+00] [ 3.52380569e-02 -2.66821360e-03 9.99375385e-01 9.63035424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:31.34, Y:4.61, Z:0.96 [[ 9.84480839e-01 -1.71943346e-01 -3.51135716e-02 3.13424011e+01] [ 1.71930095e-01 9.85103219e-01 -3.41917624e-03 4.61489913e+00] [ 3.51783970e-02 -2.67096619e-03 9.99377479e-01 9.63743577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:31.37, Y:4.62, Z:0.96 [[ 9.84463392e-01 -1.72074050e-01 -3.49621372e-02 3.13743097e+01] [ 1.72061140e-01 9.85080404e-01 -3.40028748e-03 4.61735591e+00] [ 3.50256175e-02 -2.66816665e-03 9.99382853e-01 9.64655553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70439141799999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:31.41, Y:4.62, Z:0.97 [[ 9.84739698e-01 -1.70888394e-01 -3.29375693e-02 3.14082656e+01] [ 1.70613029e-01 9.85276511e-01 -1.10177563e-02 4.62282533e+00] [ 3.43354200e-02 5.23004356e-03 9.99396681e-01 9.66209858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.734391417999994 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:31.44, Y:4.62, Z:0.96 [[ 9.84662221e-01 -1.70848949e-01 -3.53687456e-02 3.14385419e+01] [ 1.71116318e-01 9.85239845e-01 4.65331492e-03 4.61929145e+00] [ 3.40516835e-02 -1.06341129e-02 9.99363497e-01 9.64611639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764391417999995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:31.47, Y:4.63, Z:0.97 [[ 9.84763794e-01 -1.70461662e-01 -3.43961047e-02 3.14711009e+01] [ 1.70448479e-01 9.85360940e-01 -3.33679798e-03 4.62596793e+00] [ 3.44613742e-02 -2.57680590e-03 9.99402709e-01 9.67831360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:31.50, Y:4.63, Z:0.97 [[ 9.85036979e-01 -1.69104135e-01 -3.32556900e-02 3.15042952e+01] [ 1.69091167e-01 9.85595147e-01 -3.22236567e-03 4.62824967e+00] [ 3.33215620e-02 -2.44909408e-03 9.99441682e-01 9.68525371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:31.54, Y:4.63, Z:0.97 [[ 9.85138081e-01 -1.68514300e-01 -3.32549648e-02 3.15368630e+01] [ 1.68501128e-01 9.85696207e-01 -3.21839612e-03 4.63100385e+00] [ 3.33216384e-02 -2.43293452e-03 9.99441719e-01 9.69934632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:31.57, Y:4.63, Z:0.97 [[ 9.85226927e-01 -1.68044185e-01 -3.30008318e-02 3.15698271e+01] [ 1.68031082e-01 9.85776537e-01 -3.18986268e-03 4.63393795e+00] [ 3.30674836e-02 -2.40242688e-03 9.99450234e-01 9.70298848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88439141799999 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:31.60, Y:4.64, Z:0.97 [[ 9.85179496e-01 -1.68306897e-01 -3.30779293e-02 3.16011760e+01] [ 1.68294017e-01 9.85731671e-01 -3.19319273e-03 4.63690693e+00] [ 3.31433989e-02 -2.42094960e-03 9.99447675e-01 9.72685305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.914391417999994 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:31.63, Y:4.64, Z:0.97 [[ 9.85298991e-01 -1.67470874e-01 -3.37550646e-02 3.16343334e+01] [ 1.67457095e-01 9.85873991e-01 -3.25498831e-03 4.63932922e+00] [ 3.38233560e-02 -2.44538836e-03 9.99424835e-01 9.72242945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944391417999995 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:31.67, Y:4.64, Z:0.97 [[ 9.85301840e-01 -1.67593321e-01 -3.30569785e-02 3.16674926e+01] [ 1.67580303e-01 9.85853288e-01 -3.18376026e-03 4.64201773e+00] [ 3.31229079e-02 -2.40273363e-03 9.99448398e-01 9.74584069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.974391417999996 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:31.70, Y:4.64, Z:0.97 [[ 9.85119885e-01 -1.68610705e-01 -3.33052878e-02 3.16995085e+01] [ 1.68598210e-01 9.85679655e-01 -3.20346419e-03 4.64295573e+00] [ 3.33684829e-02 -2.45941563e-03 9.99440091e-01 9.74361145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:31.73, Y:4.64, Z:0.97 [[ 9.84963417e-01 -1.69316287e-01 -3.43374777e-02 3.17325895e+01] [ 1.69303676e-01 9.85558422e-01 -3.29568065e-03 4.64454284e+00] [ 3.43996028e-02 -2.56733635e-03 9.99404861e-01 9.74056048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:31.76, Y:4.65, Z:0.97 [[ 9.84730373e-01 -1.70692724e-01 -3.42065282e-02 3.17642733e+01] [ 1.70681180e-01 9.85320853e-01 -3.27883672e-03 4.64670648e+00] [ 3.42640791e-02 -2.60964051e-03 9.99409407e-01 9.74521237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064391418 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:31.80, Y:4.65, Z:0.98 [[ 9.84287252e-01 -1.73430803e-01 -3.31716971e-02 3.17968233e+01] [ 1.73421603e-01 9.84842555e-01 -3.17626564e-03 4.64917034e+00] [ 3.32197613e-02 -2.62633111e-03 9.99444621e-01 9.77787249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.094391417999994 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:31.83, Y:4.65, Z:0.98 [[ 9.84197526e-01 -1.73985990e-01 -3.29257638e-02 3.18283823e+01] [ 1.73977369e-01 9.84744617e-01 -3.14862946e-03 4.65164397e+00] [ 3.29712861e-02 -2.62946442e-03 9.99452840e-01 9.79293063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124391417999995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:31.86, Y:4.65, Z:0.98 [[ 9.84002400e-01 -1.75135507e-01 -3.26623769e-02 3.18615423e+01] [ 1.75127762e-01 9.84540772e-01 -3.12008082e-03 4.65313478e+00] [ 3.27038787e-02 -2.64992196e-03 9.99461572e-01 9.80016888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.154391417999996 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:31.89, Y:4.65, Z:0.98 [[ 9.83823569e-01 -1.76185761e-01 -3.24000353e-02 3.18932265e+01] [ 1.76178835e-01 9.84353323e-01 -3.09100050e-03 4.65481587e+00] [ 3.24376727e-02 -2.66720133e-03 9.99470201e-01 9.80600825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:31.93, Y:4.66, Z:0.98 [[ 9.83748187e-01 -1.76694228e-01 -3.19163699e-02 3.19259057e+01] [ 1.76687876e-01 9.84262233e-01 -3.04161834e-03 4.65599608e+00] [ 3.19515139e-02 -2.64704907e-03 9.99485915e-01 9.80953764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214391418 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:31.96, Y:4.66, Z:0.98 [[ 9.83946295e-01 -1.76108225e-01 -2.89064185e-02 3.19599708e+01] [ 1.75840758e-01 9.84350655e-01 -1.15678408e-02 4.65991397e+00] [ 3.04912439e-02 6.29920762e-03 9.99515184e-01 9.81191817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244391418 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:31.99, Y:4.65, Z:0.98 [[ 9.83695945e-01 -1.76573984e-01 -3.41162024e-02 3.19899283e+01] [ 1.76872160e-01 9.84216118e-01 5.90527161e-03 4.65485435e+00] [ 3.25349990e-02 -1.18431982e-02 9.99400427e-01 9.79633608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27439141799999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:32.02, Y:4.66, Z:0.98 [[ 9.83794922e-01 -1.75993311e-01 -3.42623044e-02 3.20212888e+01] [ 1.75985824e-01 9.84387310e-01 -3.25786688e-03 4.66308746e+00] [ 3.43007404e-02 -2.82460699e-03 9.99407565e-01 9.83811885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304391417999994 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:32.05, Y:4.67, Z:0.99 [[ 9.84567646e-01 -1.72278416e-01 -3.07684525e-02 3.20546008e+01] [ 1.71747102e-01 9.84954575e-01 -1.91681476e-02 4.67324946e+00] [ 3.36077862e-02 1.35879455e-02 9.99342726e-01 9.85240208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334391417999996 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:32.08, Y:4.66, Z:0.98 [[ 9.84690570e-01 -1.70268253e-01 -3.73256281e-02 3.20846836e+01] [ 1.70857126e-01 9.85207711e-01 1.31760678e-02 4.66079524e+00] [ 3.45300305e-02 -1.93516993e-02 9.99216287e-01 9.80864905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:32.12, Y:4.68, Z:0.99 [[ 9.85322970e-01 -1.67981626e-01 -3.03450005e-02 3.21179133e+01] [ 1.67364711e-01 9.85652737e-01 -2.18571533e-02 4.68001663e+00] [ 3.35812329e-02 1.64576730e-02 9.99300478e-01 9.87211628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394391418 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:32.15, Y:4.67, Z:0.98 [[ 9.85963679e-01 -1.62704669e-01 -3.74541661e-02 3.21486752e+01] [ 1.63387004e-01 9.86433583e-01 1.59208478e-02 4.66513297e+00] [ 3.43556510e-02 -2.18169016e-02 9.99171513e-01 9.81467074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:32.18, Y:4.68, Z:0.99 [[ 9.86282140e-01 -1.61342150e-01 -3.48747764e-02 3.21794014e+01] [ 1.61326178e-01 9.86895658e-01 -3.29003760e-03 4.67927202e+00] [ 3.49485872e-02 -2.38130906e-03 9.99386274e-01 9.89833654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45439141799999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:32.21, Y:4.69, Z:0.99 [[ 9.87609324e-01 -1.54286427e-01 -2.86970616e-02 3.22141222e+01] [ 1.53717406e-01 9.87889746e-01 -2.10904911e-02 4.69308024e+00] [ 3.16035094e-02 1.64179277e-02 9.99365634e-01 9.92947670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484391417999994 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:32.24, Y:4.68, Z:0.99 [[ 9.87727616e-01 -1.52005954e-01 -3.58935417e-02 3.22435929e+01] [ 1.52638808e-01 9.88159105e-01 1.55877138e-02 4.68088389e+00] [ 3.30991048e-02 -2.08751628e-02 9.99234045e-01 9.88159528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514391417999995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:32.28, Y:4.69, Z:0.99 [[ 9.88064467e-01 -1.50196860e-01 -3.41981313e-02 3.22753192e+01] [ 1.50174993e-01 9.88654182e-01 -3.22181127e-03 4.69404357e+00] [ 3.42940314e-02 -1.95234688e-03 9.99409880e-01 9.94870919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544391418 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:32.31, Y:4.70, Z:1.00 [[ 9.88720529e-01 -1.46673821e-01 -3.03068601e-02 3.23102813e+01] [ 1.46201760e-01 9.89104255e-01 -1.72574145e-02 4.70258511e+00] [ 3.25078552e-02 1.26318437e-02 9.99391653e-01 9.95643632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574391418 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:32.34, Y:4.70, Z:0.99 [[ 9.88736987e-01 -1.46206644e-01 -3.19810388e-02 3.23446084e+01] [ 1.46198240e-01 9.89251860e-01 -2.61364849e-03 4.69841056e+00] [ 3.20194350e-02 -2.09136067e-03 9.99485058e-01 9.92413255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:32.37, Y:4.70, Z:0.99 [[ 9.88953900e-01 -1.43468544e-01 -3.72419300e-02 3.23734349e+01] [ 1.43974776e-01 9.89517145e-01 1.12731028e-02 4.69739137e+00] [ 3.52341926e-02 -1.65104775e-02 9.99242691e-01 9.91012711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63439141799999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:32.40, Y:4.71, Z:1.00 [[ 9.89067596e-01 -1.43072687e-01 -3.57141024e-02 3.24045808e+01] [ 1.43044771e-01 9.89710553e-01 -3.34883272e-03 4.70874072e+00] [ 3.58257506e-02 -1.79649367e-03 9.99356437e-01 9.97455266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664391417999994 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:32.44, Y:4.71, Z:1.00 [[ 9.89136847e-01 -1.42673435e-01 -3.53919398e-02 3.24376596e+01] [ 1.42645893e-01 9.89768235e-01 -3.31502272e-03 4.71410257e+00] [ 3.55027835e-02 -1.76950374e-03 9.99368011e-01 1.00022587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694391417999995 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:32.47, Y:4.72, Z:1.00 [[ 9.89141287e-01 -1.42602127e-01 -3.55548572e-02 3.24692883e+01] [ 1.42574443e-01 9.89778494e-01 -3.32586288e-03 4.71784521e+00] [ 3.56657081e-02 -1.77946567e-03 9.99362192e-01 1.00125527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724391417999996 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:32.50, Y:4.72, Z:1.00 [[ 9.89106146e-01 -1.42818487e-01 -3.56638643e-02 3.25021156e+01] [ 1.42791020e-01 9.89747261e-01 -3.32914492e-03 4.72109607e+00] [ 3.57736755e-02 -1.79960187e-03 9.99358297e-01 1.00189085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:32.53, Y:4.72, Z:1.00 [[ 9.88783881e-01 -1.44955553e-01 -3.59767210e-02 3.25342208e+01] [ 1.44929174e-01 9.89436348e-01 -3.35389433e-03 4.72371124e+00] [ 3.60828410e-02 -1.89779980e-03 9.99347000e-01 1.00244587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:32.57, Y:4.73, Z:1.00 [[ 9.88493894e-01 -1.46727171e-01 -3.67553781e-02 3.25669815e+01] [ 1.46701003e-01 9.89174960e-01 -3.42257268e-03 4.72705132e+00] [ 3.68596841e-02 -2.00885863e-03 9.99318432e-01 1.00378338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:32.60, Y:4.73, Z:1.01 [[ 9.88227341e-01 -1.48408275e-01 -3.71713097e-02 3.25983921e+01] [ 1.48382867e-01 9.88923948e-01 -3.45674794e-03 4.73035297e+00] [ 3.72726084e-02 -2.09953267e-03 9.99302929e-01 1.00519013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844391417999994 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:32.63, Y:4.73, Z:1.01 [[ 9.87946010e-01 -1.50224181e-01 -3.73547475e-02 3.26317569e+01] [ 1.50199960e-01 9.88649549e-01 -3.46990006e-03 4.73360218e+00] [ 3.74520172e-02 -2.18260767e-03 9.99296044e-01 1.00636769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874391417999995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:32.67, Y:4.74, Z:1.01 [[ 9.87510111e-01 -1.52975912e-01 -3.77114223e-02 3.26650019e+01] [ 1.52953402e-01 9.88227210e-01 -3.49834930e-03 4.73526409e+00] [ 3.78026168e-02 -2.31343502e-03 9.99282548e-01 1.00650434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904391417999996 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:32.70, Y:4.74, Z:1.01 [[ 9.87444118e-01 -1.53442186e-01 -3.75447563e-02 3.26981516e+01] [ 1.53420384e-01 9.88154890e-01 -3.47828819e-03 4.73699587e+00] [ 3.76337507e-02 -2.32551571e-03 9.99288894e-01 1.00533183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:32.73, Y:4.74, Z:1.01 [[ 9.87154134e-01 -1.55399946e-01 -3.71156708e-02 3.27311131e+01] [ 1.55380183e-01 9.87848777e-01 -3.43405272e-03 4.74016924e+00] [ 3.71983216e-02 -2.37710037e-03 9.99305076e-01 1.00858042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:32.76, Y:4.74, Z:1.01 [[ 9.87141916e-01 -1.55368387e-01 -3.75699521e-02 3.27637772e+01] [ 1.55348288e-01 9.87853662e-01 -3.47147870e-03 4.74423155e+00] [ 3.76529728e-02 -2.40958560e-03 9.99287970e-01 1.01013511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:32.80, Y:4.75, Z:1.01 [[ 9.87182986e-01 -1.54920545e-01 -3.83324395e-02 3.27964634e+01] [ 1.54899468e-01 9.87923905e-01 -3.53721080e-03 4.74853506e+00] [ 3.84175200e-02 -2.44580018e-03 9.99258781e-01 1.01159222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02439141799999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:32.83, Y:4.75, Z:1.01 [[ 9.87462477e-01 -1.52772616e-01 -3.97288941e-02 3.28285476e+01] [ 1.52748438e-01 9.88258321e-01 -3.66127652e-03 4.75260177e+00] [ 3.98217530e-02 -2.45315333e-03 9.99203788e-01 1.01152273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054391417999994 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:32.86, Y:4.76, Z:1.01 [[ 9.87618732e-01 -1.51741862e-01 -3.97950685e-02 3.28604664e+01] [ 1.51716928e-01 9.88417196e-01 -3.66341843e-03 4.75561052e+00] [ 3.98900239e-02 -2.41952485e-03 9.99201147e-01 1.01368871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084391417999996 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:32.89, Y:4.76, Z:1.01 [[ 9.88021744e-01 -1.49045623e-01 -3.99804297e-02 3.28932927e+01] [ 1.49018420e-01 9.88827586e-01 -3.67639575e-03 4.75835315e+00] [ 4.00817025e-02 -2.32546153e-03 9.99193700e-01 1.01250493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:32.93, Y:4.76, Z:1.02 [[ 9.88170282e-01 -1.48223269e-01 -3.93618725e-02 3.29257284e+01] [ 1.48196434e-01 9.88951338e-01 -3.61487111e-03 4.76221381e+00] [ 3.94627845e-02 -2.26118095e-03 9.99218482e-01 1.01566312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:32.96, Y:4.77, Z:1.02 [[ 9.88400463e-01 -1.46703888e-01 -3.92745985e-02 3.29587927e+01] [ 1.46676161e-01 9.89178006e-01 -3.60219128e-03 4.76657183e+00] [ 3.93780245e-02 -2.20023979e-03 9.99221962e-01 1.01712250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:32.99, Y:4.77, Z:1.02 [[ 9.88776801e-01 -1.44224508e-01 -3.89837136e-02 3.29901480e+01] [ 1.44195446e-01 9.89542784e-01 -3.57097392e-03 4.77078443e+00] [ 3.90910745e-02 -2.09037781e-03 9.99233465e-01 1.01706966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20439141799999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:33.02, Y:4.78, Z:1.02 [[ 9.89076887e-01 -1.42374473e-01 -3.81630784e-02 3.30224792e+01] [ 1.42345393e-01 9.89810889e-01 -3.49198338e-03 4.77561976e+00] [ 3.82713998e-02 -1.97849835e-03 9.99265423e-01 1.02021671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.234391417999994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:33.06, Y:4.78, Z:1.02 [[ 9.89904165e-01 -1.36531029e-01 -3.80660198e-02 3.30554410e+01] [ 1.36497963e-01 9.90634245e-01 -3.47845602e-03 4.78098641e+00] [ 3.81844199e-02 -1.75259605e-03 9.99269172e-01 1.02180897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264391417999995 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:33.09, Y:4.78, Z:1.02 [[ 9.90335408e-01 -1.33560102e-01 -3.73828788e-02 3.30870923e+01] [ 1.33526265e-01 9.91039403e-01 -3.41160036e-03 4.78498614e+00] [ 3.75035595e-02 -1.61296756e-03 9.99295192e-01 1.02316890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:33.12, Y:4.79, Z:1.02 [[ 9.91072260e-01 -1.28250405e-01 -3.64363826e-02 3.31201134e+01] [ 1.28214810e-01 9.91740858e-01 -3.32155875e-03 4.79009256e+00] [ 3.65614406e-02 -1.37977912e-03 9.99330454e-01 1.02474733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:33.15, Y:4.79, Z:1.03 [[ 9.91365250e-01 -1.26070930e-01 -3.60702313e-02 3.31518936e+01] [ 1.26034762e-01 9.92020390e-01 -3.28385976e-03 4.79439674e+00] [ 3.61964042e-02 -1.29059858e-03 9.99343862e-01 1.02608182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354391418 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:33.18, Y:4.80, Z:1.03 [[ 9.91879648e-01 -1.21737748e-01 -3.68060370e-02 3.31847727e+01] [ 1.21697252e-01 9.92561624e-01 -3.34700121e-03 4.80053759e+00] [ 3.69397162e-02 -1.15937117e-03 9.99316823e-01 1.02503341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38439141799999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:33.22, Y:4.81, Z:1.03 [[ 9.91968591e-01 -1.21023007e-01 -3.67661038e-02 3.32175192e+01] [ 1.20982271e-01 9.92649053e-01 -3.33896424e-03 4.80560034e+00] [ 3.68999296e-02 -1.13589907e-03 9.99318320e-01 1.02881457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.414391417999994 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:33.25, Y:4.81, Z:1.03 [[ 9.92095957e-01 -1.19790551e-01 -3.73608937e-02 3.32506679e+01] [ 1.19747784e-01 9.92798563e-01 -3.38841364e-03 4.80954466e+00] [ 3.74977415e-02 -1.11225277e-03 9.99296093e-01 1.02899218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444391417999995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:33.28, Y:4.81, Z:1.03 [[ 9.92182495e-01 -1.18732262e-01 -3.84258523e-02 3.32838307e+01] [ 1.18686414e-01 9.92925689e-01 -3.48022372e-03 4.81339737e+00] [ 3.85672307e-02 -1.10760955e-03 9.99255394e-01 1.02974416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.474391417999996 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:33.32, Y:4.82, Z:1.03 [[ 9.92173303e-01 -1.18506993e-01 -3.93475363e-02 3.33168139e+01] [ 1.18458938e-01 9.92952575e-01 -3.55876288e-03 4.81814258e+00] [ 3.94919758e-02 -1.13015783e-03 9.99219249e-01 1.02952768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:33.35, Y:4.83, Z:1.03 [[ 9.92181424e-01 -1.17817320e-01 -4.11716115e-02 3.33464079e+01] [ 1.17415364e-01 9.93009700e-01 -1.20568314e-02 4.82530262e+00] [ 4.23043132e-02 7.12838437e-03 9.99079342e-01 1.03416757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:33.38, Y:4.82, Z:1.03 [[ 9.91781586e-01 -1.21393487e-01 -4.04092431e-02 3.33810715e+01] [ 1.21674912e-01 9.92559484e-01 4.57026120e-03 4.82299940e+00] [ 3.95537775e-02 -9.44949200e-03 9.99172761e-01 1.02961589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:33.41, Y:4.83, Z:1.03 [[ 9.91611552e-01 -1.22823823e-01 -4.02596427e-02 3.34139069e+01] [ 1.22777478e-01 9.92427583e-01 -3.63102444e-03 4.83105730e+00] [ 4.04007562e-02 -1.34241163e-03 9.99182654e-01 1.03257851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.594391417999994 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:33.45, Y:4.84, Z:1.03 [[ 9.91389182e-01 -1.24786448e-01 -3.96967460e-02 3.34461415e+01] [ 1.24743144e-01 9.92182626e-01 -3.57564417e-03 4.83502503e+00] [ 3.98326136e-02 -1.40704196e-03 9.99205376e-01 1.03414185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624391417999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:33.48, Y:4.84, Z:1.04 [[ 9.90946454e-01 -1.28573252e-01 -3.86528759e-02 3.34791021e+01] [ 1.28535221e-01 9.91698847e-01 -3.47772912e-03 4.83883250e+00] [ 3.87791554e-02 -1.52201263e-03 9.99246647e-01 1.03693537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.654391417999996 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:33.51, Y:4.84, Z:1.04 [[ 9.90757039e-01 -1.29966573e-01 -3.88481619e-02 3.35115186e+01] [ 1.29929429e-01 9.91517102e-01 -3.49009546e-03 4.84205260e+00] [ 3.89722126e-02 -1.58968283e-03 9.99239030e-01 1.03677996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:33.54, Y:4.85, Z:1.04 [[ 9.90528022e-01 -1.31902911e-01 -3.81557393e-02 3.35442735e+01] [ 1.31868789e-01 9.91261278e-01 -3.42067178e-03 4.84601356e+00] [ 3.82735035e-02 -1.64327987e-03 9.99265950e-01 1.03931656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:33.58, Y:4.85, Z:1.04 [[ 9.90027573e-01 -1.35477092e-01 -3.86181622e-02 3.35766216e+01] [ 1.35445028e-01 9.90778830e-01 -3.45751094e-03 4.84984820e+00] [ 3.87304711e-02 -1.80760689e-03 9.99248059e-01 1.04095686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:33.61, Y:4.85, Z:1.04 [[ 9.89775507e-01 -1.37401516e-01 -3.82788379e-02 3.36085201e+01] [ 1.37371622e-01 9.90513666e-01 -3.42256663e-03 4.85279001e+00] [ 3.83859779e-02 -1.87085344e-03 9.99261235e-01 1.04189087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77439141799999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:33.64, Y:4.86, Z:1.04 [[ 9.89472520e-01 -1.39489544e-01 -3.85590310e-02 3.36411811e+01] [ 1.39460948e-01 9.90221584e-01 -3.44358899e-03 4.85541828e+00] [ 3.86623294e-02 -1.97014233e-03 9.99250390e-01 1.04070064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804391417999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:33.67, Y:4.86, Z:1.04 [[ 9.88691352e-01 -1.44740577e-01 -3.92374339e-02 3.36742254e+01] [ 1.44715272e-01 9.89467152e-01 -3.49942676e-03 4.85873488e+00] [ 3.93306610e-02 -2.21840294e-03 9.99223788e-01 1.04416908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834391417999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.71, Y:4.86, Z:1.04 [[ 9.88428568e-01 -1.46401419e-01 -3.96937009e-02 3.37074913e+01] [ 1.46377051e-01 9.89222554e-01 -3.53522426e-03 4.86119366e+00] [ 3.97834660e-02 -2.31593023e-03 9.99205641e-01 1.04464730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:4.86, Z:1.05 [[ 9.88305711e-01 -1.46836311e-01 -4.11207845e-02 3.37404363e+01] [ 1.46810748e-01 9.89157838e-01 -3.65719059e-03 4.86286891e+00] [ 4.12119546e-02 -2.42255080e-03 9.99147490e-01 1.04549082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:33.77, Y:4.87, Z:1.04 [[ 9.88191984e-01 -1.47397469e-01 -4.18400358e-02 3.37737898e+01] [ 1.47371723e-01 9.89074197e-01 -3.71599859e-03 4.86516668e+00] [ 4.19306286e-02 -2.49391815e-03 9.99117412e-01 1.04405547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:33.81, Y:4.87, Z:1.05 [[ 9.88112036e-01 -1.47908623e-01 -4.19242541e-02 3.38058071e+01] [ 1.47883444e-01 9.88997806e-01 -3.71843059e-03 4.86824013e+00] [ 4.20129832e-02 -2.52567707e-03 9.99113872e-01 1.04558406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95439141799999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:33.84, Y:4.87, Z:1.05 [[ 9.88071640e-01 -1.48004630e-01 -4.25330983e-02 3.38389778e+01] [ 1.47979000e-01 9.88983326e-01 -3.76782397e-03 4.87111255e+00] [ 4.26221804e-02 -2.57112536e-03 9.99087954e-01 1.04647641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984391417999994 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:33.87, Y:4.87, Z:1.05 [[ 9.88074607e-01 -1.48393694e-01 -4.10838389e-02 3.38713317e+01] [ 1.48370317e-01 9.88925194e-01 -3.63452092e-03 4.87396505e+00] [ 4.11681833e-02 -2.50444437e-03 9.99149092e-01 1.05123981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014391417999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:33.90, Y:4.88, Z:1.05 [[ 9.88166232e-01 -1.47820926e-01 -4.09447375e-02 3.39033590e+01] [ 1.47797447e-01 9.89011039e-01 -3.61661052e-03 4.87658082e+00] [ 4.10294081e-02 -2.47771530e-03 9.99154867e-01 1.05238588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:33.94, Y:4.88, Z:1.05 [[ 9.88302360e-01 -1.46931193e-01 -4.08616002e-02 3.39357681e+01] [ 1.46907361e-01 9.89143698e-01 -3.60173823e-03 4.87920757e+00] [ 4.09472020e-02 -2.44326345e-03 9.99158324e-01 1.05288497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:33.97, Y:4.88, Z:1.05 [[ 9.88551503e-01 -1.45239673e-01 -4.08823233e-02 3.39686115e+01] [ 1.45214550e-01 9.89393642e-01 -3.59928991e-03 4.88195420e+00] [ 4.09714705e-02 -2.37862472e-03 9.99157485e-01 1.05111073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.00, Y:4.89, Z:1.06 [[ 9.88581271e-01 -1.45312213e-01 -3.98927411e-02 3.40003291e+01] [ 1.45288536e-01 9.89383110e-01 -3.50748970e-03 4.88525940e+00] [ 3.99788853e-02 -2.32851933e-03 9.99197812e-01 1.05510237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13439141799999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:34.03, Y:4.89, Z:1.06 [[ 9.88635739e-01 -1.44973577e-01 -3.97748413e-02 3.40321568e+01] [ 1.44949927e-01 9.89432826e-01 -3.49309147e-03 4.88826252e+00] [ 3.98609396e-02 -2.31196529e-03 9.99202562e-01 1.05629482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164391417999994 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:34.06, Y:4.89, Z:1.06 [[ 9.88605696e-01 -1.45100965e-01 -4.00560660e-02 3.40645513e+01] [ 1.45077253e-01 9.89414092e-01 -3.51360720e-03 4.89141769e+00] [ 4.01418640e-02 -2.33765193e-03 9.99191256e-01 1.05759990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194391417999995 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:34.10, Y:4.89, Z:1.06 [[ 9.88423823e-01 -1.46305230e-01 -4.01637372e-02 3.40961748e+01] [ 1.46282572e-01 9.89236590e-01 -3.51829546e-03 4.89364538e+00] [ 4.02461835e-02 -2.39768775e-03 9.99186917e-01 1.05908085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224391417999996 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:34.13, Y:4.90, Z:1.06 [[ 9.88281173e-01 -1.47195572e-01 -4.04201181e-02 3.41292360e+01] [ 1.47173537e-01 9.89104364e-01 -3.53651382e-03 4.89589820e+00] [ 4.05002744e-02 -2.45370172e-03 9.99176514e-01 1.06059165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:34.16, Y:4.90, Z:1.06 [[ 9.88092384e-01 -1.48396418e-01 -4.06441003e-02 3.41613084e+01] [ 1.48375350e-01 9.88924741e-01 -3.55122698e-03 4.89803440e+00] [ 4.07209457e-02 -2.52164227e-03 9.99167376e-01 1.06142094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:34.19, Y:4.90, Z:1.06 [[ 9.87647513e-01 -1.51238163e-01 -4.09805926e-02 3.41944684e+01] [ 1.51219358e-01 9.88493761e-01 -3.57626592e-03 4.89800872e+00] [ 4.10499280e-02 -2.66496875e-03 9.99153542e-01 1.06018587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:34.23, Y:4.90, Z:1.06 [[ 9.87371326e-01 -1.53071569e-01 -4.08284046e-02 3.42262911e+01] [ 1.53054691e-01 9.88211317e-01 -3.55741913e-03 4.89914143e+00] [ 4.08916312e-02 -2.73648519e-03 9.99159840e-01 1.06102388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344391417999994 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:34.26, Y:4.90, Z:1.06 [[ 9.87177413e-01 -1.54368318e-01 -4.06346928e-02 3.42594555e+01] [ 1.54353002e-01 9.88009448e-01 -3.53293206e-03 4.90057366e+00] [ 4.06928332e-02 -2.78445610e-03 9.99167824e-01 1.06195691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374391417999995 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:34.29, Y:4.90, Z:1.06 [[ 9.86951420e-01 -1.55689087e-01 -4.10828775e-02 3.42929044e+01] [ 1.55674774e-01 9.87801924e-01 -3.56693670e-03 4.90218201e+00] [ 4.11370786e-02 -2.87517443e-03 9.99149375e-01 1.06240378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404391417999996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:34.32, Y:4.90, Z:1.07 [[ 9.86938831e-01 -1.55636103e-01 -4.15830119e-02 3.43249771e+01] [ 1.55621630e-01 9.87810161e-01 -3.60470737e-03 4.90496515e+00] [ 4.16371443e-02 -2.91359039e-03 9.99128550e-01 1.06697563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:34.36, Y:4.91, Z:1.07 [[ 9.87061672e-01 -1.54904180e-01 -4.13998763e-02 3.43580723e+01] [ 1.54889506e-01 9.87925309e-01 -3.58129684e-03 4.90783336e+00] [ 4.14547434e-02 -2.87744553e-03 9.99136239e-01 1.06975301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:34.39, Y:4.91, Z:1.07 [[ 9.87215358e-01 -1.53992481e-01 -4.11357947e-02 3.43907356e+01] [ 1.53977404e-01 9.88067979e-01 -3.55363860e-03 4.91034979e+00] [ 4.11921951e-02 -2.82577627e-03 9.99147245e-01 1.07141193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:34.42, Y:4.91, Z:1.07 [[ 9.87236239e-01 -1.53858442e-01 -4.11362203e-02 3.44241568e+01] [ 1.53843454e-01 9.88088862e-01 -3.54870528e-03 4.91310517e+00] [ 4.11922394e-02 -2.82512776e-03 9.99147245e-01 1.07254496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52439141799999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:34.46, Y:4.92, Z:1.07 [[ 9.87372072e-01 -1.53073359e-01 -4.08036422e-02 3.44572712e+01] [ 1.53058165e-01 9.88210932e-01 -3.51461507e-03 4.91508064e+00] [ 4.08605992e-02 -2.77509784e-03 9.99161003e-01 1.07350691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554391417999994 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:34.49, Y:4.92, Z:1.07 [[ 9.87554019e-01 -1.51842067e-01 -4.10005555e-02 3.44891022e+01] [ 1.51825891e-01 9.88400963e-01 -3.52620721e-03 4.91633412e+00] [ 4.10604151e-02 -2.74262578e-03 9.99152901e-01 1.07264865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584391417999996 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:34.52, Y:4.92, Z:1.08 [[ 9.87786613e-01 -1.50489116e-01 -4.03811108e-02 3.45223967e+01] [ 1.50472588e-01 9.88608107e-01 -3.46576481e-03 4.91811060e+00] [ 4.04426534e-02 -2.65281417e-03 9.99178340e-01 1.07595237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:34.56, Y:4.92, Z:1.08 [[ 9.87960383e-01 -1.49236693e-01 -4.07761209e-02 3.45556257e+01] [ 1.49218974e-01 9.88797999e-01 -3.49489594e-03 4.92137965e+00] [ 4.08409135e-02 -2.63175221e-03 9.99162196e-01 1.07810729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:34.59, Y:4.92, Z:1.08 [[ 9.88130573e-01 -1.47924978e-01 -4.14266994e-02 3.45883524e+01] [ 1.47905750e-01 9.88995105e-01 -3.54568103e-03 4.92454122e+00] [ 4.14952977e-02 -2.62365123e-03 9.99135254e-01 1.07886440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:34.62, Y:4.93, Z:1.08 [[ 9.88461293e-01 -1.45202095e-01 -4.31349466e-02 3.46200623e+01] [ 1.45178899e-01 9.89398553e-01 -3.68657184e-03 4.92621947e+00] [ 4.32129517e-02 -2.61825048e-03 9.99062453e-01 1.07739427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70439141799999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:34.65, Y:4.93, Z:1.08 [[ 9.88499411e-01 -1.44927051e-01 -4.31863851e-02 3.46526268e+01] [ 1.44903739e-01 9.89438890e-01 -3.68633371e-03 4.92839179e+00] [ 4.32645384e-02 -2.61392998e-03 9.99060232e-01 1.08003540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.734391417999994 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:34.69, Y:4.93, Z:1.08 [[ 9.88585043e-01 -1.44433706e-01 -4.28779347e-02 3.46852628e+01] [ 1.44410490e-01 9.89511118e-01 -3.65473273e-03 4.92963393e+00] [ 4.29560597e-02 -2.57900946e-03 9.99073634e-01 1.08271841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764391417999995 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:34.72, Y:4.93, Z:1.08 [[ 9.88696190e-01 -1.43541045e-01 -4.33106403e-02 3.47169157e+01] [ 1.43516730e-01 9.89641025e-01 -3.68644168e-03 4.93121393e+00] [ 4.33911422e-02 -2.57103063e-03 9.99054853e-01 1.08239483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.794391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:34.75, Y:4.93, Z:1.08 [[ 9.88749799e-01 -1.42966184e-01 -4.39829993e-02 3.47495044e+01] [ 1.42940753e-01 9.89724185e-01 -3.73893256e-03 4.93341946e+00] [ 4.40655790e-02 -2.59009421e-03 9.99025283e-01 1.08292668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:34.78, Y:4.94, Z:1.09 [[ 9.88846073e-01 -1.44150382e-01 -3.74714839e-02 3.47832683e+01] [ 1.43459907e-01 9.89443392e-01 -2.05189914e-02 4.94493525e+00] [ 4.00337325e-02 1.49144685e-02 9.99087013e-01 1.08865867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:34.82, Y:4.93, Z:1.08 [[ 9.88804494e-01 -1.42496888e-01 -4.42753791e-02 3.48151210e+01] [ 1.43239143e-01 9.89588313e-01 1.40541503e-02 4.92923136e+00] [ 4.18117250e-02 -2.02387744e-02 9.98920503e-01 1.08218499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88439141799999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:34.85, Y:4.94, Z:1.09 [[ 9.88844618e-01 -1.42742246e-01 -4.25555342e-02 3.48460802e+01] [ 1.42719064e-01 9.89756699e-01 -3.59802437e-03 4.93936831e+00] [ 4.26332151e-02 -2.51559897e-03 9.99087624e-01 1.08950153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.914391417999994 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:34.88, Y:4.94, Z:1.09 [[ 9.88929964e-01 -1.42111214e-01 -4.26840637e-02 3.48793582e+01] [ 1.42087497e-01 9.89847539e-01 -3.60445080e-03 4.93959975e+00] [ 4.27629483e-02 -2.50032235e-03 9.99082118e-01 1.08971314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944391417999995 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:34.91, Y:4.94, Z:1.09 [[ 9.88918690e-01 -1.42182935e-01 -4.27064170e-02 3.49117162e+01] [ 1.42159475e-01 9.89837216e-01 -3.60129428e-03 4.94128593e+00] [ 4.27844435e-02 -2.50973461e-03 9.99081174e-01 1.09043121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.974391417999996 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:34.94, Y:4.94, Z:1.09 [[ 9.88931072e-01 -1.41982901e-01 -4.30835249e-02 3.49441863e+01] [ 1.41959065e-01 9.89865881e-01 -3.62780985e-03 4.94321002e+00] [ 4.31619983e-02 -2.52844302e-03 9.99064887e-01 1.09220736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:34.98, Y:4.95, Z:1.09 [[ 9.88964139e-01 -1.41917609e-01 -4.25361542e-02 3.49773723e+01] [ 1.41894641e-01 9.89875314e-01 -3.57404884e-03 4.94561139e+00] [ 4.26127095e-02 -2.50104619e-03 9.99088535e-01 1.09368989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:35.01, Y:4.95, Z:1.10 [[ 9.89006430e-01 -1.41670477e-01 -4.23763660e-02 3.50100421e+01] [ 1.41647669e-01 9.89910751e-01 -3.55558509e-03 4.94777037e+00] [ 4.24525417e-02 -2.48601695e-03 9.99095392e-01 1.09563375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06439141799999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:35.04, Y:4.95, Z:1.10 [[ 9.89069382e-01 -1.41278584e-01 -4.22151589e-02 3.50433398e+01] [ 1.41255807e-01 9.89966811e-01 -3.53701213e-03 4.94950977e+00] [ 4.22913103e-02 -2.46478595e-03 9.99102282e-01 1.09676321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094391417999994 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:35.08, Y:4.95, Z:1.10 [[ 9.89097256e-01 -1.41127999e-01 -4.20654886e-02 3.50768509e+01] [ 1.41105460e-01 9.89988314e-01 -3.51941652e-03 4.95111475e+00] [ 4.21410304e-02 -2.45462492e-03 9.99108657e-01 1.09751648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124391417999995 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:35.11, Y:4.95, Z:1.10 [[ 9.89244349e-01 -1.39982301e-01 -4.24331664e-02 3.51093776e+01] [ 1.39958530e-01 9.90151020e-01 -3.54517356e-03 4.95139984e+00] [ 4.25115045e-02 -2.43184068e-03 9.99093018e-01 1.09825849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.154391417999996 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:35.14, Y:4.95, Z:1.10 [[ 9.89353090e-01 -1.38953539e-01 -4.32709672e-02 3.51424342e+01] [ 1.38928039e-01 9.90295897e-01 -3.61060635e-03 4.95346463e+00] [ 4.33527678e-02 -2.43938607e-03 9.99056849e-01 1.09830379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:35.18, Y:4.96, Z:1.10 [[ 9.89491357e-01 -1.38094371e-01 -4.28578994e-02 3.51752397e+01] [ 1.38068765e-01 9.90416207e-01 -3.57119161e-03 4.95602032e+00] [ 4.29403196e-02 -2.38367400e-03 9.99074796e-01 1.10030880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:35.21, Y:4.96, Z:1.10 [[ 9.89861896e-01 -1.35572462e-01 -4.23501533e-02 3.52083377e+01] [ 1.35545364e-01 9.90764874e-01 -3.52400999e-03 4.95788210e+00] [ 4.24368030e-02 -2.25208372e-03 9.99096615e-01 1.10122855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:35.24, Y:4.96, Z:1.10 [[ 9.90102592e-01 -1.33488457e-01 -4.33323176e-02 3.52410804e+01] [ 1.33458324e-01 9.91047886e-01 -3.60057135e-03 4.95947947e+00] [ 4.34250364e-02 -2.21812345e-03 9.99054226e-01 1.09983524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27439141799999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:35.27, Y:4.96, Z:1.10 [[ 9.90329627e-01 -1.32146304e-01 -4.22443284e-02 3.52728064e+01] [ 1.32116685e-01 9.91227976e-01 -3.50450891e-03 4.96156650e+00] [ 4.23368680e-02 -2.11056163e-03 9.99101164e-01 1.10234785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304391417999994 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:35.31, Y:4.96, Z:1.10 [[ 9.90691891e-01 -1.29618181e-01 -4.15776996e-02 3.53057862e+01] [ 1.29587579e-01 9.91562007e-01 -3.44174274e-03 4.96440503e+00] [ 4.16729797e-02 -1.97824683e-03 9.99129346e-01 1.10379625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334391417999996 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:35.34, Y:4.97, Z:1.11 [[ 9.90833049e-01 -1.28577313e-01 -4.14456711e-02 3.53378425e+01] [ 1.28546201e-01 9.91697604e-01 -3.42588503e-03 4.96690138e+00] [ 4.15420638e-02 -1.93320348e-03 9.99134886e-01 1.10587226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:35.37, Y:4.97, Z:1.10 [[ 9.91026598e-01 -1.27057302e-01 -4.15057195e-02 3.53706276e+01] [ 1.27024953e-01 9.91893603e-01 -3.42646625e-03 4.96858375e+00] [ 4.16046152e-02 -1.87654287e-03 9.99132391e-01 1.10491607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:35.40, Y:4.97, Z:1.11 [[ 9.91341544e-01 -1.24890264e-01 -4.05507739e-02 3.54041269e+01] [ 1.24857775e-01 9.92169019e-01 -3.34276845e-03 4.96951611e+00] [ 4.06507007e-02 -1.74925415e-03 9.99171887e-01 1.10639565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:35.44, Y:4.97, Z:1.11 [[ 9.91518150e-01 -1.23659525e-01 -4.00009978e-02 3.54375528e+01] [ 1.23627105e-01 9.92323283e-01 -3.29260304e-03 4.97144424e+00] [ 4.01010831e-02 -1.68053188e-03 9.99194215e-01 1.10796652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45439141799999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:35.47, Y:4.97, Z:1.11 [[ 9.91669208e-01 -1.22337083e-01 -4.03214706e-02 3.54695777e+01] [ 1.22303273e-01 9.92487244e-01 -3.31348666e-03 4.97350956e+00] [ 4.04239075e-02 -1.64556512e-03 9.99181265e-01 1.10915919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484391417999994 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:35.50, Y:4.98, Z:1.11 [[ 9.91943227e-01 -1.19873680e-01 -4.09748176e-02 3.55025798e+01] [ 1.19836988e-01 9.92787898e-01 -3.35939448e-03 4.97530192e+00] [ 4.10820060e-02 -1.57797012e-03 9.99154532e-01 1.11024345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514391417999995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:35.53, Y:4.98, Z:1.12 [[ 9.92094071e-01 -1.17822108e-01 -4.32123337e-02 3.55333584e+01] [ 1.17233977e-01 9.92976876e-01 -1.59096971e-02 4.98314180e+00] [ 4.47833622e-02 1.07179624e-02 9.98939225e-01 1.11598415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544391418 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:35.57, Y:4.97, Z:1.11 [[ 9.92340172e-01 -1.16356394e-01 -4.14990607e-02 3.55661662e+01] [ 1.16815985e-01 9.93114419e-01 8.81904752e-03 4.97310509e+00] [ 4.01871630e-02 -1.35992488e-02 9.99099621e-01 1.10884723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:35.60, Y:4.98, Z:1.11 [[ 9.92534971e-01 -1.14961535e-01 -4.07207232e-02 3.55974355e+01] [ 1.14921613e-01 9.93368990e-01 -3.32764259e-03 4.98044142e+00] [ 4.08332546e-02 -1.37688955e-03 9.99165026e-01 1.11349536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:35.63, Y:4.98, Z:1.11 [[ 9.93040235e-01 -1.10392677e-01 -4.10432483e-02 3.56282446e+01] [ 1.10348351e-01 9.93887324e-01 -3.35084624e-03 4.98064542e+00] [ 4.11622732e-02 -1.20152964e-03 9.99151752e-01 1.11383712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63439141799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:35.66, Y:4.98, Z:1.12 [[ 9.93375355e-01 -1.07579492e-01 -4.03987246e-02 3.56601689e+01] [ 1.07534325e-01 9.94195910e-01 -3.29571009e-03 4.98328583e+00] [ 4.05187976e-02 -1.07037241e-03 9.99178203e-01 1.11524329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664391417999994 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:35.69, Y:4.99, Z:1.12 [[ 9.93719602e-01 -1.04392384e-01 -4.02937146e-02 3.56914792e+01] [ 1.04344979e-01 9.94535743e-01 -3.28352862e-03 4.98610640e+00] [ 4.04163147e-02 -9.41540061e-04 9.99182483e-01 1.11675705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694391417999995 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:35.72, Y:4.99, Z:1.12 [[ 9.94075444e-01 -1.00394160e-01 -4.16536105e-02 3.57220649e+01] [ 1.00144557e-01 9.94940401e-01 -8.04157511e-03 4.99107867e+00] [ 4.22501871e-02 3.82254996e-03 9.99099750e-01 1.11996381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724391417999996 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:35.75, Y:4.99, Z:1.12 [[ 9.94755933e-01 -9.31826025e-02 -4.21620246e-02 3.57544926e+01] [ 9.33124545e-02 9.95636247e-01 1.11809400e-03 4.98858291e+00] [ 4.18738530e-02 -5.04647265e-03 9.99110161e-01 1.11763127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:35.79, Y:4.99, Z:1.12 [[ 9.95092836e-01 -8.95712972e-02 -4.20384431e-02 3.57859158e+01] [ 8.95069718e-02 9.95980346e-01 -3.41366437e-03 4.99237476e+00] [ 4.21752295e-02 -3.65820788e-04 9.99110162e-01 1.11992496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:35.82, Y:4.99, Z:1.12 [[ 9.95439697e-01 -8.58112094e-02 -4.16682964e-02 3.58164046e+01] [ 8.57447826e-02 9.96311394e-01 -3.38207428e-03 4.99382334e+00] [ 4.18048184e-02 -2.06188024e-04 9.99125775e-01 1.12102118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81439141799999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:35.85, Y:5.00, Z:1.12 [[ 9.96099698e-01 -7.81951309e-02 -4.08767933e-02 3.58479676e+01] [ 7.81248298e-02 9.96938067e-01 -3.31687606e-03 4.99568201e+00] [ 4.10109949e-02 1.10446724e-04 9.99158689e-01 1.12304299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844391417999994 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:35.88, Y:5.00, Z:1.12 [[ 9.96386143e-01 -7.48820412e-02 -4.00915685e-02 3.58777184e+01] [ 7.48117837e-02 9.97192370e-01 -3.25194076e-03 4.99840147e+00] [ 4.02225181e-02 2.40866961e-04 9.99190718e-01 1.12473929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874391417999995 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:35.91, Y:5.00, Z:1.13 [[ 9.96632094e-01 -7.16682140e-02 -3.98514263e-02 3.59082170e+01] [ 7.15962005e-02 9.97428459e-01 -3.23313591e-03 5.00042050e+00] [ 3.99806598e-02 3.69036305e-04 9.99200386e-01 1.12623524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904391417999996 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:35.94, Y:5.01, Z:1.13 [[ 9.96791668e-01 -6.85803743e-02 -4.12686682e-02 3.59371411e+01] [ 6.81100667e-02 9.97597003e-01 -1.26979835e-02 5.00602610e+00] [ 4.20403322e-02 9.84643243e-03 9.99067394e-01 1.13045378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934391418 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:35.97, Y:5.00, Z:1.12 [[ 9.96975663e-01 -6.63813005e-02 -4.04110061e-02 3.59671394e+01] [ 6.66688690e-02 9.97758246e-01 5.80906106e-03 4.99561347e+00] [ 3.99348015e-02 -8.48564858e-03 9.99166255e-01 1.12336002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:36.00, Y:5.00, Z:1.13 [[ 9.97003025e-01 -6.63999584e-02 -3.96990337e-02 3.59968926e+01] [ 6.63238309e-02 9.97792913e-01 -3.23302294e-03 5.00023617e+00] [ 3.98260871e-02 5.90341656e-04 9.99206452e-01 1.12719231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:36.02, Y:5.00, Z:1.13 [[ 9.96962081e-01 -6.71988576e-02 -3.93817434e-02 3.60244999e+01] [ 6.71244883e-02 9.97739447e-01 -3.20913771e-03 5.00058173e+00] [ 3.95083693e-02 5.55909236e-04 9.99219085e-01 1.12817205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02439141799999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:36.05, Y:5.00, Z:1.13 [[ 9.96868323e-01 -6.85534033e-02 -3.94205177e-02 3.60536527e+01] [ 6.84797457e-02 9.97647319e-01 -3.21735401e-03 5.00171614e+00] [ 3.95483344e-02 5.07771262e-04 9.99217530e-01 1.12913848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054391417999994 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:36.08, Y:5.00, Z:1.13 [[ 9.96574045e-01 -7.24594410e-02 -3.98723259e-02 3.60818223e+01] [ 7.23867956e-02 9.97371292e-01 -3.26453468e-03 5.00223427e+00] [ 4.00040595e-02 3.67120624e-04 9.99199450e-01 1.13106062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084391417999996 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:36.11, Y:5.00, Z:1.13 [[ 9.96356517e-01 -7.56678493e-02 -3.93454924e-02 3.61106814e+01] [ 7.55994459e-02 9.97133050e-01 -3.22559701e-03 5.00242661e+00] [ 3.94767649e-02 2.39347176e-04 9.99220460e-01 1.13175597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:36.14, Y:5.00, Z:1.13 [[ 9.95728079e-01 -8.31642237e-02 -4.01161275e-02 3.61403483e+01] [ 8.30987850e-02 9.96535855e-01 -3.29884981e-03 4.99846426e+00] [ 4.02515056e-02 -4.88440661e-05 9.99189579e-01 1.13174362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144391418 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:36.17, Y:5.00, Z:1.13 [[ 9.95332046e-01 -8.76211172e-02 -4.04556196e-02 3.61696454e+01] [ 8.75581827e-02 9.96153847e-01 -3.32828547e-03 4.99783552e+00] [ 4.05916492e-02 -2.29471343e-04 9.99175793e-01 1.13250764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:36.20, Y:5.00, Z:1.13 [[ 9.94916786e-01 -9.22080550e-02 -4.04754734e-02 3.62009759e+01] [ 9.21488342e-02 9.95739675e-01 -3.33033253e-03 4.99768703e+00] [ 4.06101183e-02 -4.16363955e-04 9.99174982e-01 1.13331993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20439141799999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:36.23, Y:5.00, Z:1.13 [[ 9.94457888e-01 -9.69884224e-02 -4.05802184e-02 3.62314607e+01] [ 9.69329331e-02 9.95285320e-01 -3.33741731e-03 4.99770700e+00] [ 4.07125865e-02 -6.14638617e-04 9.99170710e-01 1.13446164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.234391417999994 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:36.26, Y:5.00, Z:1.14 [[ 9.93629763e-01 -1.05366403e-01 -3.99726817e-02 3.62625849e+01] [ 1.05319358e-01 9.94433019e-01 -3.28677228e-03 4.99553166e+00] [ 4.00964699e-02 -9.44062426e-04 9.99195367e-01 1.13570560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264391417999995 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:36.29, Y:5.00, Z:1.14 [[ 9.93275129e-01 -1.08842645e-01 -3.94689404e-02 3.62937692e+01] [ 1.08799528e-01 9.94058415e-01 -3.24513228e-03 4.99580333e+00] [ 3.95876411e-02 -1.07089292e-03 9.99215528e-01 1.13658067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.294391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:36.33, Y:5.00, Z:1.14 [[ 9.93009160e-01 -1.11391230e-01 -3.90487035e-02 3.63255686e+01] [ 1.11351054e-01 9.93775953e-01 -3.20904561e-03 4.99568979e+00] [ 3.91631220e-02 -1.16150260e-03 9.99232156e-01 1.13761769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:36.36, Y:5.00, Z:1.14 [[ 9.92806941e-01 -1.13416572e-01 -3.83543837e-02 3.63557847e+01] [ 1.13379376e-01 9.93546773e-01 -3.15055834e-03 4.99576193e+00] [ 3.84641997e-02 -1.22069991e-03 9.99259233e-01 1.13824565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:36.39, Y:5.00, Z:1.14 [[ 9.92646117e-01 -1.14921048e-01 -3.80373270e-02 3.63875429e+01] [ 1.14885599e-01 9.93373818e-01 -3.12367799e-03 4.99647142e+00] [ 3.81442611e-02 -1.26923427e-03 9.99271437e-01 1.13939931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38439141799999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:36.42, Y:5.00, Z:1.14 [[ 9.92652997e-01 -1.14861568e-01 -3.80374583e-02 3.64192730e+01] [ 1.14826137e-01 9.93380698e-01 -3.12207773e-03 4.99903364e+00] [ 3.81442837e-02 -1.26855457e-03 9.99271437e-01 1.14048307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.414391417999994 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:36.45, Y:5.00, Z:1.14 [[ 9.92420554e-01 -1.16810650e-01 -3.81669402e-02 3.64501610e+01] [ 1.16776504e-01 9.93153286e-01 -3.13039772e-03 4.99939660e+00] [ 3.82712859e-02 -1.35033081e-03 9.99266474e-01 1.14220146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444391417999995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:36.48, Y:5.00, Z:1.14 [[ 9.92310624e-01 -1.18117288e-01 -3.69855719e-02 3.64810882e+01] [ 1.17904715e-01 9.92993612e-01 -7.88445712e-03 5.00408465e+00] [ 3.76577273e-02 3.46305725e-03 9.99284696e-01 1.14325491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.474391417999996 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:36.51, Y:5.00, Z:1.14 [[ 9.92073549e-01 -1.19543318e-01 -3.87229818e-02 3.65141535e+01] [ 1.19585039e-01 9.92823180e-01 -1.24532710e-03 5.00098514e+00] [ 3.85939444e-02 -3.39523321e-03 9.99249208e-01 1.14282764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504391418 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:36.55, Y:5.00, Z:1.14 [[ 9.92011585e-01 -1.19408196e-01 -4.06779872e-02 3.65460724e+01] [ 1.19484955e-01 9.92835860e-01 -5.47698895e-04 5.00019385e+00] [ 4.04519642e-02 -4.31708383e-03 9.99172158e-01 1.14318570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:36.58, Y:5.00, Z:1.15 [[ 9.91857518e-01 -1.21112040e-01 -3.93768576e-02 3.65772701e+01] [ 1.21079625e-01 9.92637589e-01 -3.21577169e-03 5.00256001e+00] [ 3.94764177e-02 -1.57814783e-03 9.99219256e-01 1.14501702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56439141799999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:36.61, Y:5.00, Z:1.15 [[ 9.91675422e-01 -1.22473670e-01 -3.97499287e-02 3.66087039e+01] [ 1.22441793e-01 9.92470392e-01 -3.24465225e-03 5.00366304e+00] [ 3.98480118e-02 -1.64941064e-03 9.99204391e-01 1.14569472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594391417999994 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:36.64, Y:5.00, Z:1.15 [[ 9.91417264e-01 -1.24456200e-01 -4.00307884e-02 3.66400538e+01] [ 1.24425547e-01 9.92223572e-01 -3.26598540e-03 5.00474405e+00] [ 4.01259639e-02 -1.74289842e-03 9.99193109e-01 1.14609699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624391417999995 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:36.67, Y:5.01, Z:1.15 [[ 9.91274673e-01 -1.25373022e-01 -4.06955623e-02 3.66701241e+01] [ 1.25342175e-01 9.92108021e-01 -3.31872091e-03 5.00739895e+00] [ 4.07904719e-02 -1.81110633e-03 9.99166081e-01 1.14733619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.654391417999996 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:36.70, Y:5.01, Z:1.15 [[ 9.91211414e-01 -1.25836012e-01 -4.08072430e-02 3.67005726e+01] [ 1.25805420e-01 9.92049357e-01 -3.32702853e-03 5.01013223e+00] [ 4.09014592e-02 -1.83598369e-03 9.99161498e-01 1.14796101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:36.73, Y:5.01, Z:1.15 [[ 9.91160058e-01 -1.26119218e-01 -4.11786699e-02 3.67317744e+01] [ 1.26088349e-01 9.92013338e-01 -3.35638173e-03 5.01280168e+00] [ 4.12730940e-02 -1.86543900e-03 9.99146161e-01 1.14880285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:36.76, Y:5.02, Z:1.15 [[ 9.91093509e-01 -1.26428659e-01 -4.18264236e-02 3.67633108e+01] [ 1.26397155e-01 9.91973865e-01 -3.40754620e-03 5.01538357e+00] [ 4.19215305e-02 -1.90954401e-03 9.99119081e-01 1.14947005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:36.79, Y:5.02, Z:1.15 [[ 9.91078980e-01 -1.26257844e-01 -4.26780009e-02 3.67935097e+01] [ 1.26224955e-01 9.91995556e-01 -3.47533582e-03 5.01724263e+00] [ 4.27751757e-02 -1.94269647e-03 9.99082835e-01 1.15000574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77439141799999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:36.82, Y:5.02, Z:1.15 [[ 9.91056102e-01 -1.26760597e-01 -4.17079656e-02 3.68234962e+01] [ 1.26729678e-01 9.91931480e-01 -3.39516392e-03 5.02003439e+00] [ 4.18018170e-02 -1.92083915e-03 9.99124076e-01 1.15217921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804391417999994 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:36.85, Y:5.02, Z:1.15 [[ 9.90996688e-01 -1.27164626e-01 -4.18893935e-02 3.68549503e+01] [ 1.27133907e-01 9.91879710e-01 -3.40735880e-03 5.02307840e+00] [ 4.19825350e-02 -1.94888096e-03 9.99116444e-01 1.15318306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834391417999996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:36.89, Y:5.03, Z:1.16 [[ 9.90921624e-01 -1.27848663e-01 -4.15818990e-02 3.68856288e+01] [ 1.27819061e-01 9.91791741e-01 -3.38071964e-03 5.02627069e+00] [ 4.16728045e-02 -1.96493110e-03 9.99129379e-01 1.15506010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:36.92, Y:5.03, Z:1.16 [[ 9.90875489e-01 -1.28494283e-01 -4.06815071e-02 3.69162844e+01] [ 1.28466554e-01 9.91708332e-01 -3.30595495e-03 5.02967977e+00] [ 4.07689858e-02 -1.95042329e-03 9.99166696e-01 1.15701799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:36.95, Y:5.03, Z:1.16 [[ 9.90882439e-01 -1.28568077e-01 -4.02770594e-02 3.69476823e+01] [ 1.28541020e-01 9.91698797e-01 -3.27153065e-03 5.03316080e+00] [ 4.03633257e-02 -1.93555205e-03 9.99183194e-01 1.15832120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:36.98, Y:5.04, Z:1.16 [[ 9.90809473e-01 -1.29664367e-01 -3.85193587e-02 3.69781857e+01] [ 1.29442930e-01 9.91552979e-01 -8.19869820e-03 5.03941675e+00] [ 3.92570639e-02 3.13728919e-03 9.99224219e-01 1.15938627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95439141799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:37.01, Y:5.04, Z:1.16 [[ 9.90721545e-01 -1.30137860e-01 -3.91785356e-02 3.70100116e+01] [ 1.30308827e-01 9.91471762e-01 1.83134240e-03 5.03665664e+00] [ 3.86060847e-02 -6.91965938e-03 9.99230548e-01 1.15951714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984391417999994 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:37.04, Y:5.04, Z:1.16 [[ 9.90679153e-01 -1.30564368e-01 -3.88298958e-02 3.70404380e+01] [ 1.30540621e-01 9.91437935e-01 -3.15724061e-03 5.04154239e+00] [ 3.89096548e-02 -1.94106628e-03 9.99240847e-01 1.16204677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014391417999995 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:37.07, Y:5.04, Z:1.16 [[ 9.90619329e-01 -1.31002869e-01 -3.88792084e-02 3.70713621e+01] [ 1.30979482e-01 9.91380046e-01 -3.15911842e-03 5.04466032e+00] [ 3.89579249e-02 -1.96289479e-03 9.99238924e-01 1.16278149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:37.10, Y:5.05, Z:1.16 [[ 9.90579608e-01 -1.31073748e-01 -3.96448450e-02 3.71034559e+01] [ 1.31049558e-01 9.91370591e-01 -3.21955902e-03 5.04749763e+00] [ 3.97247331e-02 -2.00620990e-03 9.99208647e-01 1.16317096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:37.13, Y:5.05, Z:1.17 [[ 9.90432675e-01 -1.31784173e-01 -4.09395581e-02 3.71341522e+01] [ 1.31759118e-01 9.91276199e-01 -3.32143726e-03 5.05124857e+00] [ 4.10201224e-02 -2.10450008e-03 9.99156104e-01 1.16555171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:37.16, Y:5.05, Z:1.17 [[ 9.90409470e-01 -1.31971834e-01 -4.08964263e-02 3.71649886e+01] [ 1.31947086e-01 9.91251216e-01 -3.31562411e-03 5.05475391e+00] [ 4.09762013e-02 -2.11233876e-03 9.99157890e-01 1.16682317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13439141799999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:37.20, Y:5.06, Z:1.17 [[ 9.90431838e-01 -1.31685504e-01 -4.12759416e-02 3.71956494e+01] [ 1.31660107e-01 9.91289275e-01 -3.34494071e-03 5.05786511e+00] [ 4.13568785e-02 -2.12145912e-03 9.99142186e-01 1.16726465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164391417999994 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:37.23, Y:5.06, Z:1.17 [[ 9.90438325e-01 -1.31759760e-01 -4.08814201e-02 3.72278857e+01] [ 1.31734958e-01 9.91279442e-01 -3.31177880e-03 5.06112577e+00] [ 4.09612705e-02 -2.10539952e-03 9.99158517e-01 1.16937147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194391417999995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:37.26, Y:5.06, Z:1.17 [[ 9.90724597e-01 -1.29758417e-01 -4.03426190e-02 3.72589485e+01] [ 1.29732734e-01 9.91543623e-01 -3.26505252e-03 5.06396983e+00] [ 4.04251347e-02 -1.99899041e-03 9.99180571e-01 1.16934280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224391417999996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:37.29, Y:5.07, Z:1.17 [[ 9.90891421e-01 -1.28658518e-01 -3.97640182e-02 3.72908904e+01] [ 1.28632780e-01 9.91687081e-01 -3.21576409e-03 5.06807344e+00] [ 3.98471986e-02 -1.92848317e-03 9.99203924e-01 1.17171472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:37.32, Y:5.07, Z:1.17 [[ 9.91173514e-01 -1.26539784e-01 -3.95316145e-02 3.73223550e+01] [ 1.26512788e-01 9.91959835e-01 -3.19388225e-03 5.07266736e+00] [ 3.96179270e-02 -1.83556326e-03 9.99213216e-01 1.17318583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:37.35, Y:5.08, Z:1.17 [[ 9.91478837e-01 -1.24207418e-01 -3.92712837e-02 3.73530116e+01] [ 1.24179066e-01 9.92254761e-01 -3.16990378e-03 5.07712374e+00] [ 3.93608438e-02 -1.73377883e-03 9.99223558e-01 1.17437365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31439141799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:37.39, Y:5.08, Z:1.18 [[ 9.92169890e-01 -1.18649327e-01 -3.90031718e-02 3.73852494e+01] [ 1.18617164e-01 9.92935079e-01 -3.14591328e-03 5.08344139e+00] [ 3.91008780e-02 -1.50516520e-03 9.99234135e-01 1.17631071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344391417999994 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:37.42, Y:5.09, Z:1.18 [[ 9.92556106e-01 -1.15512762e-01 -3.85898685e-02 3.74164802e+01] [ 1.15479019e-01 9.93305052e-01 -3.10974077e-03 5.08781018e+00] [ 3.86907260e-02 -1.36972796e-03 9.99250295e-01 1.17726459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374391417999995 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:37.45, Y:5.09, Z:1.18 [[ 9.92878178e-01 -1.12565602e-01 -3.90116606e-02 3.74471564e+01] [ 1.12528930e-01 9.93643483e-01 -3.14158764e-03 5.09231099e+00] [ 3.91173170e-02 -1.27072661e-03 9.99233817e-01 1.17888973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404391417999996 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:37.48, Y:5.10, Z:1.18 [[ 9.93478416e-01 -1.06768904e-01 -4.00129686e-02 3.74771520e+01] [ 1.06725683e-01 9.94283287e-01 -3.22080886e-03 5.09766354e+00] [ 4.01281082e-02 -1.07060733e-03 9.99193970e-01 1.17807675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434391418 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:37.51, Y:5.10, Z:1.18 [[ 9.93675598e-01 -1.05030646e-01 -3.97161014e-02 3.75080996e+01] [ 1.04986710e-01 9.94468489e-01 -3.19608097e-03 5.10209313e+00] [ 3.98320978e-02 -9.93795139e-04 9.99205893e-01 1.18118595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464391418 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:37.54, Y:5.11, Z:1.18 [[ 9.93890706e-01 -1.02912520e-01 -3.98782760e-02 3.75392301e+01] [ 1.02866580e-01 9.94689991e-01 -3.20767498e-03 5.10650468e+00] [ 3.99966319e-02 -9.14063508e-04 9.99199396e-01 1.18109295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:37.57, Y:5.11, Z:1.18 [[ 9.94156958e-01 -1.00006838e-01 -4.06272772e-02 3.75690136e+01] [ 9.99567869e-02 9.94986417e-01 -3.26653859e-03 5.11222740e+00] [ 4.07502652e-02 -8.13520023e-04 9.99169032e-01 1.18318803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52439141799999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:37.60, Y:5.12, Z:1.18 [[ 9.94258099e-01 -9.88981606e-02 -4.08654577e-02 3.75991471e+01] [ 9.88466101e-02 9.95097260e-01 -3.28507021e-03 5.11574579e+00] [ 4.09899923e-02 -7.73204293e-04 9.99159258e-01 1.18415077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554391417999994 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:37.63, Y:5.12, Z:1.18 [[ 9.94388758e-01 -9.77172215e-02 -4.05258230e-02 3.76298948e+01] [ 9.76655443e-02 9.95213961e-01 -3.25776784e-03 5.11932314e+00] [ 4.06502048e-02 -7.18488840e-04 9.99173180e-01 1.18494500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584391417999996 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:37.66, Y:5.12, Z:1.19 [[ 9.94563334e-01 -9.59034403e-02 -4.05746709e-02 3.76612999e+01] [ 9.58501407e-02 9.95390433e-01 -3.26142821e-03 5.12246185e+00] [ 4.07004214e-02 -6.45390996e-04 9.99171186e-01 1.18611055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.614391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:37.69, Y:5.13, Z:1.19 [[ 9.94702906e-01 -9.44834911e-02 -4.04845424e-02 3.76916004e+01] [ 9.44293270e-02 9.95526255e-01 -3.25235428e-03 5.12601324e+00] [ 4.06107186e-02 -5.87801837e-04 9.99174872e-01 1.18703406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:37.72, Y:5.13, Z:1.19 [[ 9.95122261e-01 -9.00205155e-02 -4.03483875e-02 3.77224088e+01] [ 8.99631523e-02 9.95939828e-01 -3.23882214e-03 5.13054982e+00] [ 4.04761266e-02 -4.06844115e-04 9.99180423e-01 1.18691609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:37.75, Y:5.13, Z:1.19 [[ 9.95303965e-01 -8.80242757e-02 -4.02708847e-02 3.77533814e+01] [ 8.79655651e-02 9.96118276e-01 -3.23097172e-03 5.13487130e+00] [ 4.03989682e-02 -3.26652163e-04 9.99183575e-01 1.18948841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70439141799999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:37.78, Y:5.14, Z:1.19 [[ 9.95656271e-01 -8.42707266e-02 -3.95857969e-02 3.77842869e+01] [ 8.42110933e-02 9.96442881e-01 -3.17443399e-03 5.14015769e+00] [ 3.97124974e-02 -1.72918128e-04 9.99211133e-01 1.19141402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.734391417999994 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:37.81, Y:5.14, Z:1.19 [[ 9.95775832e-01 -8.29649434e-02 -3.93358607e-02 3.78147807e+01] [ 8.29051014e-02 9.96552459e-01 -3.15289851e-03 5.14303983e+00] [ 3.94618287e-02 -1.21563376e-04 9.99221071e-01 1.19255224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764391417999995 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:37.84, Y:5.15, Z:1.19 [[ 9.95880353e-01 -8.18380329e-02 -3.90494337e-02 3.78442461e+01] [ 8.17782164e-02 9.96645639e-01 -3.12935536e-03 5.14559437e+00] [ 3.91745481e-02 -7.69295183e-05 9.99232380e-01 1.19229633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.794391418 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:37.88, Y:5.15, Z:1.19 [[ 9.95954733e-01 -8.12269514e-02 -3.84233218e-02 3.78750187e+01] [ 8.11685579e-02 9.96695630e-01 -3.07984910e-03 5.14829790e+00] [ 3.85465237e-02 -5.13753317e-05 9.99256805e-01 1.19432931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:37.91, Y:5.15, Z:1.20 [[ 9.95933881e-01 -8.15130305e-02 -3.83579385e-02 3.79061457e+01] [ 8.14550545e-02 9.96672274e-01 -3.07443501e-03 5.15124924e+00] [ 3.84809003e-02 -6.25139848e-05 9.99259334e-01 1.19555714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:37.94, Y:5.15, Z:1.20 [[ 9.95863490e-01 -8.22969051e-02 -3.85114044e-02 3.79369694e+01] [ 8.22391099e-02 9.96607852e-01 -3.08518478e-03 5.15404772e+00] [ 3.86346692e-02 -9.47207309e-05 9.99253398e-01 1.19672206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88439141799999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:37.97, Y:5.16, Z:1.20 [[ 9.95735246e-01 -8.35753262e-02 -3.90702583e-02 3.79678053e+01] [ 8.35168862e-02 9.96501452e-01 -3.12838139e-03 5.15700814e+00] [ 3.91950246e-02 -1.47986704e-04 9.99231569e-01 1.19779106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.914391417999994 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:38.00, Y:5.16, Z:1.20 [[ 9.95594282e-01 -8.49583147e-02 -3.96750514e-02 3.79970003e+01] [ 8.48991983e-02 9.96384485e-01 -3.17555290e-03 5.15911855e+00] [ 3.98013953e-02 -2.06817748e-04 9.99207589e-01 1.19644966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944391417999995 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:38.03, Y:5.16, Z:1.20 [[ 9.95367038e-01 -8.74918056e-02 -3.98703329e-02 3.80275629e+01] [ 8.74341099e-02 9.96165191e-01 -3.19185337e-03 5.16140291e+00] [ 3.99966988e-02 -3.08961438e-04 9.99199764e-01 1.19925341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.974391417999996 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:38.06, Y:5.16, Z:1.20 [[ 9.94822667e-01 -9.31119544e-02 -4.07188563e-02 3.80581869e+01] [ 9.30564953e-02 9.95655495e-01 -3.25937913e-03 5.16236341e+00] [ 4.08454402e-02 -5.46649821e-04 9.99165327e-01 1.19968394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:38.09, Y:5.16, Z:1.20 [[ 9.94549009e-01 -9.59694726e-02 -4.07692171e-02 3.80879581e+01] [ 9.59163646e-02 9.95384054e-01 -3.26122130e-03 5.16413105e+00] [ 4.08940063e-02 -6.66990682e-04 9.99163268e-01 1.20089760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:38.12, Y:5.17, Z:1.20 [[ 9.94071072e-01 -1.01056287e-01 -4.01289188e-02 3.81197144e+01] [ 1.01009019e-01 9.94880335e-01 -3.20886716e-03 5.16602164e+00] [ 4.02477484e-02 -8.63540714e-04 9.99189358e-01 1.20275992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06439141799999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:38.15, Y:5.17, Z:1.20 [[ 9.93854832e-01 -1.03165207e-01 -4.01187283e-02 3.81507748e+01] [ 1.03119806e-01 9.94663779e-01 -3.20491271e-03 5.16809240e+00] [ 4.02352814e-02 -9.51817481e-04 9.99189780e-01 1.20369687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094391417999994 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:38.18, Y:5.17, Z:1.21 [[ 9.93649392e-01 -1.05283919e-01 -3.97011581e-02 3.81831508e+01] [ 1.05241248e-01 9.94441671e-01 -3.16905583e-03 5.17040791e+00] [ 3.98141366e-02 -1.02926901e-03 9.99206573e-01 1.20565229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124391417999995 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:38.22, Y:5.17, Z:1.21 [[ 9.93495869e-01 -1.06687871e-01 -3.97951812e-02 3.82155543e+01] [ 1.06646249e-01 9.94291963e-01 -3.17335793e-03 5.17222369e+00] [ 3.99065877e-02 -1.09128882e-03 9.99202819e-01 1.20583999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.154391417999996 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:38.25, Y:5.17, Z:1.21 [[ 9.93148811e-01 -1.09765056e-01 -4.00883023e-02 3.82468713e+01] [ 1.09725447e-01 9.93956803e-01 -3.19361675e-03 5.17391039e+00] [ 4.01965883e-02 -1.22697021e-03 9.99191037e-01 1.20699175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:38.28, Y:5.18, Z:1.21 [[ 9.93030027e-01 -1.10818982e-01 -4.01312554e-02 3.82781899e+01] [ 1.10780245e-01 9.93839792e-01 -3.19463964e-03 5.17626545e+00] [ 4.02380652e-02 -1.27337720e-03 9.99189310e-01 1.20816401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214391418 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:38.31, Y:5.18, Z:1.21 [[ 9.92903607e-01 -1.11801139e-01 -4.05331102e-02 3.83099194e+01] [ 1.11762543e-01 9.93729711e-01 -3.22407712e-03 5.17873747e+00] [ 4.06394114e-02 -1.32888567e-03 9.99172994e-01 1.20926776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:38.34, Y:5.18, Z:1.21 [[ 9.92831041e-01 -1.12413499e-01 -4.06168507e-02 3.83424231e+01] [ 1.12375387e-01 9.93660584e-01 -3.22748373e-03 5.18139249e+00] [ 4.07221763e-02 -1.35998828e-03 9.99169583e-01 1.21037255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27439141799999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:38.37, Y:5.18, Z:1.21 [[ 9.92811579e-01 -1.12596845e-01 -4.05847277e-02 3.83742566e+01] [ 1.12559078e-01 9.93639811e-01 -3.22170255e-03 5.18425798e+00] [ 4.06893547e-02 -1.36963592e-03 9.99170907e-01 1.21180629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304391417999994 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:38.41, Y:5.19, Z:1.21 [[ 9.92823590e-01 -1.12490790e-01 -4.05849961e-02 3.84068452e+01] [ 1.12453073e-01 9.93651825e-01 -3.21831822e-03 5.18675791e+00] [ 4.06893866e-02 -1.36868527e-03 9.99170907e-01 1.21292243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334391417999996 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:38.44, Y:5.19, Z:1.21 [[ 9.92816862e-01 -1.12455794e-01 -4.08457254e-02 3.84384186e+01] [ 1.12417734e-01 9.93655770e-01 -3.23476971e-03 5.19001829e+00] [ 4.09503593e-02 -1.38025000e-03 9.99160229e-01 1.21448581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364391418 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:38.47, Y:5.19, Z:1.22 [[ 9.92887043e-01 -1.11625835e-01 -4.14124742e-02 3.84693082e+01] [ 1.11586147e-01 9.93749365e-01 -3.27591081e-03 5.19345670e+00] [ 4.15192962e-02 -1.36844903e-03 9.99136765e-01 1.21617502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:38.50, Y:5.20, Z:1.22 [[ 9.93073072e-01 -1.09639468e-01 -4.22499832e-02 3.85005672e+01] [ 1.09596581e-01 9.93970550e-01 -3.33702028e-03 5.19871485e+00] [ 4.23611082e-02 -1.31654873e-03 9.99101498e-01 1.21775386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424391418 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:38.53, Y:5.20, Z:1.22 [[ 9.93261939e-01 -1.07614464e-01 -4.30098653e-02 3.85325814e+01] [ 1.07568243e-01 9.94191909e-01 -3.39429738e-03 5.20211382e+00] [ 4.31253356e-02 -1.25506924e-03 9.99068882e-01 1.21804141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45439141799999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:38.56, Y:5.21, Z:1.22 [[ 9.93484311e-01 -1.05349948e-01 -4.34777236e-02 3.85634011e+01] [ 1.05300691e-01 9.94434519e-01 -3.42798353e-03 5.20558094e+00] [ 4.35968870e-02 -1.17258647e-03 9.99048516e-01 1.21850066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484391417999994 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:38.59, Y:5.21, Z:1.22 [[ 9.93705453e-01 -1.03010626e-01 -4.40259458e-02 3.85941843e+01] [ 1.02957930e-01 9.94679663e-01 -3.46881972e-03 5.20919205e+00] [ 4.41490382e-02 -1.08583517e-03 9.99024366e-01 1.21970079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514391417999995 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:38.62, Y:5.22, Z:1.22 [[ 9.94194374e-01 -9.81141808e-02 -4.41718759e-02 3.86243249e+01] [ 9.80563710e-02 9.95174782e-01 -3.47881988e-03 5.21559053e+00] [ 4.43000585e-02 -8.72710695e-04 9.99017889e-01 1.22216989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544391418 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:38.66, Y:5.22, Z:1.22 [[ 9.94518880e-01 -9.48384985e-02 -4.40210956e-02 3.86555521e+01] [ 9.47779203e-02 9.95492407e-01 -3.46593047e-03 5.22024982e+00] [ 4.41513701e-02 -7.25294608e-04 9.99024590e-01 1.22334618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:38.69, Y:5.22, Z:1.22 [[ 9.94860071e-01 -9.14110041e-02 -4.35599396e-02 3.86865851e+01] [ 9.13484749e-02 9.95813087e-01 -3.42801219e-03 5.22492953e+00] [ 4.36909159e-02 -5.68741601e-04 9.99044934e-01 1.22499726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:38.72, Y:5.23, Z:1.23 [[ 9.95484256e-01 -8.46472829e-02 -4.29643281e-02 3.87169450e+01] [ 8.45802220e-02 9.96410942e-01 -3.37953579e-03 5.23217808e+00] [ 4.30961952e-02 -2.69657741e-04 9.99070891e-01 1.22686657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63439141799999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:38.75, Y:5.24, Z:1.23 [[ 9.95736124e-01 -8.16983967e-02 -4.28362496e-02 3.87470067e+01] [ 8.16290721e-02 9.96657088e-01 -3.36794898e-03 5.23643524e+00] [ 4.29682078e-02 -1.43094842e-04 9.99076430e-01 1.22815955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664391417999994 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:38.78, Y:5.24, Z:1.23 [[ 9.95929008e-01 -7.88572582e-02 -4.36685798e-02 3.87775630e+01] [ 7.87825115e-02 9.96885917e-01 -3.43271149e-03 5.24017662e+00] [ 4.38032864e-02 -2.15834393e-05 9.99040175e-01 1.22808925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694391417999995 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:38.81, Y:5.25, Z:1.23 [[ 9.96161003e-01 -7.63351811e-02 -4.28508578e-02 3.88070464e+01] [ 7.62608684e-02 9.97082209e-01 -3.36861023e-03 5.24509138e+00] [ 4.29829714e-02 8.78345174e-05 9.99075801e-01 1.23037174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724391417999996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:38.84, Y:5.26, Z:1.23 [[ 9.96401788e-01 -7.53547674e-02 -3.87960689e-02 3.88353351e+01] [ 7.42720196e-02 9.96826849e-01 -2.86338856e-02 5.26061383e+00] [ 4.08306630e-02 2.56493924e-02 9.98836806e-01 1.23452471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754391418 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:38.87, Y:5.24, Z:1.22 [[ 9.96154822e-01 -7.43107002e-02 -4.64057154e-02 3.88692093e+01] [ 7.53733280e-02 9.96921793e-01 2.15824209e-02 5.23839855e+00] [ 4.46590641e-02 -2.49971859e-02 9.98689496e-01 1.22292271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:38.90, Y:5.25, Z:1.23 [[ 9.96150369e-01 -7.61520119e-02 -4.34202047e-02 3.88974298e+01] [ 7.60756321e-02 9.97096215e-01 -3.41117266e-03 5.25388372e+00] [ 4.35538895e-02 9.48213794e-05 9.99051075e-01 1.23288411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81439141799999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:38.93, Y:5.26, Z:1.24 [[ 9.95992530e-01 -7.81532968e-02 -4.34849704e-02 3.89277317e+01] [ 7.80786021e-02 9.96941353e-01 -3.41610164e-03 5.25851122e+00] [ 4.36189449e-02 7.16601599e-06 9.99048241e-01 1.23571353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844391417999994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:38.96, Y:5.26, Z:1.24 [[ 9.95929083e-01 -7.88569596e-02 -4.36674078e-02 3.89584227e+01] [ 7.87823125e-02 9.96885941e-01 -3.43043359e-03 5.26118643e+00] [ 4.38019384e-02 -2.37507841e-05 9.99040234e-01 1.23623646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874391417999995 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:38.99, Y:5.26, Z:1.24 [[ 9.95850973e-01 -8.00665743e-02 -4.32456184e-02 3.89880246e+01] [ 7.99944953e-02 9.96789515e-01 -3.39747171e-03 5.26360210e+00] [ 4.33788029e-02 -7.60359150e-05 9.99058694e-01 1.23713473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904391417999996 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:39.02, Y:5.27, Z:1.24 [[ 9.95684034e-01 -8.18383793e-02 -4.37696806e-02 3.90179508e+01] [ 8.17662225e-02 9.96645602e-01 -3.43933528e-03 5.26589679e+00] [ 4.39043292e-02 -1.54390211e-04 9.99035728e-01 1.23728604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:39.05, Y:5.27, Z:1.24 [[ 9.95577292e-01 -8.36597174e-02 -4.27423329e-02 3.90487264e+01] [ 8.35926010e-02 9.96494355e-01 -3.35828020e-03 5.26878628e+00] [ 4.28734463e-02 -2.29515273e-04 9.99080485e-01 1.23980774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:39.08, Y:5.27, Z:1.24 [[ 9.95481576e-01 -8.50489944e-02 -4.22267741e-02 3.90795679e+01] [ 8.49848077e-02 9.96376729e-01 -3.31610809e-03 5.27154275e+00] [ 4.23558067e-02 -2.87509776e-04 9.99102549e-01 1.24121264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:39.11, Y:5.27, Z:1.24 [[ 9.95396140e-01 -8.62731104e-02 -4.17549438e-02 3.91107974e+01] [ 8.62114956e-02 9.96271467e-01 -3.27741649e-03 5.27425778e+00] [ 4.18820121e-02 -3.37428431e-04 9.99122507e-01 1.24255223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02439141799999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:39.14, Y:5.28, Z:1.24 [[ 9.95174176e-01 -8.87459983e-02 -4.18629464e-02 3.91424116e+01] [ 8.86863262e-02 9.96054190e-01 -3.28409366e-03 5.27641414e+00] [ 4.19892133e-02 -4.44425721e-04 9.99117965e-01 1.24224546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054391417999994 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:39.17, Y:5.28, Z:1.24 [[ 9.95037356e-01 -9.06798736e-02 -4.09612093e-02 3.91743582e+01] [ 9.06244854e-02 9.95879959e-01 -3.21085432e-03 5.27821265e+00] [ 4.10836073e-02 -5.17168524e-04 9.99155578e-01 1.24398292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084391417999996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:39.21, Y:5.28, Z:1.24 [[ 9.94910469e-01 -9.21091137e-02 -4.08542562e-02 3.92063625e+01] [ 9.20553500e-02 9.95748752e-01 -3.19926458e-03 5.27972820e+00] [ 4.09752561e-02 -5.77871034e-04 9.99159994e-01 1.24476817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.114391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:39.24, Y:5.28, Z:1.24 [[ 9.94817093e-01 -9.27650561e-02 -4.16364779e-02 3.92384901e+01] [ 9.27099305e-02 9.95687833e-01 -3.25709923e-03 5.28166027e+00] [ 4.17590794e-02 -6.19896990e-04 9.99127517e-01 1.24400771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:39.27, Y:5.28, Z:1.25 [[ 9.94731037e-01 -9.43905545e-02 -4.00073324e-02 3.92699402e+01] [ 9.43410931e-02 9.95535023e-01 -3.12666366e-03 5.28448360e+00] [ 4.01238281e-02 -6.64146081e-04 9.99194494e-01 1.24691671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:39.30, Y:5.29, Z:1.25 [[ 9.94729457e-01 -9.42147015e-02 -4.04585921e-02 3.93019514e+01] [ 9.41640767e-02 9.95551679e-01 -3.15936154e-03 5.28712439e+00] [ 4.05762776e-02 -6.67035978e-04 9.99176221e-01 1.24782673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20439141799999 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:39.33, Y:5.30, Z:1.25 [[ 9.94725105e-01 -9.25878549e-02 -4.41526333e-02 3.93303088e+01] [ 9.18450249e-02 9.95600138e-01 -1.85703309e-02 5.29647147e+00] [ 4.56777549e-02 1.44171746e-02 9.98852185e-01 1.25347513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.234391417999994 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:39.36, Y:5.29, Z:1.24 [[ 9.94803764e-01 -9.18320379e-02 -4.39584811e-02 3.93649375e+01] [ 9.24048484e-02 9.95658788e-01 1.11768043e-02 5.28513367e+00] [ 4.27412593e-02 -1.51807038e-02 9.98970836e-01 1.24329544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264391417999995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:39.39, Y:5.29, Z:1.25 [[ 9.94911777e-01 -9.18323918e-02 -4.14411294e-02 3.93949645e+01] [ 9.17773118e-02 9.95774306e-01 -3.23368999e-03 5.29487074e+00] [ 4.15629693e-02 -5.86119203e-04 9.99135715e-01 1.25066598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.294391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:39.43, Y:5.30, Z:1.25 [[ 9.95011046e-01 -9.06116361e-02 -4.17438589e-02 3.94266595e+01] [ 9.05548906e-02 9.95886156e-01 -3.25215677e-03 5.29734727e+00] [ 4.18668144e-02 -5.44178661e-04 9.99123052e-01 1.25127150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:39.46, Y:5.30, Z:1.25 [[ 9.95126844e-01 -8.90628321e-02 -4.23128293e-02 3.94591983e+01] [ 8.90032754e-02 9.96025890e-01 -3.29304393e-03 5.29979603e+00] [ 4.24379612e-02 -4.88983982e-04 9.99098984e-01 1.25264037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:39.49, Y:5.30, Z:1.25 [[ 9.95470721e-01 -8.48565572e-02 -4.28650054e-02 3.94912611e+01] [ 8.47916880e-02 9.96393127e-01 -3.33250020e-03 5.30345166e+00] [ 4.29931813e-02 -3.17189789e-04 9.99075315e-01 1.25339567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38439141799999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:39.52, Y:5.31, Z:1.25 [[ 9.95677781e-01 -8.22094399e-02 -4.32130192e-02 3.95219790e+01] [ 8.21411958e-02 9.96615053e-01 -3.35551145e-03 5.30696286e+00] [ 4.33426001e-02 -2.08560872e-04 9.99060246e-01 1.25473062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.414391417999994 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:39.55, Y:5.31, Z:1.26 [[ 9.95907025e-01 -7.93785066e-02 -4.32232580e-02 3.95517383e+01] [ 7.93077742e-02 9.96844544e-01 -3.35147570e-03 5.31060196e+00] [ 4.33529041e-02 -9.01821887e-05 9.99059817e-01 1.25587942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444391417999995 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:39.58, Y:5.31, Z:1.26 [[ 9.96132758e-01 -7.63742587e-02 -4.34338613e-02 3.95830284e+01] [ 7.63000254e-02 9.97079220e-01 -3.36676124e-03 5.31413450e+00] [ 4.35641345e-02 3.97364406e-05 9.99050632e-01 1.25723615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.474391417999996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:39.61, Y:5.32, Z:1.26 [[ 9.96575523e-01 -7.05697893e-02 -4.30944564e-02 3.96123820e+01] [ 7.04913394e-02 9.97506802e-01 -3.33921153e-03 5.31788845e+00] [ 4.32226609e-02 2.89990520e-04 9.99065422e-01 1.25780710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:39.64, Y:5.32, Z:1.26 [[ 9.96754133e-01 -6.81801317e-02 -4.28096759e-02 3.96430256e+01] [ 6.81004824e-02 9.97672951e-01 -3.31784587e-03 5.32057005e+00] [ 4.29362669e-02 3.91717000e-04 9.99077736e-01 1.25954875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:39.67, Y:5.32, Z:1.26 [[ 9.96895519e-01 -6.63481535e-02 -4.23939369e-02 3.96722315e+01] [ 6.62683822e-02 9.97796425e-01 -3.28577911e-03 5.32319842e+00] [ 4.25185240e-02 4.66200858e-04 9.99095570e-01 1.26103824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56439141799999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:39.70, Y:5.33, Z:1.26 [[ 9.97102651e-01 -6.33436375e-02 -4.21175322e-02 3.97020603e+01] [ 6.32621827e-02 9.97991600e-01 -3.26533930e-03 5.32623923e+00] [ 4.22397818e-02 5.91431460e-04 9.99107327e-01 1.26280462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594391417999994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:39.73, Y:5.33, Z:1.26 [[ 9.97149482e-01 -6.24617646e-02 -4.23253847e-02 3.97299785e+01] [ 6.23786191e-02 9.98047156e-01 -3.28358179e-03 5.32875086e+00] [ 4.24478282e-02 6.34022828e-04 9.99098484e-01 1.26434708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624391417999995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:39.76, Y:5.33, Z:1.27 [[ 9.97181104e-01 -6.17335118e-02 -4.26476110e-02 3.97584664e+01] [ 6.16481868e-02 9.98092439e-01 -3.31423806e-03 5.33107205e+00] [ 4.27708576e-02 6.75747677e-04 9.99084680e-01 1.26509827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.654391417999996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:39.79, Y:5.34, Z:1.27 [[ 9.97173924e-01 -6.08579244e-02 -4.40508665e-02 3.97860949e+01] [ 6.03835207e-02 9.98102847e-01 -1.20223593e-02 5.33674028e+00] [ 4.46989511e-02 9.32843675e-03 9.98956948e-01 1.27046928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:39.82, Y:5.33, Z:1.27 [[ 9.97179422e-01 -6.17539826e-02 -4.26573085e-02 3.98168745e+01] [ 6.20206823e-02 9.98062560e-01 4.95601175e-03 5.32841236e+00] [ 4.22686091e-02 -7.58766831e-03 9.99077470e-01 1.26521685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:39.85, Y:5.33, Z:1.27 [[ 9.97141866e-01 -6.26350569e-02 -4.22486652e-02 3.98450724e+01] [ 6.25511222e-02 9.98036282e-01 -3.30700809e-03 5.33278926e+00] [ 4.23728353e-02 6.54854805e-04 9.99101653e-01 1.26810595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:39.87, Y:5.34, Z:1.27 [[ 9.96869650e-01 -6.67185500e-02 -4.24209321e-02 3.98705079e+01] [ 6.67088073e-02 9.97771128e-01 -1.64676847e-03 5.33726541e+00] [ 4.24362513e-02 -1.18823628e-03 9.99098470e-01 1.27113465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77439141799999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:39.90, Y:5.34, Z:1.27 [[ 9.96910429e-01 -6.65191527e-02 -4.17707828e-02 3.99040398e+01] [ 6.63363822e-02 9.97780760e-01 -5.74802461e-03 5.33556079e+00] [ 4.20604371e-02 2.95934307e-03 9.99110686e-01 1.27241295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804391417999994 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:39.93, Y:5.34, Z:1.27 [[ 9.96818039e-01 -6.77443874e-02 -4.20059051e-02 3.99328155e+01] [ 6.76654472e-02 9.97702610e-01 -3.29986448e-03 5.33544715e+00] [ 4.21329485e-02 4.47016084e-04 9.99111913e-01 1.27337413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834391417999996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:39.96, Y:5.34, Z:1.27 [[ 9.96745287e-01 -6.86329127e-02 -4.22889624e-02 3.99627330e+01] [ 6.85532725e-02 9.97641892e-01 -3.33225572e-03 5.33627697e+00] [ 4.24179429e-02 4.22363422e-04 9.99099865e-01 1.27456404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:39.99, Y:5.34, Z:1.27 [[ 9.96687980e-01 -6.89651358e-02 -4.30915341e-02 3.99912410e+01] [ 6.88826685e-02 9.97618983e-01 -3.39743834e-03 5.33669031e+00] [ 4.32232372e-02 4.17926100e-04 9.99065352e-01 1.27373323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:40.02, Y:5.34, Z:1.28 [[ 9.96615549e-01 -7.02747134e-02 -4.26487111e-02 4.00199252e+01] [ 7.01949503e-02 9.97527611e-01 -3.36676223e-03 5.33533285e+00] [ 4.27798652e-02 3.61643430e-04 9.99084457e-01 1.27632209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:40.05, Y:5.34, Z:1.28 [[ 9.96646522e-01 -7.01104629e-02 -4.21928115e-02 4.00486081e+01] [ 7.00318310e-02 9.97539163e-01 -3.34065625e-03 5.33548953e+00] [ 4.23231969e-02 3.74613584e-04 9.99103902e-01 1.27714221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95439141799999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:40.08, Y:5.34, Z:1.28 [[ 9.96669291e-01 -6.98227590e-02 -4.21320154e-02 4.00778988e+01] [ 6.97439986e-02 9.97559337e-01 -3.33816379e-03 5.33622197e+00] [ 4.22622651e-02 3.88590117e-04 9.99106476e-01 1.27848599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984391417999994 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:40.11, Y:5.34, Z:1.28 [[ 9.96742122e-01 -6.91346751e-02 -4.15396133e-02 4.01077248e+01] [ 6.90574488e-02 9.97607250e-01 -3.29288329e-03 5.33569957e+00] [ 4.16678718e-02 4.13535758e-04 9.99131432e-01 1.28055393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014391417999995 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:40.14, Y:5.34, Z:1.28 [[ 9.96784714e-01 -6.80912967e-02 -4.22351600e-02 4.01362629e+01] [ 6.80104447e-02 9.97678985e-01 -3.34991387e-03 5.33607992e+00] [ 4.23652316e-02 4.66710923e-04 9.99102082e-01 1.28084734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:40.16, Y:5.34, Z:1.28 [[ 9.96792702e-01 -6.82316994e-02 -4.18180002e-02 4.01645122e+01] [ 6.81524296e-02 9.97669396e-01 -3.31995623e-03 5.33654792e+00] [ 4.19470652e-02 4.59309829e-04 9.99119729e-01 1.28260814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:40.19, Y:5.33, Z:1.28 [[ 9.96793871e-01 -6.76814889e-02 -4.26754512e-02 4.01933071e+01] [ 6.75981071e-02 9.97706854e-01 -3.39554649e-03 5.33402662e+00] [ 4.28074058e-02 4.99880206e-04 9.99083218e-01 1.28331731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:40.22, Y:5.33, Z:1.28 [[ 9.96796374e-01 -6.74638151e-02 -4.29607057e-02 4.02220843e+01] [ 6.73785817e-02 9.97721583e-01 -3.43054174e-03 5.33374112e+00] [ 4.30942608e-02 5.24920145e-04 9.99070873e-01 1.28430481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13439141799999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:40.25, Y:5.33, Z:1.28 [[ 9.96808499e-01 -6.74058881e-02 -4.27698851e-02 4.02495668e+01] [ 6.73209010e-02 9.97725493e-01 -3.42593068e-03 5.33331855e+00] [ 4.29035326e-02 5.35689619e-04 9.99079076e-01 1.28481792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164391417999994 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:40.28, Y:5.33, Z:1.29 [[ 9.96812409e-01 -6.74489993e-02 -4.26104780e-02 4.02776292e+01] [ 6.73644280e-02 9.97722578e-01 -3.41915199e-03 5.33328340e+00] [ 4.27440544e-02 5.37822658e-04 9.99085911e-01 1.28621887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194391417999995 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:40.31, Y:5.34, Z:1.29 [[ 9.96792233e-01 -6.77472018e-02 -4.26093942e-02 4.03059050e+01] [ 6.76623276e-02 9.97702374e-01 -3.43261081e-03 5.33569871e+00] [ 4.27440435e-02 5.38549008e-04 9.99085911e-01 1.28721321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224391417999996 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:40.33, Y:5.34, Z:1.29 [[ 9.96804183e-01 -6.77415032e-02 -4.23380313e-02 4.03337428e+01] [ 6.76572282e-02 9.97702756e-01 -3.42189608e-03 5.33537755e+00] [ 4.24725749e-02 5.46486488e-04 9.99097484e-01 1.28844960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:40.36, Y:5.33, Z:1.29 [[ 9.96693879e-01 -6.91679627e-02 -4.26275159e-02 4.03618400e+01] [ 6.90835784e-02 9.97604906e-01 -3.45127441e-03 5.33190339e+00] [ 4.27641366e-02 4.95002747e-04 9.99085073e-01 1.28910545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:40.39, Y:5.33, Z:1.29 [[ 9.96593890e-01 -7.03440479e-02 -4.30387370e-02 4.03895980e+01] [ 7.02585215e-02 9.97522682e-01 -3.49847693e-03 5.33089327e+00] [ 4.31782134e-02 4.62722705e-04 9.99067279e-01 1.28989584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31439141799999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:40.42, Y:5.33, Z:1.29 [[ 9.96397311e-01 -7.20592725e-02 -4.47198002e-02 4.04180840e+01] [ 7.19679848e-02 9.97400264e-01 -3.65008080e-03 5.32646129e+00] [ 4.48665627e-02 4.18536795e-04 9.98992901e-01 1.28909153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344391417999994 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:40.45, Y:5.33, Z:1.29 [[ 9.96269744e-01 -7.41005155e-02 -4.42234087e-02 4.04464236e+01] [ 7.40126183e-02 9.97250721e-01 -3.62387684e-03 5.32620224e+00] [ 4.43703573e-02 3.37268584e-04 9.99015094e-01 1.29129746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374391417999995 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:40.47, Y:5.33, Z:1.29 [[ 9.96250389e-01 -7.44255867e-02 -4.41134360e-02 4.04739413e+01] [ 7.43378823e-02 9.97226514e-01 -3.62756285e-03 5.32563321e+00] [ 4.42610715e-02 3.34661487e-04 9.99019943e-01 1.29238841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404391417999996 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:40.50, Y:5.33, Z:1.29 [[ 9.96258298e-01 -7.43002460e-02 -4.41460901e-02 4.05013527e+01] [ 7.42120130e-02 9.97235856e-01 -3.63646448e-03 5.32536131e+00] [ 4.42942542e-02 3.46687699e-04 9.99018468e-01 1.29379628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:40.53, Y:5.32, Z:1.29 [[ 9.96398562e-01 -7.25657073e-02 -4.38648281e-02 4.05282516e+01] [ 7.24766532e-02 9.97363542e-01 -3.61925135e-03 5.32242298e+00] [ 4.40118139e-02 4.27040904e-04 9.99030919e-01 1.29442165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:40.56, Y:5.32, Z:1.29 [[ 9.96482932e-01 -7.11320712e-02 -4.42944089e-02 4.05561246e+01] [ 7.10395068e-02 9.97466779e-01 -3.66235663e-03 5.32177113e+00] [ 4.44427124e-02 5.02822913e-04 9.99011808e-01 1.29414871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494391418 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:40.58, Y:5.32, Z:1.30 [[ 9.96571646e-01 -7.07327583e-02 -4.29165541e-02 4.05834332e+01] [ 7.06449741e-02 9.97495168e-01 -3.56054935e-03 5.32141995e+00] [ 4.30609028e-02 5.16503675e-04 9.99072316e-01 1.29630700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52439141799999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:40.61, Y:5.32, Z:1.30 [[ 9.96650934e-01 -6.91818703e-02 -4.35979970e-02 4.06119609e+01] [ 6.90894478e-02 9.97603883e-01 -3.62493509e-03 5.32031750e+00] [ 4.37443109e-02 6.00633409e-04 9.99042579e-01 1.29519957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554391417999994 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:40.64, Y:5.32, Z:1.30 [[ 9.96776138e-01 -6.83158371e-02 -4.20746725e-02 4.06395635e+01] [ 6.82284876e-02 9.97663546e-01 -3.51023389e-03 5.31684034e+00] [ 4.22161715e-02 6.28226109e-04 9.99108303e-01 1.29587898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584391417999996 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:40.67, Y:5.32, Z:1.30 [[ 9.96773073e-01 -6.85554117e-02 -4.17563959e-02 4.06661366e+01] [ 6.84693212e-02 9.97647118e-01 -3.49008021e-03 5.31653272e+00] [ 4.18974119e-02 6.19785894e-04 9.99121726e-01 1.29724880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.614391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:40.69, Y:5.32, Z:1.30 [[ 9.96766554e-01 -6.76246755e-02 -4.33974669e-02 4.06905551e+01] [ 6.71550718e-02 9.97668071e-01 -1.21908038e-02 5.31945045e+00] [ 4.41206662e-02 9.23702550e-03 9.98983505e-01 1.30185893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:40.72, Y:5.32, Z:1.30 [[ 9.96537962e-01 -6.92537100e-02 -4.60001592e-02 4.07214975e+01] [ 6.87320782e-02 9.97552675e-01 -1.28281855e-02 5.31535605e+00] [ 4.67759813e-02 9.62208733e-03 9.98859061e-01 1.30360408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:40.75, Y:5.30, Z:1.30 [[ 9.96615195e-01 -6.97448367e-02 -4.35179307e-02 4.07516116e+01] [ 7.03744571e-02 9.97434544e-01 1.31059517e-02 5.30183245e+00] [ 4.24922149e-02 -1.61241414e-02 9.98966678e-01 1.29547696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70439141799999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:40.78, Y:5.31, Z:1.30 [[ 9.96579066e-01 -7.09241388e-02 -4.24256086e-02 4.07783909e+01] [ 7.08358570e-02 9.97481552e-01 -3.58245723e-03 5.30890163e+00] [ 4.25728447e-02 5.64947535e-04 9.99093206e-01 1.29978192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.734391417999994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:40.81, Y:5.31, Z:1.30 [[ 9.96495685e-01 -7.25374792e-02 -4.16492887e-02 4.08059504e+01] [ 7.24532284e-02 9.97365562e-01 -3.53077202e-03 5.30863577e+00] [ 4.17956795e-02 5.00773659e-04 9.99126053e-01 1.30267379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764391417999995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:40.83, Y:5.30, Z:1.30 [[ 9.96413864e-01 -7.39326543e-02 -4.11506173e-02 4.08344402e+01] [ 7.38509980e-02 9.97263134e-01 -3.50304016e-03 5.30470153e+00] [ 4.12969826e-02 4.51463631e-04 9.99146814e-01 1.30380281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.794391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:40.86, Y:5.30, Z:1.30 [[ 9.96378286e-01 -7.46637842e-02 -4.06894382e-02 4.08617215e+01] [ 7.45840179e-02 9.97208672e-01 -3.47699712e-03 5.30400476e+00] [ 4.08354663e-02 4.29622646e-04 9.99165792e-01 1.30481932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:40.89, Y:5.30, Z:1.31 [[ 9.96348404e-01 -7.51105315e-02 -4.05988446e-02 4.08884550e+01] [ 7.50312395e-02 9.97175127e-01 -3.47542155e-03 5.30345459e+00] [ 4.07451988e-02 4.16549085e-04 9.99169483e-01 1.30547997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:40.92, Y:5.30, Z:1.31 [[ 9.96301974e-01 -7.57135987e-02 -4.06180630e-02 4.09167309e+01] [ 7.56344569e-02 9.97129526e-01 -3.48382014e-03 5.30344649e+00] [ 4.07652425e-02 3.98811747e-04 9.99168672e-01 1.30599860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88439141799999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:40.94, Y:5.30, Z:1.31 [[ 9.96315497e-01 -7.55834124e-02 -4.05287320e-02 4.09440627e+01] [ 7.55040194e-02 9.97139396e-01 -3.48822968e-03 5.30088593e+00] [ 4.06764477e-02 4.15295118e-04 9.99172285e-01 1.30698550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.914391417999994 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:40.97, Y:5.30, Z:1.31 [[ 9.96317145e-01 -7.50037090e-02 -4.15522523e-02 4.09724352e+01] [ 7.49194449e-02 9.97183150e-01 -3.58361510e-03 5.30038793e+00] [ 4.17039902e-02 4.57345487e-04 9.99129905e-01 1.30674841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944391417999995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:41.00, Y:5.30, Z:1.31 [[ 9.96340268e-01 -7.48303576e-02 -4.13096673e-02 4.10006222e+01] [ 7.47463251e-02 9.97196165e-01 -3.57717808e-03 5.30015872e+00] [ 4.14615233e-02 4.76340748e-04 9.99139988e-01 1.30745803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.974391417999996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:41.03, Y:5.30, Z:1.31 [[ 9.96388553e-01 -7.45824876e-02 -4.05869832e-02 4.10279230e+01] [ 7.45006237e-02 9.97214727e-01 -3.52788603e-03 5.29786850e+00] [ 4.07370559e-02 4.91389693e-04 9.99169781e-01 1.31031930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:41.06, Y:5.30, Z:1.31 [[ 9.96440602e-01 -7.40232197e-02 -4.03322457e-02 4.10560693e+01] [ 7.39416288e-02 9.97256383e-01 -3.51300249e-03 5.29841580e+00] [ 4.04816332e-02 5.18266375e-04 9.99180148e-01 1.30947620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:41.08, Y:5.30, Z:1.31 [[ 9.96422036e-01 -7.46995686e-02 -3.95360631e-02 4.10825030e+01] [ 7.46211767e-02 9.97205962e-01 -3.45685168e-03 5.29964092e+00] [ 3.96838231e-02 4.94255639e-04 9.99212165e-01 1.31269611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06439141799999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:41.11, Y:5.30, Z:1.31 [[ 9.96421494e-01 -7.47924840e-02 -3.93737237e-02 4.11103372e+01] [ 7.47144140e-02 9.97198995e-01 -3.45260255e-03 5.30010955e+00] [ 3.95216665e-02 4.98462698e-04 9.99218589e-01 1.31415544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.094391417999994 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:41.14, Y:5.30, Z:1.31 [[ 9.96423074e-01 -7.54854303e-02 -3.79869488e-02 4.11389805e+01] [ 7.54127777e-02 9.97146795e-01 -3.34386295e-03 5.29781254e+00] [ 3.81309772e-02 4.67200872e-04 9.99272641e-01 1.31456039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124391417999995 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:41.17, Y:5.30, Z:1.31 [[ 9.96388172e-01 -7.53374998e-02 -3.91774350e-02 4.11664399e+01] [ 7.52595836e-02 9.97157967e-01 -3.46192053e-03 5.29759143e+00] [ 3.93269038e-02 5.00939221e-04 9.99226273e-01 1.31299372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.154391417999996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:41.19, Y:5.30, Z:1.32 [[ 9.96373747e-01 -7.62670100e-02 -3.77187002e-02 4.11946127e+01] [ 7.61952284e-02 9.97087327e-01 -3.33903135e-03 5.29783670e+00] [ 3.78634959e-02 4.52938197e-04 9.99282818e-01 1.31589654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.184391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:41.22, Y:5.30, Z:1.32 [[ 9.96300079e-01 -7.69209908e-02 -3.83316292e-02 4.12216172e+01] [ 7.68468469e-02 9.97037091e-01 -3.40609876e-03 5.29522394e+00] [ 3.84800565e-02 4.47831628e-04 9.99259268e-01 1.31627886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:41.25, Y:5.30, Z:1.32 [[ 9.96271486e-01 -7.70647899e-02 -3.87832956e-02 4.12493601e+01] [ 7.69887417e-02 9.97025984e-01 -3.45277115e-03 5.29532136e+00] [ 3.89340405e-02 4.54020314e-04 9.99241680e-01 1.31595188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24439141799999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:41.28, Y:5.30, Z:1.32 [[ 9.96265540e-01 -7.76085765e-02 -3.78402202e-02 4.12772308e+01] [ 7.75360987e-02 9.96983811e-01 -3.38135447e-03 5.29621435e+00] [ 3.79885091e-02 4.34743893e-04 9.99278082e-01 1.31873264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27439141799999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:41.30, Y:5.30, Z:1.32 [[ 9.96292823e-01 -7.74471769e-02 -3.74505825e-02 4.13038923e+01] [ 7.73756149e-02 9.96996356e-01 -3.35864894e-03 5.29714191e+00] [ 3.75982122e-02 4.48435980e-04 9.99292837e-01 1.31981253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304391417999994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:41.33, Y:5.30, Z:1.32 [[ 9.96342625e-01 -7.64328959e-02 -3.82019102e-02 4.13311407e+01] [ 7.63574586e-02 9.97074601e-01 -3.43198704e-03 5.29725946e+00] [ 3.83524711e-02 5.02434197e-04 9.99264147e-01 1.31825730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334391417999996 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:41.36, Y:5.30, Z:1.32 [[ 9.96280288e-01 -7.63970578e-02 -3.98632260e-02 4.13589884e+01] [ 7.60156880e-02 9.97045958e-01 -1.09987620e-02 5.30170070e+00] [ 4.05857414e-02 7.92761923e-03 9.99144609e-01 1.32083645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364391418 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:41.39, Y:5.30, Z:1.32 [[ 9.96331023e-01 -7.60502677e-02 -3.92536609e-02 4.13888289e+01] [ 7.62527958e-02 9.97081703e-01 3.68616673e-03 5.29538870e+00] [ 3.88587731e-02 -6.66584366e-03 9.99222479e-01 1.31876577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:41.42, Y:5.30, Z:1.32 [[ 9.96246514e-01 -7.78871941e-02 -3.77686049e-02 4.14153177e+01] [ 7.78136912e-02 9.96962071e-01 -3.41446871e-03 5.29906917e+00] [ 3.79198100e-02 4.62737989e-04 9.99280678e-01 1.32337469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:41.44, Y:5.30, Z:1.32 [[ 9.96117935e-01 -7.91617515e-02 -3.85029374e-02 4.14429660e+01] [ 7.90860593e-02 9.96861692e-01 -3.48740848e-03 5.30062114e+00] [ 3.86581727e-02 4.28824542e-04 9.99252401e-01 1.32253041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45439141799999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:41.47, Y:5.30, Z:1.32 [[ 9.95971125e-01 -8.13074246e-02 -3.78235427e-02 4.14696049e+01] [ 8.12354516e-02 9.96689008e-01 -3.43839350e-03 5.30182809e+00] [ 3.79778762e-02 3.51928073e-04 9.99278518e-01 1.32465142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484391417999994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:41.50, Y:5.30, Z:1.32 [[ 9.95751502e-01 -8.38793403e-02 -3.79895107e-02 4.14979145e+01] [ 8.38082476e-02 9.96475884e-01 -3.46283311e-03 5.30276622e+00] [ 3.81460914e-02 2.64286949e-04 9.99272138e-01 1.32499900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514391417999995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:41.53, Y:5.30, Z:1.33 [[ 9.95209770e-01 -8.99257199e-02 -3.83520328e-02 4.15260690e+01] [ 8.98572388e-02 9.95948474e-01 -3.50911099e-03 5.30230832e+00] [ 3.85122079e-02 4.60937729e-05 9.99258129e-01 1.32506732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:41.55, Y:5.30, Z:1.33 [[ 9.94884901e-01 -9.32977502e-02 -3.87241937e-02 4.15527146e+01] [ 9.32299963e-02 9.95638250e-01 -3.55573738e-03 5.30385981e+00] [ 3.88870307e-02 -7.27070000e-05 9.99243611e-01 1.32659276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:5.31, Z:1.33 [[ 9.94586609e-01 -9.67996912e-02 -3.77795944e-02 4.15807718e+01] [ 9.67375050e-02 9.95303863e-01 -3.47487861e-03 5.30585530e+00] [ 3.79385434e-02 -1.98635968e-04 9.99280055e-01 1.33000882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:41.61, Y:5.31, Z:1.33 [[ 9.94315604e-01 -9.92997248e-02 -3.84193266e-02 4.16086863e+01] [ 9.92367811e-02 9.95057527e-01 -3.54661905e-03 5.30764380e+00] [ 3.85816185e-02 -2.86151650e-04 9.99255411e-01 1.32877801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63439141799999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:41.64, Y:5.31, Z:1.33 [[ 9.93903610e-01 -1.03055090e-01 -3.91824280e-02 4.16362966e+01] [ 1.02992013e-01 9.94675558e-01 -3.63033335e-03 5.30831950e+00] [ 3.93479278e-02 -4.27275714e-04 9.99225479e-01 1.32953903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664391417999994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:41.66, Y:5.31, Z:1.33 [[ 9.93812744e-01 -1.04374433e-01 -3.79764188e-02 4.16645028e+01] [ 1.04315640e-01 9.94537970e-01 -3.53178588e-03 5.31055505e+00] [ 3.81376186e-02 -4.51600590e-04 9.99272394e-01 1.33138383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694391417999995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:41.69, Y:5.31, Z:1.33 [[ 9.93831293e-01 -1.04016612e-01 -3.84695371e-02 4.16917745e+01] [ 1.03955503e-01 9.94575467e-01 -3.59086442e-03 5.31349891e+00] [ 3.86343674e-02 -4.30406647e-04 9.99253321e-01 1.33167850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724391417999996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:41.72, Y:5.32, Z:1.33 [[ 9.93984430e-01 -1.03305142e-01 -3.63730838e-02 4.17192904e+01] [ 1.03249836e-01 9.94649640e-01 -3.40069688e-03 5.31669721e+00] [ 3.65297842e-02 -3.75275174e-04 9.99332494e-01 1.33382081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:41.75, Y:5.32, Z:1.33 [[ 9.94087244e-01 -1.02176850e-01 -3.67483782e-02 4.17469934e+01] [ 1.02119148e-01 9.94766197e-01 -3.44869778e-03 5.31988742e+00] [ 3.69084215e-02 -3.24406603e-04 9.99318599e-01 1.33443552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:41.77, Y:5.32, Z:1.34 [[ 9.94283604e-01 -1.00665576e-01 -3.55887156e-02 4.17736065e+01] [ 1.00610059e-01 9.94920288e-01 -3.35196295e-03 5.32329826e+00] [ 3.57453625e-02 -2.47780971e-04 9.99360900e-01 1.33702199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81439141799999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:41.80, Y:5.33, Z:1.34 [[ 9.94640421e-01 -9.66613982e-02 -3.67016031e-02 4.18014234e+01] [ 9.65994045e-02 9.95317318e-01 -3.46282595e-03 5.32864274e+00] [ 3.68644628e-02 -1.01086349e-04 9.99320270e-01 1.33675885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844391417999994 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:41.83, Y:5.33, Z:1.34 [[ 9.94791788e-01 -9.50981166e-02 -3.66830676e-02 4.18292399e+01] [ 9.50346555e-02 9.95467904e-01 -3.47375582e-03 5.33258743e+00] [ 3.68471640e-02 -3.04989309e-05 9.99320912e-01 1.33719338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874391417999995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:41.86, Y:5.34, Z:1.34 [[ 9.94927337e-01 -9.34679207e-02 -3.71932910e-02 4.18572990e+01] [ 9.34010538e-02 9.95622291e-01 -3.53514261e-03 5.33601970e+00] [ 3.73608920e-02 4.33174513e-05 9.99301837e-01 1.33745661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904391417999996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:41.88, Y:5.34, Z:1.34 [[ 9.95057567e-01 -9.26043971e-02 -3.58449908e-02 4.18836264e+01] [ 9.25412953e-02 9.95702977e-01 -3.41910031e-03 5.33974151e+00] [ 3.60075878e-02 8.50597579e-05 9.99351513e-01 1.34061639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.934391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.91, Y:5.34, Z:1.34 [[ 9.95262494e-01 -9.01792286e-02 -3.63355983e-02 4.19103301e+01] [ 9.01125660e-02 9.95925536e-01 -3.47151450e-03 5.34436345e+00] [ 3.65006087e-02 1.80774180e-04 9.99333614e-01 1.34126160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:41.94, Y:5.35, Z:1.34 [[ 9.95294953e-01 -8.97971533e-02 -3.63926840e-02 4.19375929e+01] [ 8.97298185e-02 9.95960055e-01 -3.48262936e-03 5.34832304e+00] [ 3.65583898e-02 2.00734499e-04 9.99331498e-01 1.34192644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99439141799999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:41.96, Y:5.35, Z:1.34 [[ 9.95328603e-01 -8.87703887e-02 -3.79577532e-02 4.19647218e+01] [ 8.86958898e-02 9.96052082e-01 -3.64548464e-03 5.35171879e+00] [ 3.81315102e-02 2.61758433e-04 9.99272695e-01 1.33998262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02439141799999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:41.99, Y:5.36, Z:1.34 [[ 9.95312711e-01 -8.88441068e-02 -3.82012015e-02 4.19921419e+01] [ 8.87684599e-02 9.96045508e-01 -3.67519808e-03 5.35562580e+00] [ 3.83766549e-02 2.66909543e-04 9.99263309e-01 1.34050167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054391417999994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:42.02, Y:5.36, Z:1.34 [[ 9.95229255e-01 -8.98591614e-02 -3.80008079e-02 4.20195514e+01] [ 8.97845336e-02 9.95954454e-01 -3.66932952e-03 5.35863213e+00] [ 3.81767967e-02 2.39939266e-04 9.99270972e-01 1.34167294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084391417999996 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:42.05, Y:5.36, Z:1.34 [[ 9.95094020e-01 -9.19930411e-02 -3.64029199e-02 4.20468531e+01] [ 9.19255270e-02 9.95759636e-01 -3.52760118e-03 5.36231158e+00] [ 3.65730730e-02 1.63937242e-04 9.99330968e-01 1.34428675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.114391418 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:42.08, Y:5.37, Z:1.35 [[ 9.95063673e-01 -9.23212002e-02 -3.64016755e-02 4.20751143e+01] [ 9.22534376e-02 9.95729265e-01 -3.54039624e-03 5.36526686e+00] [ 3.65730672e-02 1.64739992e-04 9.99330968e-01 1.34529501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:42.10, Y:5.37, Z:1.35 [[ 9.94926479e-01 -9.36575452e-02 -3.67364240e-02 4.21017150e+01] [ 9.35889952e-02 9.95604463e-01 -3.58501145e-03 5.36807590e+00] [ 3.69107111e-02 1.28697812e-04 9.99318559e-01 1.34591772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:42.13, Y:5.37, Z:1.35 [[ 9.94505221e-01 -9.78509651e-02 -3.72095961e-02 4.21298546e+01] [ 9.77833394e-02 9.95201079e-01 -3.63735483e-03 5.37182170e+00] [ 3.73869489e-02 -2.11101982e-05 9.99300863e-01 1.34624931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20439141799999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:42.16, Y:5.37, Z:1.35 [[ 9.94275956e-01 -9.99598881e-02 -3.77272339e-02 4.21563775e+01] [ 9.98913961e-02 9.94991464e-01 -3.70082703e-03 5.37479798e+00] [ 3.79082100e-02 -8.89827353e-05 9.99281222e-01 1.34653214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.234391417999994 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:42.18, Y:5.38, Z:1.35 [[ 9.94060581e-01 -1.01704403e-01 -3.87269412e-02 4.21829238e+01] [ 1.01633322e-01 9.94814651e-01 -3.80486537e-03 5.37758138e+00] [ 3.89131001e-02 -1.53681013e-04 9.99242587e-01 1.34705767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264391417999995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:42.21, Y:5.38, Z:1.35 [[ 9.93637221e-01 -1.06027821e-01 -3.79891276e-02 4.22101951e+01] [ 1.05962347e-01 9.94363115e-01 -3.73848561e-03 5.38080664e+00] [ 3.81713708e-02 -3.10718690e-04 9.99271159e-01 1.34833893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.294391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.24, Y:5.38, Z:1.35 [[ 9.93406408e-01 -1.08749927e-01 -3.62927357e-02 4.22365008e+01] [ 1.08691556e-01 9.94069065e-01 -3.58337129e-03 5.38423704e+00] [ 3.64671772e-02 -3.84969907e-04 9.99334777e-01 1.35156146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:42.26, Y:5.39, Z:1.35 [[ 9.93116972e-01 -1.10853011e-01 -3.78191847e-02 4.22645003e+01] [ 1.10790906e-01 9.93836699e-01 -3.74047847e-03 5.38719421e+00] [ 3.80007370e-02 -4.75289085e-04 9.99277598e-01 1.35056689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:42.29, Y:5.39, Z:1.35 [[ 9.92579058e-01 -1.16119967e-01 -3.60966355e-02 4.22922711e+01] [ 1.16066439e-01 9.93234993e-01 -3.58199520e-03 5.39117849e+00] [ 3.62683827e-02 -6.34194534e-04 9.99341885e-01 1.35424755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38439141799999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:42.32, Y:5.39, Z:1.36 [[ 9.92269880e-01 -1.18765486e-01 -3.59895020e-02 4.23192870e+01] [ 1.18713566e-01 9.92922075e-01 -3.58372659e-03 5.39448943e+00] [ 3.61603940e-02 -7.16418179e-04 9.99345742e-01 1.35526965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.414391417999994 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:42.35, Y:5.40, Z:1.35 [[ 9.91970259e-01 -1.20707511e-01 -3.77452302e-02 4.23462626e+01] [ 1.20651460e-01 9.92687781e-01 -3.76767854e-03 5.39717674e+00] [ 3.79240159e-02 -8.16592062e-04 9.99280292e-01 1.35364918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444391417999995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:42.37, Y:5.40, Z:1.36 [[ 9.91599380e-01 -1.24115253e-01 -3.64152846e-02 4.23741941e+01] [ 1.24065182e-01 9.92267393e-01 -3.64025231e-03 5.40086894e+00] [ 3.65855104e-02 -9.08196987e-04 9.99330113e-01 1.35682049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.474391417999996 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:42.40, Y:5.40, Z:1.36 [[ 9.90855207e-01 -1.29329789e-01 -3.84677023e-02 4.24024399e+01] [ 1.29277318e-01 9.91600970e-01 -3.85882166e-03 5.40441955e+00] [ 3.86436715e-02 -1.14946785e-03 9.99252393e-01 1.35535008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:42.43, Y:5.41, Z:1.36 [[ 9.90473883e-01 -1.32085088e-01 -3.89232122e-02 4.24298844e+01] [ 1.32032971e-01 9.91237583e-01 -3.91782535e-03 5.40862924e+00] [ 3.90996371e-02 -1.25864365e-03 9.99234524e-01 1.35643863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:42.46, Y:5.41, Z:1.36 [[ 9.90154064e-01 -1.34360754e-01 -3.92697995e-02 4.24561440e+01] [ 1.34308986e-01 9.90931567e-01 -3.96548542e-03 5.41315479e+00] [ 3.94464896e-02 -1.34784544e-03 9.99220775e-01 1.35750648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56439141799999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:42.48, Y:5.42, Z:1.36 [[ 9.89885138e-01 -1.36963799e-01 -3.69909545e-02 4.24830364e+01] [ 1.36919487e-01 9.90575117e-01 -3.74053358e-03 5.41810636e+00] [ 3.71546368e-02 -1.36208394e-03 9.99308600e-01 1.36032076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.594391417999994 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:42.51, Y:5.42, Z:1.36 [[ 9.89417699e-01 -1.39935156e-01 -3.83505948e-02 4.25109783e+01] [ 1.39889508e-01 9.90159501e-01 -3.88440432e-03 5.42236332e+00] [ 3.85167705e-02 -1.52154745e-03 9.99256795e-01 1.35967574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624391417999995 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:42.54, Y:5.43, Z:1.36 [[ 9.89131282e-01 -1.42014200e-01 -3.80955888e-02 4.25386753e+01] [ 1.41970212e-01 9.89863361e-01 -3.87118788e-03 5.42690071e+00] [ 3.82591912e-02 -1.57932579e-03 9.99266601e-01 1.36192757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.654391417999996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:42.57, Y:5.43, Z:1.36 [[ 9.88884690e-01 -1.43110521e-01 -4.03292499e-02 4.25662519e+01] [ 1.43061557e-01 9.89705249e-01 -4.11242626e-03 5.43114148e+00] [ 4.05026017e-02 -1.70284989e-03 9.99177982e-01 1.36139079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.684391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:42.59, Y:5.44, Z:1.36 [[ 9.88571932e-01 -1.45200402e-01 -4.05262764e-02 4.25931294e+01] [ 1.45152141e-01 9.89400658e-01 -4.14648612e-03 5.43984205e+00] [ 4.06987960e-02 -1.78337598e-03 9.99169869e-01 1.36269526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714391418 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:42.62, Y:5.45, Z:1.36 [[ 9.88507814e-01 -1.45976499e-01 -3.92831230e-02 4.26191271e+01] [ 1.45931272e-01 9.89286515e-01 -4.03173413e-03 5.44569743e+00] [ 3.94508023e-02 -1.74723542e-03 9.99219986e-01 1.36465284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74439141799999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:42.65, Y:5.45, Z:1.37 [[ 9.88423107e-01 -1.46701109e-01 -3.87110563e-02 4.26462702e+01] [ 1.46657510e-01 9.89179328e-01 -3.97904146e-03 5.45099524e+00] [ 3.88759064e-02 -1.74429060e-03 9.99242524e-01 1.36585855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77439141799999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:42.67, Y:5.46, Z:1.37 [[ 9.88362040e-01 -1.47530416e-01 -3.70844167e-02 4.26731496e+01] [ 1.47490569e-01 9.89056074e-01 -3.82301265e-03 5.45773260e+00] [ 3.72425783e-02 -1.69108114e-03 9.99304824e-01 1.36664804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804391417999994 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:42.70, Y:5.46, Z:1.37 [[ 9.88280259e-01 -1.48104393e-01 -3.69759209e-02 4.27018683e+01] [ 1.48064738e-01 9.88970279e-01 -3.82371770e-03 5.46328580e+00] [ 3.71343962e-02 -1.69592531e-03 9.99308841e-01 1.36756856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834391417999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:42.73, Y:5.47, Z:1.37 [[ 9.88137125e-01 -1.48868166e-01 -3.77265308e-02 4.27301695e+01] [ 1.48827025e-01 9.88855505e-01 -3.91226924e-03 5.46905347e+00] [ 3.78885001e-02 -1.74886888e-03 9.99280443e-01 1.36834483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:42.76, Y:5.48, Z:1.37 [[ 9.87907499e-01 -1.50199956e-01 -3.84544627e-02 4.27593043e+01] [ 1.50157822e-01 9.88653956e-01 -3.99802941e-03 5.47832914e+00] [ 3.86186605e-02 -1.82455514e-03 9.99252356e-01 1.36930021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:42.79, Y:5.48, Z:1.37 [[ 9.87804998e-01 -1.50773111e-01 -3.88427046e-02 4.27885243e+01] [ 1.50730502e-01 9.88566636e-01 -4.03997588e-03 5.48438036e+00] [ 3.90077216e-02 -1.86407200e-03 9.99237170e-01 1.36979562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:42.82, Y:5.49, Z:1.37 [[ 9.87676534e-01 -1.51561176e-01 -3.90419529e-02 4.28183477e+01] [ 1.51518685e-01 9.88446046e-01 -4.06216977e-03 5.49072516e+00] [ 3.92065312e-02 -1.90347561e-03 9.99229315e-01 1.37104454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95439141799999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:42.85, Y:5.50, Z:1.37 [[ 9.87364733e-01 -1.53487090e-01 -3.94030205e-02 4.28475483e+01] [ 1.53445335e-01 9.88148633e-01 -4.09982356e-03 5.49942939e+00] [ 3.95653108e-02 -1.99818850e-03 9.99214989e-01 1.37288761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.984391417999994 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:42.88, Y:5.50, Z:1.37 [[ 9.87286683e-01 -1.53616262e-01 -4.08295278e-02 4.28769752e+01] [ 1.53571501e-01 9.88128402e-01 -4.24922565e-03 5.50488597e+00] [ 4.09975662e-02 -2.07504798e-03 9.99157092e-01 1.37263176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014391417999995 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:42.91, Y:5.51, Z:1.37 [[ 9.87135114e-01 -1.54620058e-01 -4.07050960e-02 4.29059729e+01] [ 1.54576352e-01 9.87971756e-01 -4.23792581e-03 5.51154926e+00] [ 4.08707535e-02 -2.10863987e-03 9.99162217e-01 1.37485042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:42.94, Y:5.52, Z:1.38 [[ 9.87096090e-01 -1.54870154e-01 -4.07006620e-02 4.29354668e+01] [ 1.54826612e-01 9.87932565e-01 -4.23887969e-03 5.51808787e+00] [ 4.08659854e-02 -2.11736402e-03 9.99162393e-01 1.37633582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:42.96, Y:5.53, Z:1.38 [[ 9.87290408e-01 -1.53469113e-01 -4.12902190e-02 4.29638430e+01] [ 1.53423074e-01 9.88151237e-01 -4.30040203e-03 5.52802338e+00] [ 4.14609599e-02 -2.08912666e-03 9.99137941e-01 1.37680192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:42.99, Y:5.53, Z:1.38 [[ 9.87461237e-01 -1.52549486e-01 -4.06073906e-02 4.29933323e+01] [ 1.52504153e-01 9.88293777e-01 -4.22997486e-03 5.53478922e+00] [ 4.07773119e-02 -2.01585951e-03 9.99166226e-01 1.37833524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13439141799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:43.02, Y:5.54, Z:1.38 [[ 9.87703643e-01 -1.51127310e-01 -4.00256104e-02 4.30222914e+01] [ 1.51082097e-01 9.88512426e-01 -4.16946754e-03 5.54131583e+00] [ 4.01959336e-02 -1.92895488e-03 9.99189955e-01 1.38045039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164391417999994 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:43.05, Y:5.55, Z:1.38 [[ 9.88377417e-01 -1.46585538e-01 -4.02835087e-02 4.30516320e+01] [ 1.46535952e-01 9.89196442e-01 -4.19693382e-03 5.55011391e+00] [ 4.04635133e-02 -1.75482768e-03 9.99179476e-01 1.38059675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194391417999995 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:43.08, Y:5.56, Z:1.38 [[ 9.88690252e-01 -1.44982492e-01 -3.83622423e-02 4.30830022e+01] [ 1.44936353e-01 9.89432912e-01 -3.99585427e-03 5.55752080e+00] [ 3.85361940e-02 -1.60942133e-03 9.99255909e-01 1.38372187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224391417999996 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:43.11, Y:5.56, Z:1.39 [[ 9.89040586e-01 -1.42630729e-01 -3.81470187e-02 4.31140668e+01] [ 1.42583486e-01 9.89774817e-01 -3.97016171e-03 5.56443339e+00] [ 3.83232254e-02 -1.51248383e-03 9.99264251e-01 1.38527622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:43.15, Y:5.58, Z:1.39 [[ 9.89677448e-01 -1.38130940e-01 -3.81888988e-02 4.31451901e+01] [ 1.38080440e-01 9.90413063e-01 -3.96947398e-03 5.57506756e+00] [ 3.83710914e-02 -1.34464108e-03 9.99262654e-01 1.38688387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:43.18, Y:5.58, Z:1.39 [[ 9.89956829e-01 -1.36025010e-01 -3.85054959e-02 4.31771472e+01] [ 1.35972200e-01 9.90704581e-01 -3.99923345e-03 5.58116350e+00] [ 3.86915669e-02 -1.27660851e-03 9.99250385e-01 1.38733485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31439141799999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:43.21, Y:5.59, Z:1.39 [[ 9.90127629e-01 -1.34873416e-01 -3.81633422e-02 4.32087343e+01] [ 1.34820805e-01 9.90862081e-01 -3.96058769e-03 5.58720308e+00] [ 3.83487867e-02 -1.22372523e-03 9.99263665e-01 1.38886523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344391417999994 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:43.24, Y:5.59, Z:1.39 [[ 9.90249612e-01 -1.33920605e-01 -3.83533352e-02 4.32400176e+01] [ 1.33866874e-01 9.90991343e-01 -3.97722677e-03 5.59243499e+00] [ 3.85404557e-02 -1.19579383e-03 9.99256325e-01 1.38987073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374391417999995 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:43.27, Y:5.60, Z:1.39 [[ 9.90266376e-01 -1.33511032e-01 -3.93358429e-02 4.32712242e+01] [ 1.33454290e-01 9.91046585e-01 -4.07658514e-03 5.59944574e+00] [ 3.95279219e-02 -1.21263181e-03 9.99217730e-01 1.39016366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404391417999996 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:43.30, Y:5.60, Z:1.39 [[ 9.90282215e-01 -1.33013632e-01 -4.06018267e-02 4.33026170e+01] [ 1.32952899e-01 9.91113439e-01 -4.20440535e-03 5.60460679e+00] [ 4.08002593e-02 -1.23458274e-03 9.99166560e-01 1.39030802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.434391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:43.33, Y:5.61, Z:1.39 [[ 9.90222314e-01 -1.33644549e-01 -3.99862843e-02 4.33346681e+01] [ 1.33586288e-01 9.91028549e-01 -4.13743640e-03 5.61075511e+00] [ 4.01804952e-02 -1.24463744e-03 9.99191663e-01 1.39242633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:43.37, Y:5.62, Z:1.39 [[ 9.90127283e-01 -1.34197518e-01 -4.04844459e-02 4.33655530e+01] [ 1.34138390e-01 9.90953769e-01 -4.18571181e-03 5.61664970e+00] [ 4.06799264e-02 -1.28613093e-03 9.99171401e-01 1.39415312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49439141799999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:43.40, Y:5.62, Z:1.39 [[ 9.90088148e-01 -1.34219065e-01 -4.13606384e-02 4.33968406e+01] [ 1.34157483e-01 9.90950809e-01 -4.27357838e-03 5.62425169e+00] [ 4.15599538e-02 -1.31761983e-03 9.99135143e-01 1.39435080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52439141799999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:43.43, Y:5.63, Z:1.40 [[ 9.90120016e-01 -1.34095074e-01 -4.09983441e-02 4.34279632e+01] [ 1.34034592e-01 9.90967613e-01 -4.23291110e-03 5.62935234e+00] [ 4.11956437e-02 -1.30410632e-03 9.99150248e-01 1.39634740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554391417999994 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:43.46, Y:5.63, Z:1.40 [[ 9.90189732e-01 -1.33313006e-01 -4.18561383e-02 4.34602697e+01] [ 1.33249384e-01 9.91073130e-01 -4.31875631e-03 5.63410065e+00] [ 4.20582404e-02 -1.30091650e-03 9.99114314e-01 1.39630095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584391417999996 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:43.49, Y:5.64, Z:1.40 [[ 9.90361511e-01 -1.32486512e-01 -4.03906051e-02 4.34913883e+01] [ 1.32426703e-01 9.91184052e-01 -4.16453282e-03 5.64094077e+00] [ 4.05862681e-02 -1.22440166e-03 9.99175288e-01 1.39854239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.614391418 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:43.52, Y:5.65, Z:1.40 [[ 9.90412619e-01 -1.31790926e-01 -4.14004331e-02 4.35228014e+01] [ 1.31727625e-01 9.91276773e-01 -4.26520625e-03 5.64620747e+00] [ 4.16014032e-02 -1.22926664e-03 9.99133531e-01 1.39864257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:43.55, Y:5.65, Z:1.40 [[ 9.90427663e-01 -1.32050169e-01 -4.01969902e-02 4.35538000e+01] [ 1.31990850e-01 9.91242299e-01 -4.13773112e-03 5.65217123e+00] [ 4.03913450e-02 -1.20751154e-03 9.99183207e-01 1.40131194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:43.58, Y:5.66, Z:1.40 [[ 9.90429072e-01 -1.32193778e-01 -3.96870165e-02 4.35848050e+01] [ 1.32136263e-01 9.91223163e-01 -4.08040420e-03 5.65758591e+00] [ 3.98780941e-02 -1.20274309e-03 9.99203829e-01 1.40244279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70439141799999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:43.62, Y:5.66, Z:1.40 [[ 9.90304398e-01 -1.33034225e-01 -3.99886833e-02 4.36166878e+01] [ 1.32976615e-01 9.91110658e-01 -4.10894838e-03 5.66407916e+00] [ 4.01798409e-02 -1.24845010e-03 9.99191684e-01 1.40333126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.734391417999994 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:43.65, Y:5.67, Z:1.40 [[ 9.90236370e-01 -1.33605601e-01 -3.97677692e-02 4.36498946e+01] [ 1.33549213e-01 9.91033771e-01 -4.08309296e-03 5.66892529e+00] [ 3.99567264e-02 -1.26772711e-03 9.99200607e-01 1.40431016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764391417999995 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:43.68, Y:5.67, Z:1.41 [[ 9.90166944e-01 -1.34101995e-01 -3.98255989e-02 4.36812706e+01] [ 1.34046038e-01 9.90966689e-01 -4.08414507e-03 5.67385671e+00] [ 4.00135339e-02 -1.29447831e-03 9.99198299e-01 1.40557571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.794391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:43.71, Y:5.68, Z:1.41 [[ 9.89912107e-01 -1.35643043e-01 -4.09265885e-02 4.37132773e+01] [ 1.35585448e-01 9.90756786e-01 -4.19261114e-03 5.68159764e+00] [ 4.11169938e-02 -1.39873330e-03 9.99153360e-01 1.40658121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824391418 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:43.75, Y:5.69, Z:1.41 [[ 9.89758914e-01 -1.36605570e-01 -4.14271731e-02 4.37450029e+01] [ 1.36547607e-01 9.90624441e-01 -4.23888507e-03 5.68673806e+00] [ 4.16178255e-02 -1.46130706e-03 9.99132534e-01 1.40756658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:43.78, Y:5.69, Z:1.41 [[ 9.89690150e-01 -1.37013272e-01 -4.17225518e-02 4.37775654e+01] [ 1.36955025e-01 9.90568086e-01 -4.26471065e-03 5.69131281e+00] [ 4.19133502e-02 -1.49337101e-03 9.99120133e-01 1.40742158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88439141799999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:43.81, Y:5.70, Z:1.41 [[ 9.89516704e-01 -1.38323871e-01 -4.15114377e-02 4.38103617e+01] [ 1.38267575e-01 9.90385842e-01 -4.23807753e-03 5.69656842e+00] [ 4.16985675e-02 -1.54603732e-03 9.99129040e-01 1.40983043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.914391417999994 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:43.84, Y:5.70, Z:1.41 [[ 9.89293873e-01 -1.39586151e-01 -4.25833121e-02 4.38429042e+01] [ 1.39528304e-01 9.90208563e-01 -4.34220767e-03 5.70335609e+00] [ 4.27724723e-02 -1.64585786e-03 9.99083483e-01 1.40921031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944391417999995 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:43.87, Y:5.71, Z:1.41 [[ 9.89259203e-01 -1.40103224e-01 -4.16811224e-02 4.38740338e+01] [ 1.40048465e-01 9.90135549e-01 -4.24531631e-03 5.70883190e+00] [ 4.18647435e-02 -1.63765898e-03 9.99121945e-01 1.41162279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.974391417999996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:43.91, Y:5.71, Z:1.41 [[ 9.89244775e-01 -1.40002077e-01 -4.23579137e-02 4.39064072e+01] [ 1.39945624e-01 9.90149811e-01 -4.30974930e-03 5.71453989e+00] [ 4.25440541e-02 -1.66440770e-03 9.99093205e-01 1.41161821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:43.94, Y:5.72, Z:1.41 [[ 9.89264144e-01 -1.39864989e-01 -4.23584398e-02 4.39397778e+01] [ 1.39808633e-01 9.90169186e-01 -4.30457247e-03 5.71780789e+00] [ 4.25440808e-02 -1.66371634e-03 9.99093205e-01 1.41280430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:43.97, Y:5.73, Z:1.42 [[ 9.89387505e-01 -1.38969999e-01 -4.24229223e-02 4.39709586e+01] [ 1.38912891e-01 9.90295245e-01 -4.30547499e-03 5.72656946e+00] [ 4.26095501e-02 -1.63330763e-03 9.99090466e-01 1.41567749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06439141799999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:44.00, Y:5.73, Z:1.42 [[ 9.89531961e-01 -1.37901414e-01 -4.25405505e-02 4.40022792e+01] [ 1.37843183e-01 9.90444674e-01 -4.31318647e-03 5.73237363e+00] [ 4.27288563e-02 -1.59588904e-03 9.99085431e-01 1.41666337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094391417999994 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:44.03, Y:5.74, Z:1.42 [[ 9.89685239e-01 -1.36825282e-01 -4.24496046e-02 4.40349150e+01] [ 1.36766495e-01 9.90593983e-01 -4.29967610e-03 5.73863047e+00] [ 4.26386273e-02 -1.55035768e-03 9.99089357e-01 1.41824936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124391417999995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:44.07, Y:5.75, Z:1.42 [[ 9.90012258e-01 -1.34759691e-01 -4.14192648e-02 4.40668559e+01] [ 1.34702116e-01 9.90877278e-01 -4.19054018e-03 5.74723159e+00] [ 4.16061242e-02 -1.43057648e-03 9.99133066e-01 1.42013638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.154391417999996 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:44.10, Y:5.75, Z:1.42 [[ 9.90147052e-01 -1.34014615e-01 -4.06066396e-02 4.40991421e+01] [ 1.33958844e-01 9.90978400e-01 -4.10361372e-03 5.75332325e+00] [ 4.07902469e-02 -1.37643747e-03 9.99166783e-01 1.42188714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.184391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:44.13, Y:5.76, Z:1.42 [[ 9.90268672e-01 -1.32902681e-01 -4.12896426e-02 4.41313788e+01] [ 1.32844264e-01 9.91128162e-01 -4.16756926e-03 5.75862384e+00] [ 4.14772087e-02 -1.35807889e-03 9.99138527e-01 1.42208896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:44.16, Y:5.77, Z:1.42 [[ 9.90446736e-01 -1.31643685e-01 -4.10512395e-02 4.41623995e+01] [ 1.31585091e-01 9.91296243e-01 -4.13791506e-03 5.76676944e+00] [ 4.12386698e-02 -1.30334660e-03 9.99148474e-01 1.42304765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24439141799999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:44.19, Y:5.77, Z:1.43 [[ 9.90563528e-01 -1.31180679e-01 -3.96929027e-02 4.41937715e+01] [ 1.31125826e-01 9.91357690e-01 -3.99352592e-03 5.77250191e+00] [ 3.98737378e-02 -1.24892352e-03 9.99203946e-01 1.42636289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:44.23, Y:5.78, Z:1.43 [[ 9.90647173e-01 -1.30136250e-01 -4.10211576e-02 4.42261013e+01] [ 1.30076949e-01 9.91495330e-01 -4.12280394e-03 5.77814082e+00] [ 4.12088125e-02 -1.25166295e-03 9.99149772e-01 1.42616694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304391417999994 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:44.26, Y:5.79, Z:1.43 [[ 9.90718473e-01 -1.29476535e-01 -4.13852010e-02 4.42579984e+01] [ 1.29415811e-01 9.91581711e-01 -4.15437518e-03 5.78614646e+00] [ 4.15747025e-02 -1.24008311e-03 9.99134629e-01 1.42867353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334391417999996 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:44.29, Y:5.79, Z:1.43 [[ 9.90772541e-01 -1.28585243e-01 -4.28439807e-02 4.42903273e+01] [ 1.28519564e-01 9.91697671e-01 -4.29537871e-03 5.79131584e+00] [ 4.30405982e-02 -1.25054646e-03 9.99072541e-01 1.42854024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:44.32, Y:5.80, Z:1.43 [[ 9.90839927e-01 -1.28360741e-01 -4.19494969e-02 4.43225947e+01] [ 1.28297789e-01 9.91726793e-01 -4.20062071e-03 5.79670230e+00] [ 4.21416348e-02 -1.21988499e-03 9.99110902e-01 1.43063466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:44.36, Y:5.80, Z:1.43 [[ 9.91016220e-01 -1.26954740e-01 -4.20636007e-02 4.43552782e+01] [ 1.26890399e-01 9.91907823e-01 -4.20687345e-03 5.80344207e+00] [ 4.22572971e-02 -1.16838726e-03 9.99106078e-01 1.43198249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:44.39, Y:5.81, Z:1.43 [[ 9.91203150e-01 -1.25270580e-01 -4.27036053e-02 4.43865460e+01] [ 1.25202925e-01 9.92121984e-01 -4.26576353e-03 5.80828648e+00] [ 4.29015603e-02 -1.11837803e-03 9.99078678e-01 1.43195524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45439141799999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:44.42, Y:5.82, Z:1.44 [[ 9.91541455e-01 -1.22580658e-01 -4.26558861e-02 4.44174260e+01] [ 1.22353802e-01 9.92455115e-01 -7.89890021e-03 5.81525992e+00] [ 4.33023047e-02 2.61297718e-03 9.99058598e-01 1.43599660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484391417999994 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:44.45, Y:5.82, Z:1.43 [[ 9.91781332e-01 -1.20906720e-01 -4.18491893e-02 4.44506835e+01] [ 1.20985834e-01 9.92654023e-01 -6.46359114e-04 5.81802328e+00] [ 4.16199153e-02 -4.42211218e-03 9.99123730e-01 1.43480752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514391417999995 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:44.48, Y:5.83, Z:1.44 [[ 9.92484182e-01 -1.15242649e-01 -4.11616469e-02 4.44823464e+01] [ 1.15171863e-01 9.93337140e-01 -4.09485582e-03 5.82816400e+00] [ 4.13592946e-02 -6.76583947e-04 9.99144109e-01 1.43750067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544391418 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:44.51, Y:5.83, Z:1.44 [[ 9.92807710e-01 -1.12341532e-01 -4.13791113e-02 4.45141893e+01] [ 1.12267678e-01 9.93669494e-01 -4.11165699e-03 5.83368632e+00] [ 4.15790704e-02 -5.63451983e-04 9.99135058e-01 1.43840237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574391418 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:44.55, Y:5.84, Z:1.44 [[ 9.93056755e-01 -1.10307808e-01 -4.08713812e-02 4.45471305e+01] [ 1.10234203e-01 9.93897359e-01 -4.05709999e-03 5.83892685e+00] [ 4.10694877e-02 -4.76493582e-04 9.99156179e-01 1.44013933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:44.58, Y:5.84, Z:1.44 [[ 9.93247962e-01 -1.08830629e-01 -4.01793537e-02 4.45786674e+01] [ 1.08758475e-01 9.94060221e-01 -3.98378130e-03 5.84330383e+00] [ 4.03742547e-02 -4.12962574e-04 9.99184542e-01 1.44178118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63439141799999 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:44.61, Y:5.85, Z:1.44 [[ 9.93591486e-01 -1.05546538e-01 -4.04460937e-02 4.46100918e+01] [ 1.05470864e-01 9.94414324e-01 -4.00623541e-03 5.84782537e+00] [ 4.06430192e-02 -2.85323059e-04 9.99173690e-01 1.44150766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664391417999994 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:44.64, Y:5.85, Z:1.44 [[ 9.93680577e-01 -1.04831206e-01 -4.01164460e-02 4.46428220e+01] [ 1.04756334e-01 9.94489996e-01 -3.96971973e-03 5.85200613e+00] [ 4.03115548e-02 -2.57818418e-04 9.99187126e-01 1.44323182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694391417999995 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:44.68, Y:5.86, Z:1.44 [[ 9.93730833e-01 -1.04549514e-01 -3.96034121e-02 4.46751036e+01] [ 1.04476499e-01 9.94519652e-01 -3.91450940e-03 5.85632696e+00] [ 3.97956317e-02 -2.47657144e-04 9.99207809e-01 1.44451245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724391417999996 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:44.71, Y:5.86, Z:1.45 [[ 9.93548396e-01 -1.05874847e-01 -4.06460641e-02 4.47077701e+01] [ 1.05799236e-01 9.94379414e-01 -4.01285228e-03 5.86124789e+00] [ 4.08424695e-02 -3.13359589e-04 9.99165549e-01 1.44623454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.754391418 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:44.74, Y:5.86, Z:1.45 [[ 9.93341890e-01 -1.07597120e-01 -4.11673416e-02 4.47411423e+01] [ 1.07521237e-01 9.94194500e-01 -4.05944968e-03 5.86415419e+00] [ 4.13651297e-02 -3.93942058e-04 9.99144019e-01 1.44742337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784391418 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:44.77, Y:5.87, Z:1.45 [[ 9.93206654e-01 -1.08221402e-01 -4.27629656e-02 4.47733523e+01] [ 1.07870123e-01 9.94110122e-01 -1.04451886e-02 5.86930201e+00] [ 4.36414899e-02 5.76138447e-03 9.99030644e-01 1.45110273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81439141799999 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:44.81, Y:5.87, Z:1.44 [[ 9.92951182e-01 -1.10167218e-01 -4.37165249e-02 4.48072599e+01] [ 1.10350101e-01 9.93891176e-01 1.78507038e-03 5.86613100e+00] [ 4.32528121e-02 -6.59661068e-03 9.99042381e-01 1.44495891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844391417999994 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:44.84, Y:5.87, Z:1.45 [[ 9.92542472e-01 -1.13911225e-01 -4.34013034e-02 4.48401153e+01] [ 1.13833644e-01 9.93490679e-01 -4.26286566e-03 5.86953724e+00] [ 4.36043786e-02 -7.09453309e-04 9.99048625e-01 1.44786786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874391417999995 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:44.87, Y:5.87, Z:1.45 [[ 9.92348287e-01 -1.15593500e-01 -4.33937837e-02 4.48719721e+01] [ 1.15517775e-01 9.93296291e-01 -4.25702373e-03 5.87162512e+00] [ 4.35949687e-02 -7.88303140e-04 9.99048976e-01 1.44958531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904391417999996 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:44.91, Y:5.87, Z:1.45 [[ 9.92218304e-01 -1.16626033e-01 -4.36028272e-02 4.49050807e+01] [ 1.16550773e-01 9.93175543e-01 -4.27297589e-03 5.87451410e+00] [ 4.38036018e-02 -8.42218321e-04 9.99039807e-01 1.44994721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.934391418 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:44.94, Y:5.88, Z:1.45 [[ 9.92137546e-01 -1.17440835e-01 -4.32520538e-02 4.49380364e+01] [ 1.17367777e-01 9.93079495e-01 -4.23348439e-03 5.87732143e+00] [ 4.34499117e-02 -8.76198583e-04 9.99055222e-01 1.45238651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:44.97, Y:5.88, Z:1.45 [[ 9.92132479e-01 -1.17717850e-01 -4.26104779e-02 4.49695963e+01] [ 1.17647406e-01 9.93046693e-01 -4.16584830e-03 5.87989645e+00] [ 4.28045889e-02 -8.79938818e-04 9.99083076e-01 1.45380579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99439141799999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:45.00, Y:5.88, Z:1.45 [[ 9.92272447e-01 -1.16574842e-01 -4.24935033e-02 4.50029800e+01] [ 1.16503921e-01 9.93181561e-01 -4.15011935e-03 5.88284442e+00] [ 4.26875634e-02 -8.32610679e-04 9.99088124e-01 1.45419287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02439141799999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:45.04, Y:5.89, Z:1.46 [[ 9.92426700e-01 -1.15418918e-01 -4.20442360e-02 4.50362044e+01] [ 1.15348658e-01 9.93316599e-01 -4.10136075e-03 5.88620511e+00] [ 4.22366122e-02 -7.79446300e-04 9.99107332e-01 1.45545318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054391417999994 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:45.07, Y:5.89, Z:1.46 [[ 9.92680444e-01 -1.13182518e-01 -4.21337622e-02 4.50674422e+01] [ 1.12935621e-01 9.93568451e-01 -8.20237470e-03 5.89088172e+00] [ 4.27911422e-02 3.38393435e-03 9.99078309e-01 1.46002189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084391417999996 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:45.10, Y:5.89, Z:1.46 [[ 9.92837663e-01 -1.11615052e-01 -4.26081675e-02 4.50998912e+01] [ 1.11633992e-01 9.93747493e-01 -1.94204290e-03 5.89015341e+00] [ 4.25585208e-02 -2.82838648e-03 9.99089972e-01 1.45814908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.114391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:45.13, Y:5.89, Z:1.46 [[ 9.92894330e-01 -1.11230060e-01 -4.22933112e-02 4.51330465e+01] [ 1.11225121e-01 9.93792149e-01 -2.47718762e-03 5.89341930e+00] [ 4.23062984e-02 -2.24449310e-03 9.99102167e-01 1.45839049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144391418 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:45.17, Y:5.90, Z:1.46 [[ 9.93181458e-01 -1.08525968e-01 -4.25758789e-02 4.51650939e+01] [ 1.08448936e-01 9.94093476e-01 -4.12169749e-03 5.89763664e+00] [ 4.27717147e-02 -5.23715233e-04 9.99084734e-01 1.45937283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174391418 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:45.20, Y:5.90, Z:1.46 [[ 9.93372234e-01 -1.06639240e-01 -4.28914538e-02 4.51980262e+01] [ 1.06559654e-01 9.94297675e-01 -4.14410392e-03 5.90085840e+00] [ 4.30887969e-02 -4.53860696e-04 9.99071143e-01 1.46052772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20439141799999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:45.23, Y:5.90, Z:1.46 [[ 9.93546110e-01 -1.05072558e-01 -4.27303821e-02 4.52305050e+01] [ 1.04992344e-01 9.94464482e-01 -4.12333228e-03 5.90426904e+00] [ 4.29270963e-02 -3.89642244e-04 9.99078131e-01 1.46192794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.234391417999994 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:45.26, Y:5.91, Z:1.46 [[ 9.93919298e-01 -1.01456137e-01 -4.27911296e-02 4.52636293e+01] [ 1.01372567e-01 9.94839985e-01 -4.12400263e-03 5.90707352e+00] [ 4.29887321e-02 -2.38920853e-04 9.99075529e-01 1.46395375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264391417999995 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:45.30, Y:5.91, Z:1.46 [[ 9.94095263e-01 -9.93329562e-02 -4.36757644e-02 4.52969247e+01] [ 9.92440807e-02 9.95054240e-01 -4.20390392e-03 5.91009574e+00] [ 4.38773408e-02 -1.55480111e-04 9.99036914e-01 1.46432602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.294391418 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:45.33, Y:5.91, Z:1.47 [[ 9.94266574e-01 -9.75149953e-02 -4.38726054e-02 4.53285447e+01] [ 9.74238079e-02 9.95234052e-01 -4.21694396e-03 5.91351214e+00] [ 4.40747261e-02 -8.14698592e-05 9.99028234e-01 1.46629394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324391418 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:45.36, Y:5.92, Z:1.47 [[ 9.94640670e-01 -9.34282501e-02 -4.42843069e-02 4.53606645e+01] [ 9.33316720e-02 9.95626011e-01 -4.24798787e-03 5.91782952e+00] [ 4.44874899e-02 9.20930978e-05 9.99009937e-01 1.46776057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:45.39, Y:5.92, Z:1.47 [[ 9.94821677e-01 -9.16029720e-02 -4.40309668e-02 4.53930535e+01] [ 9.15060462e-02 9.95795596e-01 -4.21607208e-03 5.92102317e+00] [ 4.42320475e-02 1.65140222e-04 9.99021270e-01 1.46961297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38439141799999 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:45.42, Y:5.92, Z:1.47 [[ 9.95024415e-01 -8.94764133e-02 -4.38221995e-02 4.54244947e+01] [ 8.93784857e-02 9.95988909e-01 -4.19284628e-03 5.92319539e+00] [ 4.40215855e-02 2.55222584e-04 9.99030548e-01 1.47013017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.414391417999994 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:45.46, Y:5.92, Z:1.47 [[ 9.95399859e-01 -8.53584621e-02 -4.35092429e-02 4.54564168e+01] [ 8.52581134e-02 9.96350213e-01 -4.16021551e-03 5.92432931e+00] [ 4.37055530e-02 4.31561964e-04 9.99044363e-01 1.46915428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444391417999995 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:45.49, Y:5.93, Z:1.47 [[ 9.95540013e-01 -8.39266914e-02 -4.30858803e-02 4.54885850e+01] [ 8.38270951e-02 9.96471813e-01 -4.11631252e-03 5.92722740e+00] [ 4.32793337e-02 4.86189635e-04 9.99062892e-01 1.47162908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.474391417999996 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:45.52, Y:5.93, Z:1.47 [[ 9.95712642e-01 -8.21747484e-02 -4.24693523e-02 4.55199782e+01] [ 8.20765287e-02 9.96617784e-01 -4.05418035e-03 5.93028968e+00] [ 4.26588630e-02 5.51061617e-04 9.99089544e-01 1.47305776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504391418 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:45.55, Y:5.93, Z:1.48 [[ 9.95817283e-01 -8.10416356e-02 -4.21923322e-02 4.55519053e+01] [ 8.09437895e-02 9.96710541e-01 -4.02508997e-03 5.93428589e+00] [ 4.23797421e-02 5.93046897e-04 9.99101399e-01 1.47512183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534391418 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:45.58, Y:5.94, Z:1.48 [[ 9.95955641e-01 -7.95332191e-02 -4.17950805e-02 4.55824546e+01] [ 7.94360136e-02 9.96832006e-01 -3.98402043e-03 5.93789619e+00] [ 4.19795359e-02 6.47873039e-04 9.99118261e-01 1.47656684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56439141799999 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:45.61, Y:5.94, Z:1.48 [[ 9.95960892e-01 -7.98018581e-02 -4.11529545e-02 4.56143445e+01] [ 7.97079514e-02 9.96810551e-01 -3.92029575e-03 5.93985016e+00] [ 4.13345461e-02 6.24243550e-04 9.99145167e-01 1.47810153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594391417999994 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:45.65, Y:5.94, Z:1.48 [[ 9.95843720e-01 -8.15554407e-02 -4.05462104e-02 4.56458670e+01] [ 8.14658601e-02 9.96668660e-01 -3.85946498e-03 5.93864863e+00] [ 4.07258976e-02 5.40292059e-04 9.99170210e-01 1.47779273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624391417999995 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:45.68, Y:5.94, Z:1.48 [[ 9.95719446e-01 -8.30336273e-02 -4.05980510e-02 4.56780525e+01] [ 8.29451458e-02 9.96546631e-01 -3.86193325e-03 5.93979749e+00] [ 4.07785213e-02 4.77990770e-04 9.99168096e-01 1.47871581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.654391417999996 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:45.71, Y:5.94, Z:1.48 [[ 9.95592451e-01 -8.46898088e-02 -4.02902920e-02 4.57099583e+01] [ 8.46041444e-02 9.96407283e-01 -3.82957792e-03 5.94125005e+00] [ 4.04698666e-02 4.03973186e-04 9.99180678e-01 1.47956571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:45.74, Y:5.94, Z:1.48 [[ 9.95460770e-01 -8.62127677e-02 -4.03139330e-02 4.57423836e+01] [ 8.61283759e-02 9.96276690e-01 -3.82873661e-03 5.94337151e+00] [ 4.04939177e-02 3.39183522e-04 9.99179727e-01 1.48076630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714391418 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:45.77, Y:5.94, Z:1.48 [[ 9.95214427e-01 -8.87148862e-02 -4.09623437e-02 4.57743700e+01] [ 8.86300060e-02 9.96057033e-01 -3.88712448e-03 5.94487315e+00] [ 4.11456763e-02 2.38029588e-04 9.99153130e-01 1.48281292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74439141799999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:45.81, Y:5.95, Z:1.48 [[ 9.95149689e-01 -8.94284848e-02 -4.09834415e-02 4.58067943e+01] [ 8.93442563e-02 9.95993225e-01 -3.88586500e-03 5.94649707e+00] [ 4.11667371e-02 2.05382247e-04 9.99152269e-01 1.48263425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77439141799999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.84, Y:5.95, Z:1.48 [[ 9.95093729e-01 -9.04019719e-02 -4.01989352e-02 4.58393167e+01] [ 9.03218586e-02 9.95905346e-01 -3.80835912e-03 5.94751997e+00] [ 4.03786176e-02 1.58831731e-04 9.99184438e-01 1.48468926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804391417999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.87, Y:5.95, Z:1.49 [[ 9.95052834e-01 -9.09609180e-02 -3.99495814e-02 4.58715264e+01] [ 9.08823724e-02 9.95854454e-01 -3.78159574e-03 5.94819189e+00] [ 4.01279460e-02 1.32174824e-04 9.99194541e-01 1.48620072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834391417999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:45.90, Y:5.95, Z:1.49 [[ 9.95080954e-01 -9.09677485e-02 -3.92270766e-02 4.59032491e+01] [ 9.08921466e-02 9.95853831e-01 -3.71011223e-03 5.94698792e+00] [ 3.94019351e-02 1.26428818e-04 9.99223434e-01 1.48665884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:45.94, Y:5.95, Z:1.49 [[ 9.95106992e-01 -9.05527652e-02 -3.95255811e-02 4.59356857e+01] [ 9.04098613e-02 9.95890047e-01 -5.39176030e-03 5.94933990e+00] [ 3.98513716e-02 1.79187607e-03 9.99204012e-01 1.48876852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:45.97, Y:5.95, Z:1.49 [[ 9.95232558e-01 -8.93439539e-02 -3.91128409e-02 4.59674357e+01] [ 8.93323715e-02 9.95999767e-01 -2.04722267e-03 5.94997984e+00] [ 3.91392874e-02 -1.45658018e-03 9.99232703e-01 1.48797013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:46.00, Y:5.95, Z:1.49 [[ 9.95242401e-01 -8.93014784e-02 -3.89590701e-02 4.59998902e+01] [ 8.92259388e-02 9.96004625e-01 -3.67688204e-03 5.95375812e+00] [ 3.91317650e-02 1.83229309e-04 9.99234042e-01 1.48972500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95439141799999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:46.03, Y:5.96, Z:1.50 [[ 9.95458449e-01 -8.63709653e-02 -4.00316376e-02 4.60296763e+01] [ 8.60019861e-02 9.96235855e-01 -1.08526334e-02 5.95856370e+00] [ 4.08183052e-02 7.36054528e-03 9.99139474e-01 1.49519822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.984391417999994 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:46.06, Y:5.95, Z:1.49 [[ 9.95556871e-01 -8.56396103e-02 -3.91455364e-02 4.60641682e+01] [ 8.58404248e-02 9.96302838e-01 3.47518510e-03 5.95351323e+00] [ 3.87031955e-02 -6.82001388e-03 9.99227477e-01 1.49082204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014391417999995 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:46.10, Y:5.96, Z:1.49 [[ 9.95852343e-01 -8.25209237e-02 -3.83198144e-02 4.60964810e+01] [ 8.24430196e-02 9.96589236e-01 -3.61144828e-03 5.95557937e+00] [ 3.84871346e-02 4.37268018e-04 9.99259000e-01 1.49378796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:46.13, Y:5.96, Z:1.49 [[ 9.96000698e-01 -8.06407748e-02 -3.84665449e-02 4.61286618e+01] [ 8.05609905e-02 9.96743100e-01 -3.62218727e-03 5.95640396e+00] [ 3.86333592e-02 5.08798096e-04 9.99253324e-01 1.49494261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:46.16, Y:5.96, Z:1.50 [[ 9.96140144e-01 -7.90021664e-02 -3.82553537e-02 4.61595723e+01] [ 7.89221710e-02 9.96874284e-01 -3.59910977e-03 5.95755911e+00] [ 3.84201158e-02 5.66022152e-04 9.99261514e-01 1.49592874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104391418 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:46.19, Y:5.96, Z:1.49 [[ 9.96294198e-01 -7.70515033e-02 -3.82222031e-02 4.61914344e+01] [ 7.69703998e-02 9.97026911e-01 -3.59109406e-03 5.95892242e+00] [ 3.83852643e-02 6.35807918e-04 9.99262812e-01 1.49491815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13439141799999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:46.22, Y:5.96, Z:1.50 [[ 9.96407994e-01 -7.57401241e-02 -3.78753503e-02 4.62232305e+01] [ 7.56596559e-02 9.97127362e-01 -3.55545620e-03 5.96025049e+00] [ 3.80358388e-02 6.77049012e-04 9.99276146e-01 1.49846297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164391417999994 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:46.25, Y:5.97, Z:1.50 [[ 9.96145181e-01 -7.86946489e-02 -3.87547418e-02 4.62489722e+01] [ 7.85525635e-02 9.96896527e-01 -5.17780772e-03 5.96721210e+00] [ 3.90419333e-02 2.11356389e-03 9.99235338e-01 1.50058511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194391417999995 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:46.29, Y:5.96, Z:1.50 [[ 9.96359881e-01 -7.55026228e-02 -3.95770362e-02 4.62850773e+01] [ 7.54414526e-02 9.97145602e-01 -3.03892263e-03 5.96201518e+00] [ 3.96935142e-02 4.21114849e-05 9.99211901e-01 1.49880446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224391417999996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:46.32, Y:5.96, Z:1.50 [[ 9.96190362e-01 -7.72204762e-02 -4.05186422e-02 4.63178856e+01] [ 7.71300321e-02 9.97013827e-01 -3.79301537e-03 5.96042384e+00] [ 4.06905449e-02 6.53361185e-04 9.99171583e-01 1.49963326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.254391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:46.35, Y:5.96, Z:1.50 [[ 9.96073114e-01 -7.87150409e-02 -4.05252246e-02 4.63495441e+01] [ 7.86259355e-02 9.96896983e-01 -3.79038963e-03 5.96156083e+00] [ 4.06978349e-02 5.89171508e-04 9.99171326e-01 1.50080717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:46.38, Y:5.97, Z:1.51 [[ 9.95905653e-01 -7.98577968e-02 -4.23634522e-02 4.63808087e+01] [ 7.94070050e-02 9.96767352e-01 -1.22218440e-02 5.96654927e+00] [ 4.32025156e-02 8.80784864e-03 9.99027509e-01 1.50554102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31439141799999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:46.41, Y:5.96, Z:1.50 [[ 9.95823262e-01 -8.11175905e-02 -4.19042540e-02 4.64133622e+01] [ 8.13551739e-02 9.96677175e-01 3.99300088e-03 5.95943865e+00] [ 4.14411109e-02 -7.38545104e-03 9.99113652e-01 1.49806010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344391417999994 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:46.44, Y:5.96, Z:1.50 [[ 9.95502321e-01 -8.58210912e-02 -4.01231666e-02 4.64443201e+01] [ 8.57395665e-02 9.96310521e-01 -3.75141477e-03 5.96172202e+00] [ 4.02970835e-02 2.94399209e-04 9.99187699e-01 1.50334325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374391417999995 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:46.48, Y:5.96, Z:1.51 [[ 9.95330466e-01 -8.83268672e-02 -3.89310578e-02 4.64769295e+01] [ 8.82521248e-02 9.96091527e-01 -3.63759648e-03 5.96278423e+00] [ 3.91001944e-02 1.84862025e-04 9.99235278e-01 1.50610161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404391417999996 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:46.51, Y:5.96, Z:1.51 [[ 9.95167799e-01 -9.03422228e-02 -3.84621188e-02 4.65095629e+01] [ 9.02708944e-02 9.95910775e-01 -3.59069818e-03 5.96387933e+00] [ 3.86292302e-02 1.01337341e-04 9.99253608e-01 1.50724645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.434391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:46.54, Y:5.97, Z:1.51 [[ 9.94960488e-01 -9.20944546e-02 -3.96514757e-02 4.65381143e+01] [ 9.15524816e-02 9.95683049e-01 -1.52777565e-02 5.96808794e+00] [ 4.08872988e-02 1.15705730e-02 9.99096767e-01 1.51251861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:46.57, Y:5.96, Z:1.50 [[ 9.94838486e-01 -9.33984510e-02 -3.96625361e-02 4.65728055e+01] [ 9.37623849e-02 9.95567007e-01 7.41285558e-03 5.95871804e+00] [ 3.87943631e-02 -1.10934480e-02 9.99185635e-01 1.50422145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49439141799999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:46.60, Y:5.97, Z:1.51 [[ 9.94791398e-01 -9.48126686e-02 -3.74250303e-02 4.66045170e+01] [ 9.47487906e-02 9.95495129e-01 -3.48077012e-03 5.96555018e+00] [ 3.75864565e-02 -8.33361865e-05 9.99293376e-01 1.51071222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52439141799999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:46.64, Y:5.97, Z:1.51 [[ 9.94758947e-01 -9.48395376e-02 -3.82112436e-02 4.66363999e+01] [ 9.47730886e-02 9.95492569e-01 -3.55071257e-03 5.96644143e+00] [ 3.83757569e-02 -8.92944723e-05 9.99263375e-01 1.50988239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554391417999994 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:46.67, Y:5.97, Z:1.51 [[ 9.94734963e-01 -9.57307741e-02 -3.65783168e-02 4.66691031e+01] [ 9.56705913e-02 9.95407255e-01 -3.39613776e-03 5.96605276e+00] [ 3.67354369e-02 -1.21212235e-04 9.99325019e-01 1.51282365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584391417999996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:46.70, Y:5.97, Z:1.51 [[ 9.94784118e-01 -9.48709073e-02 -3.74709159e-02 4.67003995e+01] [ 9.48072582e-02 9.95489579e-01 -3.47589204e-03 5.96655543e+00] [ 3.76316674e-02 -9.47526011e-05 9.99291673e-01 1.51199195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.614391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:46.73, Y:5.97, Z:1.51 [[ 9.94812059e-01 -9.48232903e-02 -3.68444077e-02 4.67324779e+01] [ 9.47618029e-02 9.95494116e-01 -3.41553339e-03 5.96817830e+00] [ 3.70022632e-02 -9.36286986e-05 9.99315177e-01 1.51410971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:46.77, Y:5.97, Z:1.52 [[ 9.95024882e-01 -9.26087249e-02 -3.67301983e-02 4.67651961e+01] [ 9.25462204e-02 9.95702578e-01 -3.40194325e-03 5.96835257e+00] [ 3.68874028e-02 -1.42228416e-05 9.99319428e-01 1.51582321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:46.80, Y:5.97, Z:1.52 [[ 9.95155364e-01 -9.11743491e-02 -3.67836812e-02 4.67963483e+01] [ 9.11107929e-02 9.95834945e-01 -3.40391752e-03 5.96975311e+00] [ 3.69408251e-02 3.60364241e-05 9.99317454e-01 1.51729536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70439141799999 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:46.83, Y:5.97, Z:1.52 [[ 9.95301305e-01 -8.92501822e-02 -3.75462074e-02 4.68289349e+01] [ 8.91826828e-02 9.96009234e-01 -3.47212401e-03 5.97085802e+00] [ 3.77062569e-02 1.07338051e-04 9.99288860e-01 1.51794072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.734391417999994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:46.86, Y:5.97, Z:1.52 [[ 9.95446271e-01 -8.71311074e-02 -3.86638367e-02 4.68599159e+01] [ 8.70580513e-02 9.96196835e-01 -3.57235344e-03 5.97164372e+00] [ 3.88280548e-02 1.90087628e-04 9.99245889e-01 1.51715592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764391417999995 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:46.89, Y:5.97, Z:1.52 [[ 9.95741289e-01 -8.38408258e-02 -3.83405996e-02 4.68908665e+01] [ 8.37666333e-02 9.96479110e-01 -3.54027247e-03 5.97186282e+00] [ 3.85024259e-02 3.13532534e-04 9.99258458e-01 1.51931971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.794391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:46.92, Y:5.97, Z:1.52 [[ 9.95899168e-01 -8.17932925e-02 -3.86614106e-02 4.69209235e+01] [ 8.17163672e-02 9.96649237e-01 -3.56842725e-03 5.97334361e+00] [ 3.88237388e-02 3.94523710e-04 9.99245997e-01 1.51988013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:46.95, Y:5.97, Z:1.52 [[ 9.96072665e-01 -7.98545882e-02 -3.82425141e-02 4.69514873e+01] [ 7.97779196e-02 9.96806415e-01 -3.52907663e-03 5.97491504e+00] [ 3.84021963e-02 4.64308550e-04 9.99262256e-01 1.52165864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:46.98, Y:5.97, Z:1.52 [[ 9.96349425e-01 -7.67370821e-02 -3.74064766e-02 4.69817656e+01] [ 7.66615341e-02 9.97051199e-01 -3.45192584e-03 5.97474758e+00] [ 3.75610631e-02 5.71686438e-04 9.99294171e-01 1.52272355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88439141799999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:47.01, Y:5.98, Z:1.52 [[ 9.96426662e-01 -7.55653352e-02 -3.77330987e-02 4.70121831e+01] [ 7.54876217e-02 9.97140659e-01 -3.48206702e-03 5.97536538e+00] [ 3.78883305e-02 6.21242532e-04 9.99281786e-01 1.52215090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.914391417999994 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:47.04, Y:5.98, Z:1.52 [[ 9.96443921e-01 -7.54997871e-02 -3.74071523e-02 4.70420801e+01] [ 7.54233637e-02 9.97145626e-01 -3.45201997e-03 5.97612882e+00] [ 3.75610051e-02 6.18371064e-04 9.99294145e-01 1.52415040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944391417999995 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:47.07, Y:5.97, Z:1.53 [[ 9.96430276e-01 -7.56997101e-02 -3.73665357e-02 4.70714732e+01] [ 7.56235652e-02 9.97130473e-01 -3.44901645e-03 5.97474399e+00] [ 3.75204010e-02 6.10913767e-04 9.99295675e-01 1.52512760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.974391417999996 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:47.10, Y:5.98, Z:1.53 [[ 9.96359205e-01 -7.64679926e-02 -3.76959018e-02 4.71021047e+01] [ 7.63909967e-02 9.97071863e-01 -3.48077837e-03 5.97552319e+00] [ 3.78516912e-02 5.88478058e-04 9.99283195e-01 1.52635654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:47.13, Y:5.98, Z:1.53 [[ 9.96307496e-01 -7.75432536e-02 -3.68567026e-02 4.71317594e+01] [ 7.74703837e-02 9.96988845e-01 -3.40331082e-03 5.97585224e+00] [ 3.70096252e-02 5.35441190e-04 9.99314766e-01 1.52701658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:47.16, Y:5.98, Z:1.53 [[ 9.96249232e-01 -7.79695828e-02 -3.75261445e-02 4.71622188e+01] [ 7.78943146e-02 9.96955598e-01 -3.46587211e-03 5.97506798e+00] [ 3.76821324e-02 5.29799121e-04 9.99289636e-01 1.52638755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06439141799999 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:47.19, Y:5.97, Z:1.53 [[ 9.95966087e-01 -8.21343420e-02 -3.61317635e-02 4.71918122e+01] [ 8.20673036e-02 9.96621203e-01 -3.33710414e-03 5.97272826e+00] [ 3.62837725e-02 3.58406145e-04 9.99341463e-01 1.52935067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.094391417999994 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:47.22, Y:5.97, Z:1.53 [[ 9.95799324e-01 -8.39643874e-02 -3.65196866e-02 4.72213694e+01] [ 8.38970780e-02 9.96468712e-01 -3.37438285e-03 5.97276759e+00] [ 3.66740530e-02 2.96313176e-04 9.99327237e-01 1.52890988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124391417999995 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:47.25, Y:5.97, Z:1.53 [[ 9.95601622e-01 -8.62746275e-02 -3.65253173e-02 4.72517763e+01] [ 8.62088535e-02 9.96271371e-01 -3.37483922e-03 5.97310204e+00] [ 3.66802909e-02 2.11189677e-04 9.99327029e-01 1.52971767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.154391417999996 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:47.28, Y:5.97, Z:1.53 [[ 9.95126638e-01 -9.21168361e-02 -3.51775845e-02 4.72828208e+01] [ 9.20594744e-02 9.95748205e-01 -3.25033554e-03 5.97185571e+00] [ 3.53274273e-02 -3.93446145e-06 9.99375792e-01 1.53265585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:47.31, Y:5.97, Z:1.53 [[ 9.94872517e-01 -9.46866717e-02 -3.55402539e-02 4.73129702e+01] [ 9.46298121e-02 9.95507119e-01 -3.28237697e-03 5.97201841e+00] [ 3.56913732e-02 -9.76209089e-05 9.99362855e-01 1.53253020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:47.34, Y:5.98, Z:1.54 [[ 9.94575470e-01 -9.75109061e-02 -3.62112982e-02 4.73421894e+01] [ 9.71846430e-02 9.95209198e-01 -1.06676270e-02 5.97554742e+00] [ 3.70780270e-02 7.09057807e-03 9.99287218e-01 1.53646913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24439141799999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:47.37, Y:5.97, Z:1.53 [[ 9.94221034e-01 -1.01088140e-01 -3.61347893e-02 4.73713258e+01] [ 1.01291474e-01 9.94849394e-01 3.83671408e-03 5.96881198e+00] [ 3.55608270e-02 -7.47468790e-03 9.99339560e-01 1.53278062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27439141799999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:47.40, Y:5.97, Z:1.53 [[ 9.93595906e-01 -1.06726309e-01 -3.71035181e-02 4.74027747e+01] [ 1.06672270e-01 9.94288289e-01 -3.43871719e-03 5.96990144e+00] [ 3.72585951e-02 -5.41221159e-04 9.99305511e-01 1.53324263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304391417999994 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:47.43, Y:5.97, Z:1.53 [[ 9.93307727e-01 -1.09182989e-01 -3.76674130e-02 4.74328603e+01] [ 1.09129117e-01 9.94021458e-01 -3.48945323e-03 5.97078982e+00] [ 3.78232057e-02 -6.44510666e-04 9.99284239e-01 1.53438388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334391417999996 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:47.46, Y:5.97, Z:1.54 [[ 9.93090619e-01 -1.11280158e-01 -3.72525096e-02 4.74642380e+01] [ 1.11228970e-01 9.93788817e-01 -3.45023686e-03 5.97237474e+00] [ 3.74050704e-02 -7.17160395e-04 9.99299928e-01 1.53584606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:47.50, Y:5.97, Z:1.54 [[ 9.92894672e-01 -1.13168803e-01 -3.67830352e-02 4.74960711e+01] [ 1.13120247e-01 9.93575470e-01 -3.40526207e-03 5.97325380e+00] [ 3.69320909e-02 -7.79839471e-04 9.99317473e-01 1.53740589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:47.53, Y:5.98, Z:1.54 [[ 9.92861635e-01 -1.13776141e-01 -3.57877473e-02 4.75277239e+01] [ 1.13730623e-01 9.93506104e-01 -3.31169801e-03 5.97576394e+00] [ 3.59321376e-02 -7.82104880e-04 9.99353926e-01 1.53979454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:47.56, Y:5.98, Z:1.54 [[ 9.92818598e-01 -1.14096175e-01 -3.59623876e-02 4.75594465e+01] [ 1.14050476e-01 9.93469388e-01 -3.32636575e-03 5.97773333e+00] [ 3.61070568e-02 -7.99049637e-04 9.99347608e-01 1.54048445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45439141799999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:47.59, Y:5.98, Z:1.54 [[ 9.92701010e-01 -1.15204057e-01 -3.56753448e-02 4.75910567e+01] [ 1.15159851e-01 9.93341497e-01 -3.29836520e-03 5.97868712e+00] [ 3.58177855e-02 -8.34076915e-04 9.99357989e-01 1.54143259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.484391417999994 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:47.62, Y:5.98, Z:1.54 [[ 9.92607541e-01 -1.16163973e-01 -3.51596555e-02 4.76220903e+01] [ 1.16121688e-01 9.93229679e-01 -3.24926715e-03 5.98102375e+00] [ 3.52990612e-02 -8.57551462e-04 9.99376426e-01 1.54324271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514391417999995 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:47.65, Y:5.98, Z:1.54 [[ 9.92505259e-01 -1.16813037e-01 -3.58890666e-02 4.76519265e+01] [ 1.16769457e-01 9.93153515e-01 -3.31516114e-03 5.98332142e+00] [ 3.60306067e-02 -9.00431951e-04 9.99350281e-01 1.54399802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:47.68, Y:5.99, Z:1.54 [[ 9.92299160e-01 -1.18186041e-01 -3.70733916e-02 4.76835357e+01] [ 1.18140524e-01 9.92990984e-01 -3.42374738e-03 5.98507622e+00] [ 3.72181827e-02 -9.82488256e-04 9.99306680e-01 1.54392820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574391418 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:47.71, Y:5.99, Z:1.54 [[ 9.92195698e-01 -1.18849894e-01 -3.77147072e-02 4.77145590e+01] [ 1.18803327e-01 9.92911703e-01 -3.48141760e-03 5.98723434e+00] [ 3.78611403e-02 -1.02638512e-03 9.99282483e-01 1.54352099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:47.75, Y:5.99, Z:1.55 [[ 9.92047407e-01 -1.20381704e-01 -3.67448936e-02 4.77459322e+01] [ 1.20338605e-01 9.92727115e-01 -3.39042608e-03 5.99024404e+00] [ 3.68857975e-02 -1.05836582e-03 9.99318927e-01 1.54694964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63439141799999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:47.78, Y:5.99, Z:1.55 [[ 9.91940087e-01 -1.21265663e-01 -3.67355804e-02 4.77773354e+01] [ 1.21223247e-01 9.92619487e-01 -3.38806559e-03 5.99313158e+00] [ 3.68753090e-02 -1.09244825e-03 9.99319277e-01 1.54820988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.664391417999994 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:47.81, Y:6.00, Z:1.55 [[ 9.91695087e-01 -1.22317544e-01 -3.97400642e-02 4.78090424e+01] [ 1.22268818e-01 9.92490260e-01 -3.66341888e-03 5.99642693e+00] [ 3.98897270e-02 -1.22597617e-03 9.99203336e-01 1.54694626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694391417999995 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:47.84, Y:6.00, Z:1.55 [[ 9.91616761e-01 -1.23246576e-01 -3.88134084e-02 4.78390458e+01] [ 1.23200862e-01 9.92375310e-01 -3.57657419e-03 6.00034151e+00] [ 3.89582688e-02 -1.23525448e-03 9.99240075e-01 1.54952998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.724391417999996 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:47.87, Y:6.00, Z:1.55 [[ 9.91612328e-01 -1.22782417e-01 -4.03666736e-02 4.78699407e+01] [ 1.22732595e-01 9.92432806e-01 -3.71951603e-03 6.00339799e+00] [ 4.05179023e-02 -1.26598866e-03 9.99178011e-01 1.54934911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.754391418 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:47.90, Y:6.01, Z:1.55 [[ 9.91636294e-01 -1.22350186e-01 -4.10839712e-02 4.78991001e+01] [ 1.22298264e-01 9.92486178e-01 -3.78423831e-03 6.00695976e+00] [ 4.12382758e-02 -1.27191031e-03 9.99148531e-01 1.54992929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:47.93, Y:6.01, Z:1.55 [[ 9.91914958e-01 -1.20572366e-01 -3.95856203e-02 4.79277710e+01] [ 1.20522717e-01 9.92703870e-01 -3.64699618e-03 6.01219229e+00] [ 3.97365255e-02 -1.15345644e-03 9.99209527e-01 1.55352969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81439141799999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:47.96, Y:6.02, Z:1.55 [[ 9.91917332e-01 -1.20552847e-01 -3.95855622e-02 4.79586261e+01] [ 1.20503158e-01 9.92706242e-01 -3.64762738e-03 6.01503287e+00] [ 3.97365665e-02 -1.15204042e-03 9.99209527e-01 1.55464264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.844391417999994 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:47.99, Y:6.02, Z:1.55 [[ 9.92255779e-01 -1.17403568e-01 -4.05570180e-02 4.79885426e+01] [ 1.17348810e-01 9.93083731e-01 -3.73641464e-03 6.01799093e+00] [ 4.07151831e-02 -1.05183879e-03 9.99170239e-01 1.55369140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874391417999995 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:48.02, Y:6.02, Z:1.56 [[ 9.92605483e-01 -1.14720361e-01 -3.96685608e-02 4.80189012e+01] [ 1.14665836e-01 9.93397398e-01 -3.65456335e-03 6.02197438e+00] [ 3.98258979e-02 -9.21089057e-04 9.99206210e-01 1.55514528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904391417999996 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:48.05, Y:6.03, Z:1.56 [[ 9.92988699e-01 -1.11776694e-01 -3.84631544e-02 4.80475124e+01] [ 1.11723223e-01 9.93733045e-01 -3.54356608e-03 6.02651671e+00] [ 3.86181956e-02 -7.78506505e-04 9.99253736e-01 1.55830860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.934391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:48.08, Y:6.04, Z:1.56 [[ 9.93850343e-01 -1.03841362e-01 -3.84508412e-02 4.80773141e+01] [ 1.03648170e-01 9.94589464e-01 -6.98957652e-03 6.03511568e+00] [ 3.89686087e-02 2.96123371e-03 9.99236048e-01 1.56069377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:48.11, Y:6.04, Z:1.56 [[ 9.94265510e-01 -9.95991328e-02 -3.89372392e-02 4.81078645e+01] [ 9.96662391e-02 9.95020901e-01 -2.18680788e-04 6.03609254e+00] [ 3.87651472e-02 -3.66330143e-03 9.99241634e-01 1.55889304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99439141799999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:48.14, Y:6.04, Z:1.56 [[ 9.94601946e-01 -9.66889748e-02 -3.76591411e-02 4.81376337e+01] [ 9.66267422e-02 9.95314628e-01 -3.47339630e-03 6.04289756e+00] [ 3.78185331e-02 -1.84233398e-04 9.99284606e-01 1.56340353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02439141799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:48.17, Y:6.05, Z:1.56 [[ 9.95163438e-01 -9.04613851e-02 -3.82945037e-02 4.81669329e+01] [ 9.03924206e-02 9.95899962e-01 -3.53204713e-03 6.04819597e+00] [ 3.84570086e-02 5.34312802e-05 9.99260254e-01 1.56412264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054391417999994 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:48.20, Y:6.05, Z:1.56 [[ 9.95340909e-01 -8.78184070e-02 -3.98045505e-02 4.81965191e+01] [ 8.75478687e-02 9.96124109e-01 -8.49292834e-03 6.05368820e+00] [ 4.03961078e-02 4.96855546e-03 9.99171391e-01 1.56468785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084391417999996 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:48.22, Y:6.05, Z:1.57 [[ 9.95413473e-01 -8.71337177e-02 -3.94934559e-02 4.82249733e+01] [ 8.72446421e-02 9.96186319e-01 1.09067745e-03 6.05313288e+00] [ 3.92478057e-02 -4.53126745e-03 9.99219234e-01 1.56517052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.114391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:48.25, Y:6.06, Z:1.57 [[ 9.95438215e-01 -8.69059289e-02 -3.93715591e-02 4.82526309e+01] [ 8.68300751e-02 9.96216502e-01 -3.63575988e-03 6.05899080e+00] [ 3.95385660e-02 2.00538881e-04 9.99218025e-01 1.56752944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:48.28, Y:6.06, Z:1.57 [[ 9.95362966e-01 -8.76997246e-02 -3.95135947e-02 4.82823778e+01] [ 8.76238099e-02 9.96146941e-01 -3.65233969e-03 6.06310210e+00] [ 3.96816556e-02 1.73071955e-04 9.99212358e-01 1.56864169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174391418 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:48.31, Y:6.07, Z:1.57 [[ 9.95249774e-01 -8.88847805e-02 -3.97162792e-02 4.83131830e+01] [ 8.88089702e-02 9.96041906e-01 -3.67251608e-03 6.06607251e+00] [ 3.98855092e-02 1.27908946e-04 9.99204248e-01 1.57000240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20439141799999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:48.34, Y:6.07, Z:1.57 [[ 9.95139269e-01 -9.02463511e-02 -3.94136052e-02 4.83423868e+01] [ 9.01727598e-02 9.95919470e-01 -3.64452543e-03 6.06836091e+00] [ 3.95816820e-02 7.27768093e-05 9.99216336e-01 1.56993774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.234391417999994 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:48.37, Y:6.07, Z:1.57 [[ 9.94921791e-01 -9.20689474e-02 -4.06686422e-02 4.83728480e+01] [ 9.19921157e-02 9.95752634e-01 -3.76054927e-03 6.07059509e+00] [ 4.08421375e-02 2.57977305e-07 9.99165612e-01 1.56963157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264391417999995 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:48.40, Y:6.07, Z:1.57 [[ 9.94864401e-01 -9.25590708e-02 -4.09590327e-02 4.84035219e+01] [ 9.24815527e-02 9.95707195e-01 -3.78740111e-03 6.07340145e+00] [ 4.11337619e-02 -2.00044049e-05 9.99153648e-01 1.56945581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.294391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:48.43, Y:6.08, Z:1.57 [[ 9.94800781e-01 -9.34384235e-02 -4.05051592e-02 4.84317796e+01] [ 9.33633314e-02 9.95625059e-01 -3.74571991e-03 6.07710571e+00] [ 4.06779457e-02 -5.54515115e-05 9.99172308e-01 1.57373575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:48.46, Y:6.08, Z:1.57 [[ 9.94831228e-01 -9.31645676e-02 -4.03880101e-02 4.84611269e+01] [ 9.30895886e-02 9.95650723e-01 -3.73723063e-03 6.08049247e+00] [ 4.05605290e-02 -4.17895060e-05 9.99177082e-01 1.57484126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:48.49, Y:6.08, Z:1.58 [[ 9.94988375e-01 -9.17152006e-02 -3.98303247e-02 4.84902243e+01] [ 9.16410574e-02 9.95785279e-01 -3.68713502e-03 6.08391524e+00] [ 4.00006173e-02 1.85634102e-05 9.99199655e-01 1.57531360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38439141799999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:48.52, Y:6.09, Z:1.58 [[ 9.95071008e-01 -9.09654007e-02 -3.94839884e-02 4.85192344e+01] [ 9.08919205e-02 9.95854052e-01 -3.65585960e-03 6.08687304e+00] [ 3.96528465e-02 4.90643659e-05 9.99213515e-01 1.57770344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.414391417999994 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:48.55, Y:6.09, Z:1.58 [[ 9.95173790e-01 -8.99278317e-02 -3.92697378e-02 4.85485963e+01] [ 8.98543061e-02 9.95948280e-01 -3.63687179e-03 6.08968041e+00] [ 3.94376839e-02 9.07644438e-05 9.99222028e-01 1.57918987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444391417999995 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:48.58, Y:6.09, Z:1.58 [[ 9.95299703e-01 -8.87183411e-02 -3.88272840e-02 4.85781438e+01] [ 8.86454852e-02 9.96056744e-01 -3.59738897e-03 6.09205581e+00] [ 3.89933325e-02 1.38616744e-04 9.99239461e-01 1.57910323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.474391417999996 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:48.61, Y:6.09, Z:1.58 [[ 9.95459616e-01 -8.66732537e-02 -3.93433557e-02 4.86081719e+01] [ 8.65968218e-02 9.96236768e-01 -3.64593149e-03 6.09421442e+00] [ 3.95113023e-02 2.22367996e-04 9.99219099e-01 1.57911730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:48.64, Y:6.10, Z:1.58 [[ 9.95450378e-01 -8.67123081e-02 -3.94907692e-02 4.86373644e+01] [ 8.66353298e-02 9.96233369e-01 -3.65966836e-03 6.09699645e+00] [ 3.96593603e-02 2.21722437e-04 9.99213233e-01 1.58115044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:48.67, Y:6.10, Z:1.58 [[ 9.95468875e-01 -8.63853840e-02 -3.97402002e-02 4.86668093e+01] [ 8.63071336e-02 9.96261767e-01 -3.68367813e-03 6.09952890e+00] [ 3.99098580e-02 2.37124162e-04 9.99203256e-01 1.58174118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56439141799999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:48.70, Y:6.10, Z:1.58 [[ 9.95466915e-01 -8.66449074e-02 -3.92209211e-02 4.86963211e+01] [ 8.65688314e-02 9.96239233e-01 -3.63705016e-03 6.10162985e+00] [ 3.93885522e-02 2.25253795e-04 9.99223944e-01 1.58322960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.594391417999994 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:48.73, Y:6.10, Z:1.58 [[ 9.95412858e-01 -8.72100284e-02 -3.93402160e-02 4.87258744e+01] [ 8.71338956e-02 9.96189926e-01 -3.64897991e-03 6.10389897e+00] [ 3.95085545e-02 2.04375251e-04 9.99219211e-01 1.58387796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624391417999995 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:48.75, Y:6.11, Z:1.58 [[ 9.95416651e-01 -8.69170789e-02 -3.98887571e-02 4.87541983e+01] [ 8.68385045e-02 9.96215525e-01 -3.70154865e-03 6.10549985e+00] [ 4.00595269e-02 2.20703153e-04 9.99197271e-01 1.58268210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.654391417999996 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:48.78, Y:6.11, Z:1.59 [[ 9.95355414e-01 -8.76408460e-02 -3.98331772e-02 4.87823335e+01] [ 8.75629756e-02 9.96152119e-01 -3.69874345e-03 6.10842208e+00] [ 4.00040649e-02 1.93652795e-04 9.99199498e-01 1.58571418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:48.81, Y:6.11, Z:1.58 [[ 9.95348279e-01 -8.71067494e-02 -4.11608666e-02 4.88119495e+01] [ 8.70230435e-02 9.96198958e-01 -3.82441615e-03 6.11051892e+00] [ 4.13375448e-02 2.24682156e-04 9.99145213e-01 1.58445320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:48.84, Y:6.11, Z:1.59 [[ 9.95317500e-01 -8.79131881e-02 -4.01789288e-02 4.88400787e+01] [ 8.78339795e-02 9.96128122e-01 -3.73584051e-03 6.11337905e+00] [ 4.03517906e-02 1.89272225e-04 9.99185517e-01 1.58634466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74439141799999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:48.87, Y:6.12, Z:1.59 [[ 9.95320211e-01 -8.79326492e-02 -4.00690169e-02 4.88697492e+01] [ 8.78534633e-02 9.96126403e-01 -3.73619851e-03 6.11600341e+00] [ 4.02423395e-02 1.98511984e-04 9.99189929e-01 1.58726267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77439141799999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:48.90, Y:6.12, Z:1.59 [[ 9.95274583e-01 -8.85972841e-02 -3.97369651e-02 4.88991577e+01] [ 8.85198993e-02 9.96067514e-01 -3.70613723e-03 6.11817928e+00] [ 3.99090537e-02 1.71112033e-04 9.99203302e-01 1.58944358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804391417999994 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:48.93, Y:6.12, Z:1.59 [[ 9.95240894e-01 -8.86909701e-02 -4.03667623e-02 4.89287753e+01] [ 8.86111275e-02 9.96059176e-01 -3.76638717e-03 6.12052052e+00] [ 4.05417286e-02 1.71518205e-04 9.99177831e-01 1.58952090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834391417999996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:48.96, Y:6.12, Z:1.59 [[ 9.95226599e-01 -8.91359349e-02 -3.97341359e-02 4.89583160e+01] [ 8.90589248e-02 9.96019459e-01 -3.70751259e-03 6.12387958e+00] [ 3.99064451e-02 1.51135730e-04 9.99203409e-01 1.59271284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:48.99, Y:6.13, Z:1.59 [[ 9.95218673e-01 -8.88943703e-02 -4.04670764e-02 4.89881782e+01] [ 8.88142266e-02 9.96041045e-01 -3.77750935e-03 6.12629991e+00] [ 4.06426684e-02 1.65395754e-04 9.99173732e-01 1.59265686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:49.02, Y:6.13, Z:1.59 [[ 9.95233948e-01 -8.89638218e-02 -3.99352988e-02 4.90175884e+01] [ 8.88857915e-02 9.96034845e-01 -3.72876433e-03 6.12816271e+00] [ 4.01086743e-02 1.61312202e-04 9.99195310e-01 1.59444341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:49.05, Y:6.13, Z:1.59 [[ 9.95257989e-01 -8.84614175e-02 -4.04488974e-02 4.90472695e+01] [ 8.83808874e-02 9.96079587e-01 -3.77829725e-03 6.12971537e+00] [ 4.06245546e-02 1.85471073e-04 9.99174465e-01 1.59345053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95439141799999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:49.08, Y:6.13, Z:1.59 [[ 9.95242715e-01 -8.87642816e-02 -4.01601934e-02 4.90767001e+01] [ 8.86851076e-02 9.96052645e-01 -3.75222988e-03 6.13198821e+00] [ 4.03347309e-02 1.72768380e-04 9.99186209e-01 1.59433550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.984391417999994 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:49.10, Y:6.14, Z:1.60 [[ 9.95128094e-01 -8.95425564e-02 -4.12578112e-02 4.91024980e+01] [ 8.90761387e-02 9.95939827e-01 -1.30115989e-02 6.13832845e+00] [ 4.22553892e-02 9.27312110e-03 9.99063807e-01 1.60077929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014391417999995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:49.13, Y:6.13, Z:1.60 [[ 9.95063956e-01 -9.06354638e-02 -4.04095978e-02 4.91317972e+01] [ 9.09141825e-02 9.95845620e-01 5.11008570e-03 6.13172036e+00] [ 3.97785660e-02 -8.75866764e-03 9.99170131e-01 1.59685557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:49.16, Y:6.14, Z:1.60 [[ 9.95022108e-01 -9.13430359e-02 -3.98428601e-02 4.91611713e+01] [ 9.12664338e-02 9.95819483e-01 -3.74108121e-03 6.13820738e+00] [ 4.00180180e-02 8.61427595e-05 9.99198955e-01 1.60026940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.074391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:49.19, Y:6.14, Z:1.60 [[ 9.95004112e-01 -9.11858877e-02 -4.06442074e-02 4.91905027e+01] [ 9.11059724e-02 9.95833884e-01 -3.81800156e-03 6.13992583e+00] [ 4.08230268e-02 9.59972093e-05 9.99166388e-01 1.60035216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:49.22, Y:6.14, Z:1.60 [[ 9.94996189e-01 -9.14710378e-02 -4.01949392e-02 4.92188162e+01] [ 9.13930440e-02 9.95807733e-01 -3.77749884e-03 6.14257969e+00] [ 4.03719630e-02 8.50591037e-05 9.99184716e-01 1.60230186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13439141799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:49.25, Y:6.14, Z:1.60 [[ 9.94969467e-01 -9.14477112e-02 -4.09032508e-02 4.92489066e+01] [ 9.13668245e-02 9.95809875e-01 -3.84647317e-03 6.14458652e+00] [ 4.10836122e-02 8.99232301e-05 9.99155708e-01 1.60214779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.164391417999994 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:49.28, Y:6.15, Z:1.60 [[ 9.94961314e-01 -9.16394567e-02 -4.06717804e-02 4.92777249e+01] [ 9.15595710e-02 9.95792249e-01 -3.82647498e-03 6.14664768e+00] [ 4.08512998e-02 8.33038060e-05 9.99165234e-01 1.60291057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194391417999995 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:49.31, Y:6.15, Z:1.60 [[ 9.94811770e-01 -9.35795763e-02 -3.99049525e-02 4.93071882e+01] [ 9.35041425e-02 9.95611803e-01 -3.75665794e-03 6.14836177e+00] [ 4.00813882e-02 5.88916870e-06 9.99196418e-01 1.60460051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224391417999996 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:49.34, Y:6.15, Z:1.61 [[ 9.94699673e-01 -9.48692570e-02 -3.96533127e-02 4.93372816e+01] [ 9.47957316e-02 9.95489740e-01 -3.73458748e-03 6.15012841e+00] [ 3.98287635e-02 -4.41718451e-05 9.99206519e-01 1.60535600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.254391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:49.37, Y:6.15, Z:1.61 [[ 9.94594341e-01 -9.61561074e-02 -3.91931203e-02 4.93673981e+01] [ 9.60852211e-02 9.95366261e-01 -3.69268854e-03 6.15209896e+00] [ 3.93665841e-02 -9.31525043e-05 9.99224831e-01 1.60580903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:49.40, Y:6.15, Z:1.61 [[ 9.94437218e-01 -9.79311984e-02 -3.87827180e-02 4.93981020e+01] [ 9.78631386e-02 9.95193174e-01 -3.65402135e-03 6.15455745e+00] [ 3.89541389e-02 -1.61703677e-04 9.99240986e-01 1.60695212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:49.43, Y:6.16, Z:1.61 [[ 9.94012313e-01 -1.02146415e-01 -3.88024609e-02 4.94279784e+01] [ 1.02081492e-01 9.94769322e-01 -3.65594283e-03 6.15665010e+00] [ 3.89729392e-02 -3.26960921e-04 9.99240213e-01 1.60804925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.344391417999994 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:49.46, Y:6.16, Z:1.61 [[ 9.93947154e-01 -1.03936099e-01 -3.55856952e-02 4.94588849e+01] [ 1.03533922e-01 9.94541371e-01 -1.29687768e-02 6.16257172e+00] [ 3.67393701e-02 9.20595219e-03 9.99282477e-01 1.60751339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374391417999995 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:49.49, Y:6.16, Z:1.61 [[ 9.93516646e-01 -1.06517483e-01 -3.97328492e-02 4.94889847e+01] [ 1.06841816e-01 9.94257167e-01 6.12471318e-03 6.15632526e+00] [ 3.88522810e-02 -1.03301343e-02 9.99191568e-01 1.60670952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404391417999996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:49.52, Y:6.16, Z:1.61 [[ 9.93324673e-01 -1.08860401e-01 -3.81511191e-02 4.95193029e+01] [ 1.08802166e-01 9.94056884e-01 -3.60553766e-03 6.16263940e+00] [ 3.83168829e-02 -5.69454882e-04 9.99265476e-01 1.60979605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.434391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:49.55, Y:6.16, Z:1.61 [[ 9.93019046e-01 -1.12340155e-01 -3.59564126e-02 4.95493143e+01] [ 1.12290707e-01 9.93669588e-01 -3.39812392e-03 6.16284072e+00] [ 3.61105394e-02 -6.63169213e-04 9.99347582e-01 1.61003190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:49.58, Y:6.17, Z:1.61 [[ 9.92910455e-01 -1.13494131e-01 -3.53257690e-02 4.95804721e+01] [ 1.13447106e-01 9.93538426e-01 -3.33925524e-03 6.16543929e+00] [ 3.54764948e-02 -6.92024833e-04 9.99370271e-01 1.61134900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49439141799999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:49.61, Y:6.17, Z:1.61 [[ 9.92888358e-01 -1.13773525e-01 -3.50470127e-02 4.96108535e+01] [ 1.13727463e-01 9.93506466e-01 -3.31152218e-03 6.16850847e+00] [ 3.51961973e-02 -6.97836018e-04 9.99380178e-01 1.61245797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52439141799999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:49.64, Y:6.17, Z:1.61 [[ 9.92907853e-01 -1.13559946e-01 -3.51871432e-02 4.96418039e+01] [ 1.13513404e-01 9.93530904e-01 -3.32408998e-03 6.17194238e+00] [ 3.53369977e-02 -6.93697362e-04 9.99375213e-01 1.61376946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554391417999994 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:49.67, Y:6.18, Z:1.61 [[ 9.93083619e-01 -1.12103022e-01 -3.48975500e-02 4.96730544e+01] [ 1.12056394e-01 9.93696385e-01 -3.29531776e-03 6.17533050e+00] [ 3.50469844e-02 -6.37967539e-04 9.99385462e-01 1.61460247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584391417999996 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:49.70, Y:6.18, Z:1.61 [[ 9.93195665e-01 -1.11020583e-01 -3.51681883e-02 4.97035776e+01] [ 1.10972603e-01 9.93817922e-01 -3.31940275e-03 6.17809061e+00] [ 3.53192979e-02 -6.05888960e-04 9.99375895e-01 1.61497943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.614391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:49.74, Y:6.18, Z:1.62 [[ 9.93349083e-01 -1.09424015e-01 -3.58327143e-02 4.97351042e+01] [ 1.09373192e-01 9.93995006e-01 -3.38138354e-03 6.18086769e+00] [ 3.59875436e-02 -5.60244104e-04 9.99352082e-01 1.61586455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:49.77, Y:6.18, Z:1.62 [[ 9.93507699e-01 -1.07937077e-01 -3.59449467e-02 4.97659007e+01] [ 1.07885016e-01 9.94157597e-01 -3.39049800e-03 6.18406354e+00] [ 3.61009023e-02 -5.09435294e-04 9.99348020e-01 1.61628559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67439141799999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:49.80, Y:6.19, Z:1.62 [[ 9.93959375e-01 -1.03861530e-01 -3.54618666e-02 4.97961739e+01] [ 1.03808316e-01 9.94591702e-01 -3.34350303e-03 6.18866295e+00] [ 3.56173396e-02 -3.57930468e-04 9.99365437e-01 1.61723594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70439141799999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:49.83, Y:6.19, Z:1.62 [[ 9.94219169e-01 -1.01222575e-01 -3.58083065e-02 4.98269599e+01] [ 1.01166631e-01 9.94863769e-01 -3.37544162e-03 6.19247577e+00] [ 3.59660577e-02 -2.66676962e-04 9.99352976e-01 1.61757581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.734391417999994 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:49.86, Y:6.20, Z:1.62 [[ 9.94217184e-01 -1.01242017e-01 -3.58084398e-02 4.98569649e+01] [ 1.01186136e-01 9.94861790e-01 -3.37402689e-03 6.19533848e+00] [ 3.59660418e-02 -2.68802158e-04 9.99352976e-01 1.61866355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764391417999995 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:49.89, Y:6.20, Z:1.62 [[ 9.94685164e-01 -9.68907394e-02 -3.48368883e-02 4.98881143e+01] [ 9.68351561e-02 9.95295018e-01 -3.28321801e-03 6.20091210e+00] [ 3.49910947e-02 -1.07667261e-04 9.99387618e-01 1.62043320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.794391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:49.92, Y:6.20, Z:1.62 [[ 9.94836092e-01 -9.51237222e-02 -3.53924784e-02 4.99188221e+01] [ 9.50652853e-02 9.95465457e-01 -3.33411660e-03 6.20484039e+00] [ 3.55491432e-02 -4.76965197e-05 9.99367928e-01 1.62131345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:49.95, Y:6.21, Z:1.62 [[ 9.94963871e-01 -9.35942908e-02 -3.58748356e-02 4.99490239e+01] [ 9.35332556e-02 9.95610420e-01 -3.37955663e-03 6.20803672e+00] [ 3.60336673e-02 7.04658238e-06 9.99350577e-01 1.62190322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:49.98, Y:6.21, Z:1.62 [[ 9.95051886e-01 -9.24865817e-02 -3.63039556e-02 4.99780240e+01] [ 9.24233398e-02 9.95713930e-01 -3.41998946e-03 6.21085155e+00] [ 3.64646575e-02 4.77341338e-05 9.99334942e-01 1.62219959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88439141799999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:50.01, Y:6.21, Z:1.62 [[ 9.95069403e-01 -9.21261627e-02 -3.67376357e-02 5.00084345e+01] [ 9.20611272e-02 9.95747341e-01 -3.46159161e-03 6.21398699e+00] [ 3.69003062e-02 6.24157454e-05 9.99318950e-01 1.62310937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.914391417999994 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:50.04, Y:6.22, Z:1.62 [[ 9.95002451e-01 -9.26367261e-02 -3.72633883e-02 5.00389179e+01] [ 9.25701731e-02 9.95699972e-01 -3.51113048e-03 6.21731238e+00] [ 3.74284143e-02 4.41051253e-05 9.99299310e-01 1.62396057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944391417999995 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:50.07, Y:6.22, Z:1.63 [[ 9.94911284e-01 -9.35233736e-02 -3.74821937e-02 5.00689834e+01] [ 9.34566653e-02 9.95617084e-01 -3.53174734e-03 6.22094627e+00] [ 3.76482133e-02 1.08144537e-05 9.99291055e-01 1.62517143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.974391417999996 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:50.10, Y:6.22, Z:1.62 [[ 9.94806695e-01 -9.42407212e-02 -3.84490158e-02 5.00988533e+01] [ 9.41710594e-02 9.95549439e-01 -3.62289731e-03 6.22396491e+00] [ 3.86193205e-02 -1.67020496e-05 9.99253996e-01 1.62471366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:50.13, Y:6.23, Z:1.63 [[ 9.94512034e-01 -9.75489923e-02 -3.78154534e-02 5.01289494e+01] [ 9.74839708e-02 9.95230714e-01 -3.56391736e-03 6.22699841e+00] [ 3.79827572e-02 -1.42041857e-04 9.99278385e-01 1.62700282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:50.16, Y:6.23, Z:1.63 [[ 9.94363217e-01 -9.91818452e-02 -3.74800610e-02 5.01590077e+01] [ 9.91191316e-02 9.95069304e-01 -3.53230830e-03 6.22945295e+00] [ 3.76455991e-02 -2.02593657e-04 9.99291133e-01 1.62837632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06439141799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:50.19, Y:6.23, Z:1.63 [[ 9.94198489e-01 -1.00982185e-01 -3.70400192e-02 5.01883170e+01] [ 1.00922184e-01 9.94888198e-01 -3.49085958e-03 6.23191824e+00] [ 3.72031926e-02 -2.67552302e-04 9.99307686e-01 1.62970111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.094391417999994 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:50.22, Y:6.23, Z:1.63 [[ 9.93995827e-01 -1.03008701e-01 -3.68985677e-02 5.02186545e+01] [ 1.02950525e-01 9.94680396e-01 -3.47826174e-03 6.23404037e+00] [ 3.70605732e-02 -3.41349287e-04 9.99312963e-01 1.62943859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124391417999995 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:50.25, Y:6.24, Z:1.63 [[ 9.93837358e-01 -1.04554196e-01 -3.68201943e-02 5.02481771e+01] [ 1.04497328e-01 9.94519111e-01 -3.47085547e-03 6.23779886e+00] [ 3.69812794e-02 -3.98146097e-04 9.99315879e-01 1.63276595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.154391417999996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:50.28, Y:6.24, Z:1.63 [[ 9.93735803e-01 -1.05360220e-01 -3.72609492e-02 5.02789784e+01] [ 1.05302578e-01 9.94434028e-01 -3.51160925e-03 6.24110912e+00] [ 3.74235397e-02 -4.34062173e-04 9.99299400e-01 1.63398024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:50.31, Y:6.24, Z:1.63 [[ 9.93700671e-01 -1.05502265e-01 -3.77921848e-02 5.03089281e+01] [ 1.05443132e-01 9.94418962e-01 -3.56004625e-03 6.24343954e+00] [ 3.79568581e-02 -4.47305993e-04 9.99279279e-01 1.63324428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:50.34, Y:6.25, Z:1.64 [[ 9.93576201e-01 -1.07017193e-01 -3.67920250e-02 5.03395122e+01] [ 1.06962277e-01 9.94257047e-01 -3.46342325e-03 6.24651463e+00] [ 3.69513760e-02 -4.94183846e-04 9.99316943e-01 1.63537898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24439141799999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:50.37, Y:6.25, Z:1.64 [[ 9.93556034e-01 -1.07164417e-01 -3.69079407e-02 5.03709615e+01] [ 1.07109256e-01 9.94241186e-01 -3.47429499e-03 6.24920733e+00] [ 3.70677155e-02 -5.01275318e-04 9.99312630e-01 1.63603083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27439141799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:50.40, Y:6.25, Z:1.64 [[ 9.93482932e-01 -1.07809514e-01 -3.69969174e-02 5.04024288e+01] [ 1.07754590e-01 9.94171429e-01 -3.48117418e-03 6.25276671e+00] [ 3.71565819e-02 -5.28100539e-04 9.99309316e-01 1.63762634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304391417999994 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:50.43, Y:6.26, Z:1.64 [[ 9.93453982e-01 -1.07932200e-01 -3.74142555e-02 5.04335772e+01] [ 1.07876174e-01 9.94158110e-01 -3.51892537e-03 6.25654915e+00] [ 3.75754909e-02 -5.40216311e-04 9.99293646e-01 1.63879968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334391417999996 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:50.46, Y:6.26, Z:1.64 [[ 9.93464448e-01 -1.07749792e-01 -3.76613035e-02 5.04633300e+01] [ 1.07692948e-01 9.94177898e-01 -3.54066906e-03 6.26092659e+00] [ 3.78235419e-02 -5.38327977e-04 9.99284289e-01 1.63985479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:50.50, Y:6.26, Z:1.64 [[ 9.93557094e-01 -1.06600092e-01 -3.84801535e-02 5.04951094e+01] [ 1.06539920e-01 9.94301848e-01 -3.61681578e-03 6.26376533e+00] [ 3.86464406e-02 -5.06159495e-04 9.99252819e-01 1.63861474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:50.52, Y:6.27, Z:1.64 [[ 9.93561798e-01 -1.06556034e-01 -3.84807024e-02 5.05249184e+01] [ 1.06495884e-01 9.94306570e-01 -3.61537476e-03 6.26714845e+00] [ 3.86468552e-02 -5.05938176e-04 9.99252803e-01 1.64064901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42439141799999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:50.55, Y:6.27, Z:1.64 [[ 9.93651473e-01 -1.05198300e-01 -3.98756584e-02 5.05549834e+01] [ 1.05132649e-01 9.94451153e-01 -3.74561772e-03 6.27066085e+00] [ 4.00484271e-02 -4.70395054e-04 9.99197629e-01 1.64159342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45439141799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:50.58, Y:6.27, Z:1.64 [[ 9.93783756e-01 -1.03703588e-01 -4.04896487e-02 5.05847332e+01] [ 1.03634681e-01 9.94608160e-01 -3.80275776e-03 6.27353650e+00] [ 4.06656946e-02 -4.17012949e-04 9.99172721e-01 1.64111288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.484391417999994 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:50.61, Y:6.28, Z:1.64 [[ 9.93898335e-01 -1.02486502e-01 -4.07751912e-02 5.06144209e+01] [ 1.02415532e-01 9.94734327e-01 -3.83113643e-03 6.27757773e+00] [ 4.09531222e-02 -3.68252759e-04 9.99161001e-01 1.64351485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514391417999995 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:50.64, Y:6.28, Z:1.64 [[ 9.94137293e-01 -1.00007422e-01 -4.11042310e-02 5.06435355e+01] [ 9.99331179e-02 9.94986655e-01 -3.86362710e-03 6.28069901e+00] [ 4.12845527e-02 -2.66698171e-04 9.99147394e-01 1.64308835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:50.67, Y:6.29, Z:1.65 [[ 9.94519600e-01 -9.62461593e-02 -4.08343352e-02 5.06725208e+01] [ 9.61695943e-02 9.95357556e-01 -3.83979561e-03 6.28558829e+00] [ 4.10143296e-02 -1.08269454e-04 9.99158553e-01 1.64617313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.574391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:50.70, Y:6.29, Z:1.65 [[ 9.94730847e-01 -9.40307259e-02 -4.08505242e-02 5.07019486e+01] [ 9.39521686e-02 9.95569296e-01 -3.84287274e-03 6.28912436e+00] [ 4.10308757e-02 -1.53712775e-05 9.99157879e-01 1.64749655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:50.73, Y:6.29, Z:1.65 [[ 9.94970714e-01 -9.13375474e-02 -4.11185062e-02 5.07307722e+01] [ 9.12555865e-02 9.95819985e-01 -3.86976784e-03 6.29201973e+00] [ 4.13000854e-02 9.80122670e-05 9.99146783e-01 1.64702224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63439141799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:50.76, Y:6.30, Z:1.65 [[ 9.95169936e-01 -8.90950455e-02 -4.12173565e-02 5.07596810e+01] [ 8.90106232e-02 9.96023110e-01 -3.88253887e-03 6.29611185e+00] [ 4.13993546e-02 1.95003371e-04 9.99142660e-01 1.64987647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.664391417999994 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:50.79, Y:6.30, Z:1.65 [[ 9.95245525e-01 -8.82737560e-02 -4.11593182e-02 5.07890195e+01] [ 8.81884654e-02 9.96096224e-01 -3.88683652e-03 6.29938998e+00] [ 4.13417471e-02 2.38579547e-04 9.99145036e-01 1.65145671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694391417999995 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:50.82, Y:6.30, Z:1.65 [[ 9.95278513e-01 -8.80379965e-02 -4.08655351e-02 5.08187292e+01] [ 8.79536530e-02 9.96117086e-01 -3.86074825e-03 6.30238041e+00] [ 4.10467503e-02 2.48246687e-04 9.99157196e-01 1.65276360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724391417999996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:50.85, Y:6.31, Z:1.65 [[ 9.95242276e-01 -8.83309036e-02 -4.11152587e-02 5.08483661e+01] [ 8.82457060e-02 9.96091158e-01 -3.88602071e-03 6.30501772e+00] [ 4.12978014e-02 2.39287059e-04 9.99146853e-01 1.65392879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.754391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:50.88, Y:6.31, Z:1.65 [[ 9.95005043e-01 -9.10748020e-02 -4.08698452e-02 5.08766937e+01] [ 9.09928605e-02 9.95844046e-01 -3.86456739e-03 6.30603296e+00] [ 4.10519567e-02 1.26399916e-04 9.99157005e-01 1.65461355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:50.91, Y:6.31, Z:1.65 [[ 9.94876712e-01 -9.21263358e-02 -4.16301079e-02 5.09065669e+01] [ 9.20421339e-02 9.95747323e-01 -3.93889509e-03 6.30706366e+00] [ 4.18159445e-02 8.69910207e-05 9.99125327e-01 1.65354457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81439141799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:50.94, Y:6.31, Z:1.65 [[ 9.94638048e-01 -9.45394627e-02 -4.19218755e-02 5.09356419e+01] [ 9.44560832e-02 9.95521115e-01 -3.96969764e-03 6.30917703e+00] [ 4.21094053e-02 -1.13638498e-05 9.99113006e-01 1.65462717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.844391417999994 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:50.96, Y:6.31, Z:1.66 [[ 9.94242425e-01 -9.84551390e-02 -4.22916659e-02 5.09640441e+01] [ 9.83733578e-02 9.95141476e-01 -4.01560299e-03 6.31100240e+00] [ 4.24815476e-02 -1.67890327e-04 9.99097237e-01 1.65630052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874391417999995 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:50.99, Y:6.31, Z:1.66 [[ 9.94083462e-01 -9.99462331e-02 -4.25302407e-02 5.09931397e+01] [ 9.98647596e-02 9.94992813e-01 -4.04130476e-03 6.31345932e+00] [ 4.27211970e-02 -2.29878035e-04 9.99087006e-01 1.65746781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904391417999996 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:51.02, Y:6.32, Z:1.66 [[ 9.93986645e-01 -1.00822621e-01 -4.27241013e-02 5.10231629e+01] [ 1.00741138e-01 9.94904381e-01 -4.06145554e-03 6.31613666e+00] [ 4.29158822e-02 -2.67042002e-04 9.99078653e-01 1.65776714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.934391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:51.05, Y:6.32, Z:1.66 [[ 9.93928074e-01 -1.01393068e-01 -4.27367472e-02 5.10517885e+01] [ 1.01311983e-01 9.94846401e-01 -4.06452253e-03 6.31886174e+00] [ 4.29286136e-02 -2.89901573e-04 9.99078100e-01 1.66045952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:51.08, Y:6.32, Z:1.66 [[ 9.93993747e-01 -1.00814391e-01 -4.25780393e-02 5.10800342e+01] [ 1.00733268e-01 9.94905217e-01 -4.05197864e-03 6.32153846e+00] [ 4.27696111e-02 -2.61383616e-04 9.99084927e-01 1.66191226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99439141799999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:51.11, Y:6.33, Z:1.66 [[ 9.94014197e-01 -1.00993659e-01 -4.16660141e-02 5.11088675e+01] [ 1.00915979e-01 9.94887035e-01 -3.96885479e-03 6.32517259e+00] [ 4.18538065e-02 -2.59668616e-04 9.99123712e-01 1.66471588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02439141799999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:51.14, Y:6.33, Z:1.66 [[ 9.94101563e-01 -9.97416915e-02 -4.25872965e-02 5.11386285e+01] [ 9.96589444e-02 9.95013344e-01 -4.06697811e-03 6.32806298e+00] [ 4.27805756e-02 -2.01215729e-04 9.99084472e-01 1.66473588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054391417999994 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:51.17, Y:6.33, Z:1.67 [[ 9.94085222e-01 -1.00052927e-01 -4.22372323e-02 5.11656170e+01] [ 9.98436984e-02 9.94978230e-01 -7.03973952e-03 6.33286091e+00] [ 4.27294732e-02 2.78097954e-03 9.99082809e-01 1.66923311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084391417999996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:51.19, Y:6.33, Z:1.67 [[ 9.94316741e-01 -9.79857824e-02 -4.16293799e-02 5.11943316e+01] [ 9.80250057e-02 9.95183341e-01 -1.10292378e-03 6.33225662e+00] [ 4.15369362e-02 -2.98406462e-03 9.99132513e-01 1.66831060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.114391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:51.22, Y:6.34, Z:1.67 [[ 9.94367289e-01 -9.76083222e-02 -4.13075155e-02 5.12234791e+01] [ 9.75276996e-02 9.95224903e-01 -3.96728821e-03 6.33652827e+00] [ 4.14975085e-02 -8.36853453e-05 9.99138604e-01 1.67042883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:51.25, Y:6.34, Z:1.67 [[ 9.94396912e-01 -9.73764261e-02 -4.11413742e-02 5.12526226e+01] [ 9.72961828e-02 9.95247621e-01 -3.95302044e-03 6.33950683e+00] [ 4.13307858e-02 -7.20273403e-05 9.99145515e-01 1.67168646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17439141799999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:51.28, Y:6.34, Z:1.67 [[ 9.94321165e-01 -9.77611190e-02 -4.20497808e-02 5.12813950e+01] [ 9.76775555e-02 9.95209905e-01 -4.04218920e-03 6.34134706e+00] [ 4.22435273e-02 -8.80855192e-05 9.99107340e-01 1.67148264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20439141799999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:51.31, Y:6.35, Z:1.67 [[ 9.94222079e-01 -9.89025919e-02 -4.17221103e-02 5.13089114e+01] [ 9.87417118e-02 9.95095580e-01 -5.90435175e-03 6.34578294e+00] [ 4.21014432e-02 1.75052429e-03 9.99111808e-01 1.67448575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.234391417999994 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:51.34, Y:6.35, Z:1.67 [[ 9.94036435e-01 -1.00130544e-01 -4.31907282e-02 5.13376167e+01] [ 1.00112874e-01 9.94972748e-01 -2.57737177e-03 6.34573993e+00] [ 4.32316711e-02 -1.76194647e-03 9.99063521e-01 1.67329339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264391417999995 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:51.37, Y:6.35, Z:1.68 [[ 9.93727473e-01 -1.02580181e-01 -4.45310624e-02 5.13661533e+01] [ 1.02490292e-01 9.94724697e-01 -4.30308656e-03 6.34838211e+00] [ 4.47375589e-02 -2.87906248e-04 9.98998733e-01 1.67561714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.294391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:51.40, Y:6.35, Z:1.68 [[ 9.93599264e-01 -1.02860116e-01 -4.66936660e-02 5.13954016e+01] [ 1.02761340e-01 9.94695783e-01 -4.51735681e-03 6.34939386e+00] [ 4.69106485e-02 -3.09861282e-04 9.98899041e-01 1.67523561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:51.42, Y:6.35, Z:1.68 [[ 9.93514079e-01 -1.04054691e-01 -4.58518986e-02 5.14231961e+01] [ 1.03960205e-01 9.94571516e-01 -4.44701781e-03 6.35131548e+00] [ 4.60657253e-02 -3.48597993e-04 9.98938350e-01 1.67723553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:51.45, Y:6.35, Z:1.68 [[ 9.93448308e-01 -1.04820008e-01 -4.55326815e-02 5.14521175e+01] [ 1.04727351e-01 9.94491139e-01 -4.42230594e-03 6.35329732e+00] [ 4.57453944e-02 -3.75184789e-04 9.98953061e-01 1.67919337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38439141799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:51.48, Y:6.36, Z:1.68 [[ 9.93456824e-01 -1.05215559e-01 -4.44210009e-02 5.14797057e+01] [ 1.05127290e-01 9.94449369e-01 -4.32503706e-03 6.35502885e+00] [ 4.46294975e-02 -3.73121890e-04 9.99003538e-01 1.68118368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.414391417999994 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:51.51, Y:6.36, Z:1.68 [[ 9.93458797e-01 -1.05247976e-01 -4.42999097e-02 5.15083062e+01] [ 1.05159960e-01 9.94445940e-01 -4.31909545e-03 6.35767966e+00] [ 4.45084414e-02 -3.67733349e-04 9.99008941e-01 1.68263966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444391417999995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:51.54, Y:6.36, Z:1.68 [[ 9.93477958e-01 -1.04783049e-01 -4.49673176e-02 5.15360824e+01] [ 1.04691368e-01 9.94495046e-01 -4.39557523e-03 6.35985643e+00] [ 4.51803564e-02 -3.40782873e-04 9.98978788e-01 1.68255585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.474391417999996 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:51.56, Y:6.36, Z:1.68 [[ 9.93430972e-01 -1.05400129e-01 -4.45613829e-02 5.15645587e+01] [ 1.05310380e-01 9.94429829e-01 -4.36341340e-03 6.36271628e+00] [ 4.47730728e-02 -3.58026145e-04 9.98997119e-01 1.68493954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:51.59, Y:6.36, Z:1.69 [[ 9.93487084e-01 -1.04694796e-01 -4.49712598e-02 5.15924242e+01] [ 1.04602156e-01 9.94504348e-01 -4.41481045e-03 6.36305214e+00] [ 4.51863211e-02 -3.18033562e-04 9.98978526e-01 1.68544322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:51.62, Y:6.36, Z:1.69 [[ 9.93499596e-01 -1.04015634e-01 -4.62525702e-02 5.16201540e+01] [ 1.03916576e-01 9.94575620e-01 -4.54756498e-03 6.36386208e+00] [ 4.64746966e-02 -2.88404772e-04 9.98919426e-01 1.68509749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56439141799999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:51.65, Y:6.37, Z:1.69 [[ 9.93572617e-01 -1.04052567e-01 -4.45703616e-02 5.16474672e+01] [ 1.03960009e-01 9.94571763e-01 -4.39590705e-03 6.36599884e+00] [ 4.47858286e-02 -2.65882320e-04 9.98996576e-01 1.68780182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.594391417999994 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:51.67, Y:6.37, Z:1.69 [[ 9.93640726e-01 -1.03334874e-01 -4.47214791e-02 5.16740670e+01] [ 1.03240359e-01 9.94646598e-01 -4.42417668e-03 6.36761337e+00] [ 4.49392388e-02 -2.21019413e-04 9.98989698e-01 1.68871782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624391417999995 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:51.70, Y:6.37, Z:1.69 [[ 9.93610694e-01 -1.03623696e-01 -4.47204581e-02 5.17023095e+01] [ 1.03529010e-01 9.94616549e-01 -4.43447559e-03 6.37056444e+00] [ 4.49392244e-02 -2.23722369e-04 9.98989698e-01 1.68974945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.654391417999996 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:51.73, Y:6.37, Z:1.69 [[ 9.93893757e-01 -1.01244990e-01 -4.38708556e-02 5.17292284e+01] [ 1.01151048e-01 9.94861519e-01 -4.36166425e-03 6.37196398e+00] [ 4.40870227e-02 -1.02552133e-04 9.99027689e-01 1.69189335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:51.76, Y:6.37, Z:1.69 [[ 9.94027910e-01 -9.99362520e-02 -4.38321802e-02 5.17571906e+01] [ 9.98408823e-02 9.94993841e-01 -4.36509658e-03 6.37417146e+00] [ 4.40489808e-02 -3.72157162e-05 9.99029372e-01 1.69285025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714391418 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:51.79, Y:6.38, Z:1.69 [[ 9.94158429e-01 -9.80486666e-02 -4.51162624e-02 5.17853334e+01] [ 9.79450355e-02 9.95181619e-01 -4.50720332e-03 6.37567843e+00] [ 4.53408003e-02 6.19602506e-05 9.98971575e-01 1.69258414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74439141799999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:51.81, Y:6.38, Z:1.70 [[ 9.94292698e-01 -9.72725259e-02 -4.38188001e-02 5.18127628e+01] [ 9.71734403e-02 9.95257778e-01 -4.39071537e-03 6.37760270e+00] [ 4.40380976e-02 1.07632677e-04 9.99029847e-01 1.69509917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77439141799999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:51.84, Y:6.38, Z:1.70 [[ 9.94568469e-01 -9.37578621e-02 -4.51998248e-02 5.18397045e+01] [ 9.36482231e-02 9.95594989e-01 -4.54178488e-03 6.37724415e+00] [ 4.54265472e-02 2.84232750e-04 9.98967641e-01 1.69508693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804391417999994 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:51.87, Y:6.38, Z:1.70 [[ 9.94665914e-01 -9.24731686e-02 -4.56993615e-02 5.18671403e+01] [ 9.23593776e-02 9.95715114e-01 -4.59977560e-03 6.37906439e+00] [ 4.59289007e-02 3.54475418e-04 9.98944648e-01 1.69603403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834391417999996 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:51.90, Y:6.38, Z:1.70 [[ 9.94748977e-01 -9.15298481e-02 -4.57903840e-02 5.18950166e+01] [ 9.14139587e-02 9.95802248e-01 -4.62294749e-03 6.38134304e+00] [ 4.60213050e-02 4.12792020e-04 9.98940373e-01 1.69783686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:51.92, Y:6.38, Z:1.70 [[ 9.94893718e-01 -9.01090957e-02 -4.54625206e-02 5.19221711e+01] [ 8.99927772e-02 9.95931781e-01 -4.60298911e-03 6.38218944e+00] [ 4.56923403e-02 4.88186467e-04 9.98955440e-01 1.69874379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.894391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:51.95, Y:6.38, Z:1.70 [[ 9.94898857e-01 -8.98801424e-02 -4.58020139e-02 5.19505578e+01] [ 8.97613853e-02 9.95952458e-01 -4.64715445e-03 6.38339826e+00] [ 4.60343153e-02 5.12196433e-04 9.98939728e-01 1.69922718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92439141799999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:51.98, Y:6.38, Z:1.70 [[ 9.94844117e-01 -9.03555200e-02 -4.60549935e-02 5.19788874e+01] [ 9.02354532e-02 9.95909447e-01 -4.68366627e-03 6.38423310e+00] [ 4.62897982e-02 5.03724626e-04 9.98927926e-01 1.69984930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95439141799999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:52.01, Y:6.38, Z:1.70 [[ 9.94801122e-01 -9.09113538e-02 -4.58895678e-02 5.20056995e+01] [ 9.07921213e-02 9.95858869e-01 -4.68022927e-03 6.38484648e+00] [ 4.61250190e-02 4.89486123e-04 9.98935555e-01 1.70060584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.984391417999994 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:52.03, Y:6.39, Z:1.70 [[ 9.94598413e-01 -9.35379663e-02 -4.49960601e-02 5.20336052e+01] [ 9.34256476e-02 9.95615645e-01 -4.59733168e-03 6.38561158e+00] [ 4.52288064e-02 3.68712742e-04 9.98976586e-01 1.70313237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014391417999995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:52.06, Y:6.39, Z:1.70 [[ 9.94436745e-01 -9.49586175e-02 -4.55897080e-02 5.20606998e+01] [ 9.48441518e-02 9.95481169e-01 -4.67223631e-03 6.38810991e+00] [ 4.58273649e-02 3.22326275e-04 9.98949322e-01 1.70428502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:52.09, Y:6.39, Z:1.70 [[ 9.94234549e-01 -9.64363455e-02 -4.68795593e-02 5.20884089e+01] [ 9.63165096e-02 9.95339117e-01 -4.81372839e-03 6.39055923e+00] [ 4.71252776e-02 2.70699543e-04 9.98888950e-01 1.70451752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.074391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:52.11, Y:6.39, Z:1.71 [[ 9.94057443e-01 -9.81050995e-02 -4.71719043e-02 5.21149042e+01] [ 9.79849730e-02 9.95176038e-01 -4.85781681e-03 6.39239271e+00] [ 4.74209255e-02 2.06811183e-04 9.98874974e-01 1.70573953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:52.14, Y:6.39, Z:1.71 [[ 9.93763559e-01 -1.01587635e-01 -4.59776189e-02 5.21421351e+01] [ 1.01476936e-01 9.94826593e-01 -4.74143668e-03 6.39160701e+00] [ 4.62214293e-02 4.61991146e-05 9.98931218e-01 1.70672260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13439141799999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:52.17, Y:6.39, Z:1.71 [[ 9.93537978e-01 -1.03716948e-01 -4.60986049e-02 5.21699495e+01] [ 1.03607564e-01 9.94606853e-01 -4.76235287e-03 6.39299035e+00] [ 4.63439251e-02 -4.45857252e-05 9.98925542e-01 1.70808356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.164391417999994 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:52.20, Y:6.40, Z:1.71 [[ 9.93368274e-01 -1.05608143e-01 -4.54575958e-02 5.21982374e+01] [ 1.05503069e-01 9.94407817e-01 -4.71123378e-03 6.39508930e+00] [ 4.57009333e-02 -1.15925727e-04 9.98955160e-01 1.70906579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194391417999995 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:52.22, Y:6.40, Z:1.71 [[ 9.93224541e-01 -1.07404519e-01 -4.43765776e-02 5.22247936e+01] [ 1.07305574e-01 9.94215388e-01 -4.61268648e-03 6.39737379e+00] [ 4.46152996e-02 -1.80420734e-04 9.99004225e-01 1.71093413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224391417999996 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:52.25, Y:6.40, Z:1.71 [[ 9.92885842e-01 -1.11021984e-01 -4.30328333e-02 5.22522028e+01] [ 1.10932004e-01 9.93817898e-01 -4.48071409e-03 6.39993311e+00] [ 4.32642577e-02 -3.24880877e-04 9.99063611e-01 1.71315195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.254391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:52.28, Y:6.40, Z:1.71 [[ 9.92760242e-01 -1.12226200e-01 -4.28063245e-02 5.22790263e+01] [ 1.12137700e-01 9.93682620e-01 -4.47070259e-03 6.40259760e+00] [ 4.30376306e-02 -3.61866974e-04 9.99073386e-01 1.71406078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:52.31, Y:6.40, Z:1.71 [[ 9.92611105e-01 -1.12953601e-01 -4.43246987e-02 5.23063160e+01] [ 1.12859148e-01 9.93600183e-01 -4.63568333e-03 6.40492754e+00] [ 4.45646459e-02 -4.01016991e-04 9.99006422e-01 1.71383855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31439141799999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:52.33, Y:6.41, Z:1.71 [[ 9.92484050e-01 -1.13830678e-01 -4.49220137e-02 5.23339075e+01] [ 1.13734201e-01 9.93500068e-01 -4.70607581e-03 6.40671327e+00] [ 4.51657195e-02 -4.38464151e-04 9.98979412e-01 1.71455040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344391417999994 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:52.36, Y:6.41, Z:1.72 [[ 9.92454421e-01 -1.14050207e-01 -4.50196964e-02 5.23619253e+01] [ 1.13952880e-01 9.93474892e-01 -4.73076289e-03 6.40952721e+00] [ 4.52654825e-02 -4.35057537e-04 9.98974898e-01 1.71553961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374391417999995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:52.39, Y:6.41, Z:1.72 [[ 9.92486894e-01 -1.14154547e-01 -4.40284570e-02 5.23898106e+01] [ 1.14060944e-01 9.93462916e-01 -4.64057477e-03 6.41271677e+00] [ 4.42703820e-02 -4.16217742e-04 9.99019499e-01 1.71730998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404391417999996 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:52.42, Y:6.42, Z:1.72 [[ 9.92594897e-01 -1.12795719e-01 -4.50832190e-02 5.24168810e+01] [ 1.12695571e-01 9.93618137e-01 -4.76505629e-03 6.41536791e+00] [ 4.53329821e-02 -3.50908554e-04 9.98971870e-01 1.71765971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.434391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:52.44, Y:6.42, Z:1.72 [[ 9.92912718e-01 -1.10315525e-01 -4.42133321e-02 5.24448206e+01] [ 1.10216412e-01 9.93896591e-01 -4.68064135e-03 6.41942524e+00] [ 4.44598274e-02 -2.25566520e-04 9.99011148e-01 1.71980088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:52.47, Y:6.42, Z:1.72 [[ 9.93080988e-01 -1.08395832e-01 -4.51718416e-02 5.24723899e+01] [ 1.08289735e-01 9.94107805e-01 -4.79646752e-03 6.42265645e+00] [ 4.54255973e-02 -1.28366056e-04 9.98967717e-01 1.72024921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49439141799999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:52.50, Y:6.43, Z:1.72 [[ 9.93236521e-01 -1.07464180e-01 -4.39620706e-02 5.24995503e+01] [ 1.07362173e-01 9.94208954e-01 -4.68173313e-03 6.42629602e+00] [ 4.42106029e-02 -6.97951221e-05 9.99022231e-01 1.72200705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52439141799999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:52.53, Y:6.43, Z:1.72 [[ 9.93339359e-01 -1.06034582e-01 -4.50952884e-02 5.25263271e+01] [ 1.05925168e-01 9.94362443e-01 -4.81574314e-03 6.42879230e+00] [ 4.53516964e-02 6.94121135e-06 9.98971082e-01 1.72282410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554391417999994 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:52.55, Y:6.43, Z:1.72 [[ 9.93401621e-01 -1.04222384e-01 -4.78634856e-02 5.25535235e+01] [ 1.04096558e-01 9.94554013e-01 -5.12082837e-03 6.43094516e+00] [ 4.81365266e-02 1.04615113e-04 9.98840760e-01 1.72210814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584391417999996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:52.58, Y:6.43, Z:1.72 [[ 9.93407029e-01 -1.04581100e-01 -4.69602942e-02 5.25800144e+01] [ 1.04459681e-01 9.94516357e-01 -5.03901805e-03 6.43432438e+00] [ 4.72297667e-02 1.00338617e-04 9.98884047e-01 1.72414738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.614391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:52.61, Y:6.44, Z:1.73 [[ 9.93411270e-01 -1.04236238e-01 -4.76325137e-02 5.26067802e+01] [ 1.04110416e-01 9.94552558e-01 -5.12163722e-03 6.43756007e+00] [ 4.79068986e-02 1.28851316e-04 9.98851797e-01 1.72548375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:52.63, Y:6.44, Z:1.73 [[ 9.93456386e-01 -1.03258033e-01 -4.88076568e-02 5.26341468e+01] [ 1.03124271e-01 9.94654585e-01 -5.25758810e-03 6.43992849e+00] [ 4.90896478e-02 1.89930470e-04 9.98794358e-01 1.72540420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67439141799999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:52.66, Y:6.44, Z:1.73 [[ 9.93440887e-01 -1.03309591e-01 -4.90135930e-02 5.26621560e+01] [ 1.03173937e-01 9.94649228e-01 -5.29643992e-03 6.44304267e+00] [ 4.92985055e-02 2.04774604e-04 9.98784068e-01 1.72636800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70439141799999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:52.69, Y:6.45, Z:1.73 [[ 9.93480885e-01 -1.03438884e-01 -4.79179377e-02 5.26901833e+01] [ 1.03308604e-01 9.94635789e-01 -5.19415492e-03 6.44632868e+00] [ 4.81981734e-02 2.09958384e-04 9.98837771e-01 1.72832638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.734391417999994 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:52.72, Y:6.45, Z:1.73 [[ 9.93532927e-01 -1.03347122e-01 -4.70286596e-02 5.27169347e+01] [ 1.03220858e-01 9.94645325e-01 -5.11198765e-03 6.44944901e+00] [ 4.73051456e-02 2.24589456e-04 9.98880460e-01 1.73036022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764391417999995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:52.74, Y:6.45, Z:1.73 [[ 9.93470737e-01 -1.04028936e-01 -4.68388223e-02 5.27445492e+01] [ 1.03904006e-01 9.94574251e-01 -5.10071713e-03 6.45227059e+00] [ 4.71153088e-02 2.00671929e-04 9.98889437e-01 1.73147445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.794391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:52.77, Y:6.45, Z:1.73 [[ 9.93377795e-01 -1.04786624e-01 -4.71202645e-02 5.27718066e+01] [ 1.04660297e-01 9.94494711e-01 -5.14701585e-03 6.45485111e+00] [ 4.74001922e-02 1.81310405e-04 9.98875963e-01 1.73244298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:52.80, Y:6.46, Z:1.73 [[ 9.93255900e-01 -1.06022163e-01 -4.69256571e-02 5.27995561e+01] [ 1.05897656e-01 9.94363758e-01 -5.13843672e-03 6.45771964e+00] [ 4.72059609e-02 1.34465510e-04 9.98885168e-01 1.73343902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:52.83, Y:6.46, Z:1.74 [[ 9.92954561e-01 -1.09403080e-01 -4.55214829e-02 5.28271019e+01] [ 1.09288751e-01 9.93997468e-01 -5.00030282e-03 6.45996458e+00] [ 4.57952873e-02 -9.91249447e-06 9.98950845e-01 1.73585993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88439141799999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:52.86, Y:6.46, Z:1.74 [[ 9.92722873e-01 -1.11445615e-01 -4.56198787e-02 5.28553566e+01] [ 1.11332216e-01 9.93770530e-01 -5.02698683e-03 6.46221679e+00] [ 4.58959267e-02 -8.85573807e-05 9.98946223e-01 1.73672879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.914391417999994 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:52.88, Y:6.46, Z:1.74 [[ 9.92210838e-01 -1.15790059e-01 -4.59381683e-02 5.28833508e+01] [ 1.15678975e-01 9.93273671e-01 -5.07820700e-03 6.46334631e+00] [ 4.62171790e-02 -2.75428211e-04 9.98931377e-01 1.73779929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944391417999995 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:52.91, Y:6.47, Z:1.74 [[ 9.92171945e-01 -1.16123562e-01 -4.59363650e-02 5.29115544e+01] [ 1.16012083e-01 9.93234737e-01 -5.09447299e-03 6.46666916e+00] [ 4.62171818e-02 -2.74580214e-04 9.98931377e-01 1.73883176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.974391417999996 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:52.94, Y:6.47, Z:1.74 [[ 9.91675114e-01 -1.20728745e-01 -4.47776478e-02 5.29385558e+01] [ 1.20626911e-01 9.92685426e-01 -4.97927344e-03 6.46829001e+00] [ 4.50512598e-02 -4.63567763e-04 9.98984569e-01 1.73997842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:52.97, Y:6.47, Z:1.74 [[ 9.91349797e-01 -1.23399590e-01 -4.47003548e-02 5.29659282e+01] [ 1.23300441e-01 9.92356896e-01 -4.97909242e-03 6.47091510e+00] [ 4.49731234e-02 -5.75551208e-04 9.98988031e-01 1.74133524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:52.99, Y:6.47, Z:1.74 [[ 9.91070968e-01 -1.24890592e-01 -4.66977145e-02 5.29942419e+01] [ 1.24783307e-01 9.92170302e-01 -5.21703813e-03 6.47327047e+00] [ 4.69836444e-02 -6.56640208e-04 9.98895443e-01 1.74189493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06439141799999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:53.02, Y:6.48, Z:1.74 [[ 9.90545135e-01 -1.29398747e-01 -4.55664306e-02 5.30223507e+01] [ 1.29300704e-01 9.91592289e-01 -5.10498497e-03 6.47592293e+00] [ 4.58438999e-02 -8.35053533e-04 9.98948267e-01 1.74371043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.094391417999994 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:53.05, Y:6.48, Z:1.74 [[ 9.90349345e-01 -1.30245302e-01 -4.73744335e-02 5.30494645e+01] [ 1.30139527e-01 9.91481399e-01 -5.32352448e-03 6.47843070e+00] [ 4.76642337e-02 -8.93137365e-04 9.98863015e-01 1.74390122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124391417999995 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:53.08, Y:6.48, Z:1.74 [[ 9.90249769e-01 -1.31302053e-01 -4.65313436e-02 5.30774950e+01] [ 1.31200438e-01 9.91341989e-01 -5.24452458e-03 6.48112091e+00] [ 4.68170916e-02 -9.11543400e-04 9.98903063e-01 1.74499652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.154391417999996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:53.10, Y:6.48, Z:1.75 [[ 9.90195224e-01 -1.31145667e-01 -4.81064749e-02 5.31044052e+01] [ 1.31036151e-01 9.91362682e-01 -5.43688493e-03 6.48315943e+00] [ 4.84039879e-02 -9.20109829e-04 9.98827416e-01 1.74529204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:53.13, Y:6.49, Z:1.75 [[ 9.90302071e-01 -1.30286881e-01 -4.82404058e-02 5.31322211e+01] [ 1.30175270e-01 9.91475955e-01 -5.46161901e-03 6.48621202e+00] [ 4.85407797e-02 -8.71055228e-04 9.98820822e-01 1.74661437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:53.16, Y:6.49, Z:1.75 [[ 9.90441749e-01 -1.29884059e-01 -4.64249216e-02 5.31599140e+01] [ 1.29779537e-01 9.91528862e-01 -5.27134960e-03 6.49037488e+00] [ 4.67163140e-02 -8.04040095e-04 9.98907873e-01 1.74914371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24439141799999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:53.19, Y:6.49, Z:1.75 [[ 9.90630313e-01 -1.28552372e-01 -4.61071566e-02 5.31878908e+01] [ 1.28447113e-01 9.91702460e-01 -5.25080321e-03 6.49440366e+00] [ 4.63995838e-02 -7.20726313e-04 9.98922699e-01 1.75046116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27439141799999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:53.22, Y:6.50, Z:1.75 [[ 9.90867215e-01 -1.26813094e-01 -4.58323160e-02 5.32157246e+01] [ 1.26706522e-01 9.91926436e-01 -5.23477327e-03 6.49815034e+00] [ 4.61261237e-02 -6.20288161e-04 9.98935431e-01 1.75174849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304391417999994 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:53.24, Y:6.50, Z:1.75 [[ 9.91369522e-01 -1.22416180e-01 -4.69121542e-02 5.32427755e+01] [ 1.22298949e-01 9.92478770e-01 -5.37192305e-03 6.50167443e+00] [ 4.72169274e-02 -4.11746387e-04 9.98884574e-01 1.75167532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334391417999996 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:53.27, Y:6.51, Z:1.75 [[ 9.91461401e-01 -1.21613775e-01 -4.70572081e-02 5.32706607e+01] [ 1.21494495e-01 9.92577431e-01 -5.39738562e-03 6.50570658e+00] [ 4.73643191e-02 -3.65892248e-04 9.98877614e-01 1.75255776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:53.30, Y:6.51, Z:1.75 [[ 9.91527098e-01 -1.21057810e-01 -4.71064812e-02 5.32968711e+01] [ 1.20937012e-01 9.92645405e-01 -5.41653768e-03 6.50944944e+00] [ 4.74157463e-02 -3.26273199e-04 9.98875188e-01 1.75325771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.394391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:53.32, Y:6.51, Z:1.75 [[ 9.91595562e-01 -1.20394014e-01 -4.73658350e-02 5.33235282e+01] [ 1.20270802e-01 9.92726144e-01 -5.45313641e-03 6.51302143e+00] [ 4.76778277e-02 -2.89421084e-04 9.98862724e-01 1.75376417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42439141799999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:53.35, Y:6.52, Z:1.75 [[ 9.91622065e-01 -1.20147645e-01 -4.74365177e-02 5.33513136e+01] [ 1.20023354e-01 9.92755998e-01 -5.47023542e-03 6.51625107e+00] [ 4.77501234e-02 -2.69083795e-04 9.98859276e-01 1.75478563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45439141799999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:53.38, Y:6.52, Z:1.76 [[ 9.91669145e-01 -1.19439446e-01 -4.82340681e-02 5.33785809e+01] [ 1.19309359e-01 9.92841462e-01 -5.57745623e-03 6.51904381e+00] [ 4.85549509e-02 -2.23784515e-04 9.98820488e-01 1.75504885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.484391417999994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:53.41, Y:6.52, Z:1.76 [[ 9.91679260e-01 -1.19523793e-01 -4.78153506e-02 5.34065173e+01] [ 1.19395463e-01 9.92831314e-01 -5.54132054e-03 6.52254260e+00] [ 4.81348970e-02 -2.13723262e-04 9.98840821e-01 1.75602807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514391417999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:53.43, Y:6.53, Z:1.76 [[ 9.91678140e-01 -1.20418358e-01 -4.55399422e-02 5.34330077e+01] [ 1.20302308e-01 9.92723207e-01 -5.29051480e-03 6.52696284e+00] [ 4.58456326e-02 -2.32072268e-04 9.98948509e-01 1.75858348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:53.46, Y:6.53, Z:1.76 [[ 9.91641283e-01 -1.20721851e-01 -4.55390032e-02 5.34611978e+01] [ 1.20605750e-01 9.92686344e-01 -5.29858579e-03 6.53045521e+00] [ 4.58456017e-02 -2.37969244e-04 9.98948509e-01 1.75961458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.574391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:53.49, Y:6.53, Z:1.76 [[ 9.91564131e-01 -1.21375488e-01 -4.54814875e-02 5.34881706e+01] [ 1.21259795e-01 9.92606632e-01 -5.30439906e-03 6.53392788e+00] [ 4.57890502e-02 -2.55423992e-04 9.98951099e-01 1.76101465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:53.52, Y:6.54, Z:1.76 [[ 9.91488544e-01 -1.21930159e-01 -4.56454016e-02 5.35154963e+01] [ 1.21813835e-01 9.92538645e-01 -5.33181847e-03 6.53720571e+00] [ 4.59549346e-02 -2.73804490e-04 9.98943476e-01 1.76177524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63439141799999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:53.54, Y:6.54, Z:1.76 [[ 9.91365081e-01 -1.22794636e-01 -4.60081961e-02 5.35432280e+01] [ 1.22676689e-01 9.92432056e-01 -5.38919314e-03 6.54056025e+00] [ 4.63217726e-02 -3.01475273e-04 9.98926525e-01 1.76262386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.664391417999994 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:53.57, Y:6.54, Z:1.76 [[ 9.91104855e-01 -1.24926463e-01 -4.58753118e-02 5.35694461e+01] [ 1.24810844e-01 9.92165928e-01 -5.38735461e-03 6.54412749e+00] [ 4.61889444e-02 -3.86303078e-04 9.98932646e-01 1.76422357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694391417999995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:53.60, Y:6.55, Z:1.76 [[ 9.90995959e-01 -1.25970105e-01 -4.53711600e-02 5.35974029e+01] [ 1.25857596e-01 9.92033950e-01 -5.33934151e-03 6.54705247e+00] [ 4.56823284e-02 -4.19039254e-04 9.98955930e-01 1.76493198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724391417999996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:53.62, Y:6.55, Z:1.76 [[ 9.90878414e-01 -1.26756945e-01 -4.57454463e-02 5.36240672e+01] [ 1.26642747e-01 9.91933707e-01 -5.39775078e-03 6.54916831e+00] [ 4.60606525e-02 -4.44814230e-04 9.98938546e-01 1.76496756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.754391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:53.65, Y:6.55, Z:1.77 [[ 9.90693782e-01 -1.28761798e-01 -4.41160940e-02 5.36519734e+01] [ 1.28657220e-01 9.91675420e-01 -5.21358342e-03 6.55357391e+00] [ 4.44201564e-02 -5.10789316e-04 9.99012807e-01 1.76718661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:53.68, Y:6.56, Z:1.77 [[ 9.90603864e-01 -1.29663861e-01 -4.34887163e-02 5.36800661e+01] [ 1.29562459e-01 9.91557867e-01 -5.15417557e-03 6.55711231e+00] [ 4.37898890e-02 -5.28758800e-04 9.99040623e-01 1.76837390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81439141799999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:53.71, Y:6.56, Z:1.77 [[ 9.90494983e-01 -1.30451555e-01 -4.36128542e-02 5.37080573e+01] [ 1.30349674e-01 9.91454532e-01 -5.18394981e-03 6.56046674e+00] [ 4.39164163e-02 -5.50245070e-04 9.99035057e-01 1.76868938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.844391417999994 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:53.73, Y:6.56, Z:1.77 [[ 9.90398746e-01 -1.31377433e-01 -4.30150350e-02 5.37342730e+01] [ 1.31278604e-01 9.91332258e-01 -5.12661662e-03 6.56393637e+00] [ 4.33157135e-02 -5.69559093e-04 9.99061272e-01 1.77032785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874391417999995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:53.76, Y:6.57, Z:1.77 [[ 9.90318646e-01 -1.31868612e-01 -4.33549078e-02 5.37613391e+01] [ 1.31768394e-01 9.91267029e-01 -5.17380627e-03 6.56689456e+00] [ 4.36585533e-02 -5.89089734e-04 9.99046337e-01 1.77106250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904391417999996 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:53.79, Y:6.57, Z:1.77 [[ 9.90326695e-01 -1.31697337e-01 -4.36903699e-02 5.37882673e+01] [ 1.31595102e-01 9.91289804e-01 -5.22047519e-03 6.56948626e+00] [ 4.39973409e-02 -5.79462736e-04 9.99031480e-01 1.77150509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.934391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:53.82, Y:6.57, Z:1.77 [[ 9.90318706e-01 -1.31623892e-01 -4.40909395e-02 5.38156848e+01] [ 1.31519337e-01 9.91299562e-01 -5.27652258e-03 6.57269514e+00] [ 4.44018454e-02 -5.73372130e-04 9.99013587e-01 1.77194317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:53.84, Y:6.58, Z:1.77 [[ 9.90447459e-01 -1.30639285e-01 -4.41271793e-02 5.38431301e+01] [ 1.30532912e-01 9.91429832e-01 -5.29588989e-03 6.57782438e+00] [ 4.44408533e-02 -5.14748542e-04 9.99011885e-01 1.77394168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99439141799999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:53.87, Y:6.58, Z:1.77 [[ 9.90658554e-01 -1.29083982e-01 -4.39653772e-02 5.38706724e+01] [ 1.28976184e-01 9.91633573e-01 -5.29166474e-03 6.58186161e+00] [ 4.42806132e-02 -4.28253633e-04 9.99019041e-01 1.77454214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02439141799999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:53.90, Y:6.59, Z:1.78 [[ 9.90855616e-01 -1.27750280e-01 -4.34167404e-02 5.38983525e+01] [ 1.27643207e-01 9.91806304e-01 -5.24094095e-03 6.58610040e+00] [ 4.37305285e-02 -3.48836180e-04 9.99043302e-01 1.77566866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054391417999994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:53.92, Y:6.59, Z:1.78 [[ 9.90994476e-01 -1.26713935e-01 -4.32842564e-02 5.39248482e+01] [ 1.26605911e-01 9.91939260e-01 -5.23904859e-03 6.59061032e+00] [ 4.35992137e-02 -2.88174506e-04 9.99049061e-01 1.77813173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084391417999996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:53.95, Y:6.59, Z:1.78 [[ 9.91170952e-01 -1.25330065e-01 -4.32726146e-02 5.39519543e+01] [ 1.25220488e-01 9.92115077e-01 -5.24435448e-03 6.59479482e+00] [ 4.35886887e-02 -2.20566098e-04 9.99049537e-01 1.77892089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.114391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:53.98, Y:6.60, Z:1.78 [[ 9.91412975e-01 -1.23083231e-01 -4.41682086e-02 5.39795546e+01] [ 1.22966461e-01 9.92396345e-01 -5.36141085e-03 6.60016410e+00] [ 4.44922686e-02 -1.15836025e-04 9.99009722e-01 1.77992934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:54.01, Y:6.60, Z:1.78 [[ 9.91483965e-01 -1.22428739e-01 -4.43931483e-02 5.40068193e+01] [ 1.22309416e-01 9.92477304e-01 -5.40442534e-03 6.60434561e+00] [ 4.47208491e-02 -7.12989874e-05 9.98999520e-01 1.78097253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17439141799999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:54.03, Y:6.61, Z:1.78 [[ 9.91582614e-01 -1.21593532e-01 -4.44852016e-02 5.40344100e+01] [ 1.21472165e-01 9.92579978e-01 -5.43145239e-03 6.60818305e+00] [ 4.48155499e-02 -1.79799772e-05 9.98995278e-01 1.78140941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20439141799999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:54.06, Y:6.61, Z:1.78 [[ 9.91625802e-01 -1.21351153e-01 -4.41833369e-02 5.40614935e+01] [ 1.21230492e-01 9.92609640e-01 -5.41020816e-03 6.61235691e+00] [ 4.45133411e-02 8.53433852e-06 9.99008790e-01 1.78281690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.234391417999994 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:54.09, Y:6.62, Z:1.78 [[ 9.91744022e-01 -1.20501230e-01 -4.38548630e-02 5.40889846e+01] [ 1.20380836e-01 9.92713176e-01 -5.38558795e-03 6.61734124e+00] [ 4.41842703e-02 6.18395734e-05 9.99023396e-01 1.78432531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264391417999995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:54.12, Y:6.62, Z:1.79 [[ 9.91754267e-01 -1.20356373e-01 -4.40206513e-02 5.41159724e+01] [ 1.20234259e-01 9.92730747e-01 -5.42092831e-03 6.62126109e+00] [ 4.43530973e-02 8.34383871e-05 9.99015914e-01 1.78551300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.294391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:54.14, Y:6.62, Z:1.79 [[ 9.91737068e-01 -1.20498739e-01 -4.40186564e-02 5.41424801e+01] [ 1.20376294e-01 9.92713476e-01 -5.43154885e-03 6.62465877e+00] [ 4.43524082e-02 8.78656232e-05 9.99015944e-01 1.78636630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:54.17, Y:6.63, Z:1.79 [[ 9.91585360e-01 -1.21831459e-01 -4.37672089e-02 5.41698871e+01] [ 1.21711240e-01 9.92550802e-01 -5.41108049e-03 6.62671183e+00] [ 4.41004181e-02 3.85869208e-05 9.99027103e-01 1.78633055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:54.20, Y:6.63, Z:1.79 [[ 9.91433988e-01 -1.23252926e-01 -4.32130086e-02 5.41975861e+01] [ 1.23136605e-01 9.92375290e-01 -5.35354233e-03 6.62969355e+00] [ 4.35433617e-02 -1.34193701e-05 9.99051538e-01 1.78718545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38439141799999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:54.22, Y:6.63, Z:1.79 [[ 9.91209443e-01 -1.25336362e-01 -4.23631554e-02 5.42249941e+01] [ 1.25225884e-01 9.92114302e-01 -5.26209777e-03 6.63362818e+00] [ 4.26886245e-02 -8.91225867e-05 9.99088421e-01 1.78865938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.414391417999994 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:54.25, Y:6.64, Z:1.79 [[ 9.90986947e-01 -1.27205770e-01 -4.19947990e-02 5.42523619e+01] [ 1.27098293e-01 9.91876337e-01 -5.23026173e-03 6.63710895e+00] [ 4.23189669e-02 -1.54346166e-04 9.99104139e-01 1.78974052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444391417999995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:54.28, Y:6.64, Z:1.79 [[ 9.90724267e-01 -1.29241790e-01 -4.19760179e-02 5.42792314e+01] [ 1.29135667e-01 9.91613084e-01 -5.24134392e-03 6.64027831e+00] [ 4.23013692e-02 -2.27874467e-04 9.99104870e-01 1.79068165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.474391417999996 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:54.31, Y:6.64, Z:1.79 [[ 9.90147951e-01 -1.33557513e-01 -4.20645328e-02 5.43072042e+01] [ 1.33454509e-01 9.91040981e-01 -5.26001678e-03 6.64218041e+00] [ 4.23901907e-02 -4.05506748e-04 9.99101050e-01 1.79149849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:54.34, Y:6.64, Z:1.79 [[ 9.89846599e-01 -1.35834714e-01 -4.18645516e-02 5.43353644e+01] [ 1.35734104e-01 9.90731394e-01 -5.24966783e-03 6.64497035e+00] [ 4.21896127e-02 -4.86081539e-04 9.99109504e-01 1.79178313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:54.36, Y:6.65, Z:1.79 [[ 9.89641466e-01 -1.37223559e-01 -4.21836864e-02 5.43630464e+01] [ 1.37122194e-01 9.90539956e-01 -5.30083842e-03 6.64769609e+00] [ 4.25120268e-02 -5.38390147e-04 9.99095810e-01 1.79239366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56439141799999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:54.39, Y:6.65, Z:1.79 [[ 9.89262423e-01 -1.40130450e-01 -4.15128379e-02 5.43911609e+01] [ 1.40034622e-01 9.90132838e-01 -5.22175840e-03 6.65094884e+00] [ 4.18349514e-02 -6.47545214e-04 9.99124325e-01 1.79329498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.594391417999994 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:54.42, Y:6.65, Z:1.80 [[ 9.88991098e-01 -1.42375028e-01 -4.03231779e-02 5.44178336e+01] [ 1.42286011e-01 9.89812532e-01 -5.08362694e-03 6.65470651e+00] [ 4.06361683e-02 -7.09762355e-04 9.99173758e-01 1.79526445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624391417999995 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:54.45, Y:6.66, Z:1.80 [[ 9.88755238e-01 -1.43793507e-01 -4.10671098e-02 5.44460448e+01] [ 1.43701798e-01 9.89607416e-01 -5.19187635e-03 6.65789621e+00] [ 4.13868745e-02 -7.67922597e-04 9.99142901e-01 1.79568975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.654391417999996 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:54.47, Y:6.66, Z:1.80 [[ 9.88159943e-01 -1.47954548e-01 -4.06125549e-02 5.44733952e+01] [ 1.47867797e-01 9.88993736e-01 -5.14835091e-03 6.66197359e+00] [ 4.09272843e-02 -9.17894883e-04 9.99161706e-01 1.79741135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:54.50, Y:6.67, Z:1.80 [[ 9.87901994e-01 -1.49708151e-01 -4.04613417e-02 5.45010294e+01] [ 1.49622981e-01 9.88729751e-01 -5.14222795e-03 6.66533106e+00] [ 4.07751657e-02 -9.73929308e-04 9.99167872e-01 1.79820875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:54.53, Y:6.67, Z:1.80 [[ 9.87691125e-01 -1.51228151e-01 -3.99535628e-02 5.45290489e+01] [ 1.51146178e-01 9.88498360e-01 -5.08190986e-03 6.66840874e+00] [ 4.02625591e-02 -1.01947106e-03 9.99188614e-01 1.79870185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74439141799999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:54.56, Y:6.67, Z:1.80 [[ 9.87560612e-01 -1.52175673e-01 -3.95803155e-02 5.45581607e+01] [ 1.52095730e-01 9.88352912e-01 -5.04080822e-03 6.67130144e+00] [ 3.98864085e-02 -1.04189334e-03 9.99203677e-01 1.79902909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77439141799999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:54.59, Y:6.68, Z:1.80 [[ 9.87360773e-01 -1.53607580e-01 -3.90309431e-02 5.45866182e+01] [ 1.53530540e-01 9.88131347e-01 -4.98149047e-03 6.67541021e+00] [ 3.93328930e-02 -1.07391346e-03 9.99225585e-01 1.80068158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804391417999994 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:54.62, Y:6.68, Z:1.80 [[ 9.87221426e-01 -1.54239402e-01 -4.00507530e-02 5.46155959e+01] [ 1.54158383e-01 9.88032873e-01 -5.12201609e-03 6.68106346e+00] [ 4.03614772e-02 -1.11759529e-03 9.99184519e-01 1.80258710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834391417999996 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:54.64, Y:6.69, Z:1.80 [[ 9.87270653e-01 -1.53832265e-01 -4.04016382e-02 5.46435340e+01] [ 1.53749409e-01 9.88096354e-01 -5.16863342e-03 6.68575304e+00] [ 4.07158140e-02 -1.10888790e-03 9.99170152e-01 1.80333638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.864391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:54.67, Y:6.69, Z:1.80 [[ 9.87364311e-01 -1.53018421e-01 -4.11956331e-02 5.46731512e+01] [ 1.52931475e-01 9.88222731e-01 -5.27242773e-03 6.69070868e+00] [ 4.15172396e-02 -1.09430197e-03 9.99137188e-01 1.80424396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.894391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:54.70, Y:6.70, Z:1.81 [[ 9.87547115e-01 -1.51767199e-01 -4.14416917e-02 5.47020171e+01] [ 1.51678101e-01 9.88415712e-01 -5.30414780e-03 6.69568476e+00] [ 4.17666148e-02 -1.04770123e-03 9.99126845e-01 1.80520985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92439141799999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:54.73, Y:6.70, Z:1.81 [[ 9.88116179e-01 -1.48010413e-01 -4.14648632e-02 5.47308996e+01] [ 1.47917837e-01 9.88985404e-01 -5.30883594e-03 6.70157383e+00] [ 4.17939075e-02 -8.87646212e-04 9.99125859e-01 1.80673297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95439141799999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:54.76, Y:6.71, Z:1.81 [[ 9.88443690e-01 -1.45614348e-01 -4.21370692e-02 5.47592686e+01] [ 1.45516428e-01 9.89341108e-01 -5.39821832e-03 6.70600797e+00] [ 4.24739928e-02 -7.95800972e-04 9.99097256e-01 1.80730835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.984391417999994 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:54.79, Y:6.71, Z:1.81 [[ 9.88753244e-01 -1.43712315e-01 -4.13979853e-02 5.47868149e+01] [ 1.43615622e-01 9.89619268e-01 -5.31578920e-03 6.71120667e+00] [ 4.17321883e-02 -6.89393614e-04 9.99128595e-01 1.80851858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014391417999995 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:54.81, Y:6.72, Z:1.81 [[ 9.89002030e-01 -1.41903979e-01 -4.16922631e-02 5.48140888e+01] [ 1.41803667e-01 9.89880244e-01 -5.36865125e-03 6.71691642e+00] [ 4.20321806e-02 -6.02508811e-04 9.99116076e-01 1.80985707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.044391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:54.84, Y:6.72, Z:1.81 [[ 9.89804804e-01 -1.36422790e-01 -4.09300971e-02 5.48414019e+01] [ 1.36320833e-01 9.90650645e-01 -5.28485036e-03 6.72388323e+00] [ 4.12684011e-02 -3.48654658e-04 9.99148036e-01 1.81078100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.074391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:54.87, Y:6.73, Z:1.81 [[ 9.90203594e-01 -1.33474504e-01 -4.10048607e-02 5.48685573e+01] [ 1.33369081e-01 9.91052224e-01 -5.30817817e-03 6.72832088e+00] [ 4.13464649e-02 -2.12603478e-04 9.99144847e-01 1.81106282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:54.90, Y:6.73, Z:1.81 [[ 9.90453362e-01 -1.31770485e-01 -4.04805662e-02 5.48964870e+01] [ 1.31666013e-01 9.91280244e-01 -5.24779828e-03 6.73355578e+00] [ 4.08190904e-02 -1.32215286e-04 9.99166545e-01 1.81236936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13439141799999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:54.92, Y:6.74, Z:1.81 [[ 9.91029390e-01 -1.26759973e-01 -4.23397883e-02 5.49238074e+01] [ 1.26357086e-01 9.91911379e-01 -1.20707810e-02 6.74213177e+00] [ 4.35274097e-02 6.61256650e-03 9.99030349e-01 1.81471262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164391417999994 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:54.95, Y:6.74, Z:1.81 [[ 9.91170049e-01 -1.25213615e-01 -4.36289313e-02 5.49516638e+01] [ 1.25363744e-01 9.92110591e-01 7.11340040e-04 6.74050746e+00] [ 4.31956553e-02 -6.17454512e-03 9.99047552e-01 1.81201405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194391417999995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:54.98, Y:6.75, Z:1.81 [[ 9.91310006e-01 -1.24305875e-01 -4.30409158e-02 5.49789419e+01] [ 1.24179182e-01 9.92243922e-01 -5.61519358e-03 6.74823406e+00] [ 4.34050887e-02 2.21611855e-04 9.99057530e-01 1.81438370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224391417999996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:55.01, Y:6.75, Z:1.82 [[ 9.91360551e-01 -1.24003027e-01 -4.27493639e-02 5.50062832e+01] [ 1.23877138e-01 9.92281809e-01 -5.59166164e-03 6.75291224e+00] [ 4.31127991e-02 2.47683911e-04 9.99070180e-01 1.81595128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.254391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:55.03, Y:6.76, Z:1.82 [[ 9.91495838e-01 -1.22982575e-01 -4.25592519e-02 5.50328542e+01] [ 1.22856274e-01 9.92408783e-01 -5.58054490e-03 6.75684205e+00] [ 4.29224852e-02 3.04415927e-04 9.99078359e-01 1.81739220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:55.06, Y:6.76, Z:1.82 [[ 9.91533365e-01 -1.22667922e-01 -4.25930461e-02 5.50604144e+01] [ 1.22540790e-01 9.92447719e-01 -5.59287187e-03 6.76000622e+00] [ 4.29574374e-02 3.26133555e-04 9.99076850e-01 1.81827505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31439141799999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:55.09, Y:6.76, Z:1.82 [[ 9.91505782e-01 -1.22912300e-01 -4.25305918e-02 5.50882860e+01] [ 1.22785123e-01 9.92417482e-01 -5.59962872e-03 6.76339476e+00] [ 4.28963660e-02 3.29940321e-04 9.99079473e-01 1.81952514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344391417999994 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:55.12, Y:6.77, Z:1.82 [[ 9.91526253e-01 -1.22813440e-01 -4.23384906e-02 5.51156870e+01] [ 1.22686683e-01 9.92429714e-01 -5.58924836e-03 6.76669918e+00] [ 4.27044110e-02 3.47517516e-04 9.99087690e-01 1.82024166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374391417999995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:55.14, Y:6.77, Z:1.82 [[ 9.91672750e-01 -1.21427299e-01 -4.29018407e-02 5.51406789e+01] [ 1.21026563e-01 9.92578804e-01 -1.18274258e-02 6.77202802e+00] [ 4.40196301e-02 6.53667355e-03 9.99009281e-01 1.82329339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404391417999996 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:55.17, Y:6.77, Z:1.82 [[ 9.91433456e-01 -1.23095161e-01 -4.36724705e-02 5.51717756e+01] [ 1.23200516e-01 9.92381758e-01 -2.81162746e-04 6.77088527e+00] [ 4.33743728e-02 -5.10171673e-03 9.99045863e-01 1.82176614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.434391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:55.20, Y:6.78, Z:1.82 [[ 9.91398534e-01 -1.23626132e-01 -4.29595830e-02 5.51995111e+01] [ 1.23496026e-01 9.92328813e-01 -5.67961232e-03 6.77739079e+00] [ 4.33321806e-02 3.25421528e-04 9.99060667e-01 1.82399568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:55.23, Y:6.78, Z:1.82 [[ 9.91027399e-01 -1.26915340e-01 -4.19188620e-02 5.52263512e+01] [ 1.26793857e-01 9.91913535e-01 -5.55495819e-03 6.77951462e+00] [ 4.22848960e-02 1.90061577e-04 9.99105576e-01 1.82464779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49439141799999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:55.25, Y:6.78, Z:1.83 [[ 9.90705113e-01 -1.29389224e-01 -4.19738864e-02 5.52546107e+01] [ 1.29269317e-01 9.91593879e-01 -5.56986284e-03 6.78167646e+00] [ 4.23417290e-02 9.21559820e-05 9.99103183e-01 1.82528837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52439141799999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:55.28, Y:6.78, Z:1.83 [[ 9.90303554e-01 -1.32300959e-01 -4.23713127e-02 5.52822418e+01] [ 1.32180812e-01 9.91209592e-01 -5.63708869e-03 6.78386041e+00] [ 4.27446438e-02 -1.82455744e-05 9.99086030e-01 1.82637247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554391417999994 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:55.31, Y:6.79, Z:1.83 [[ 9.89945178e-01 -1.34982651e-01 -4.22874428e-02 5.53121247e+01] [ 1.34864856e-01 9.90847955e-01 -5.63926588e-03 6.78678975e+00] [ 4.26616293e-02 -1.20525819e-04 9.99089571e-01 1.82766918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584391417999996 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:55.34, Y:6.79, Z:1.83 [[ 9.89039460e-01 -1.41550986e-01 -4.20031523e-02 5.53403493e+01] [ 1.41440607e-01 9.89930886e-01 -5.60318095e-03 6.78945282e+00] [ 4.23733536e-02 -3.99184285e-04 9.99101766e-01 1.82934049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.614391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:55.37, Y:6.79, Z:1.83 [[ 9.88539453e-01 -1.44964534e-01 -4.21311402e-02 5.53701078e+01] [ 1.44856474e-01 9.89436702e-01 -5.62271759e-03 6.79271609e+00] [ 4.25011911e-02 -5.44690232e-04 9.99096268e-01 1.83067586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:55.40, Y:6.79, Z:1.83 [[ 9.88099523e-01 -1.47745596e-01 -4.27851887e-02 5.53991897e+01] [ 1.47636675e-01 9.89025170e-01 -5.71192588e-03 6.79490326e+00] [ 4.31595404e-02 -6.72711747e-04 9.99067966e-01 1.83130923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67439141799999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:55.43, Y:6.80, Z:1.83 [[ 9.87649595e-01 -1.51055287e-01 -4.16002018e-02 5.54283299e+01] [ 1.50955149e-01 9.88524998e-01 -5.55611639e-03 6.79733423e+00] [ 4.19621202e-02 -7.92268561e-04 9.99118888e-01 1.83225226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70439141799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:55.46, Y:6.80, Z:1.83 [[ 9.86859132e-01 -1.56254283e-01 -4.11540069e-02 5.54582084e+01] [ 1.56160726e-01 9.87716355e-01 -5.49820023e-03 6.79765252e+00] [ 4.15076030e-02 -1.00069047e-03 9.99137687e-01 1.83246210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.734391417999994 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:55.49, Y:6.80, Z:1.83 [[ 9.86548079e-01 -1.58322099e-01 -4.07062749e-02 5.54875933e+01] [ 1.58232256e-01 9.87386935e-01 -5.44003279e-03 6.80016486e+00] [ 4.10541214e-02 -1.07419181e-03 9.99156347e-01 1.83326159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764391417999995 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:55.52, Y:6.80, Z:1.83 [[ 9.86272047e-01 -1.60005383e-01 -4.08133087e-02 5.55165856e+01] [ 1.59916437e-01 9.87115477e-01 -5.45601674e-03 6.80336015e+00] [ 4.11604407e-02 -1.14560212e-03 9.99151893e-01 1.83457019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.794391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:55.54, Y:6.81, Z:1.84 [[ 9.86119537e-01 -1.60561787e-01 -4.22867707e-02 5.55410176e+01] [ 1.59986698e-01 9.86978370e-01 -1.66719163e-02 6.81176023e+00] [ 4.44130007e-02 9.67518157e-03 9.98966404e-01 1.83853129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:55.57, Y:6.81, Z:1.84 [[ 9.85786392e-01 -1.62555778e-01 -4.24359304e-02 5.55729980e+01] [ 1.62911318e-01 9.86627864e-01 5.03582786e-03 6.80673099e+00] [ 4.10498685e-02 -1.18775439e-02 9.99086499e-01 1.83514073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:55.60, Y:6.82, Z:1.84 [[ 9.85731357e-01 -1.63104157e-01 -4.16020034e-02 5.56000810e+01] [ 1.63013596e-01 9.86608027e-01 -5.58285222e-03 6.81565850e+00] [ 4.19554569e-02 -1.27849967e-03 9.99118664e-01 1.83836187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88439141799999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:55.63, Y:6.82, Z:1.84 [[ 9.85711558e-01 -1.63198631e-01 -4.17004888e-02 5.56267669e+01] [ 1.63107197e-01 9.86592411e-01 -5.60861437e-03 6.81916878e+00] [ 4.20567040e-02 -1.27317381e-03 9.99114414e-01 1.83871388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.914391417999994 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:55.65, Y:6.82, Z:1.84 [[ 9.85698382e-01 -1.63132922e-01 -4.22652249e-02 5.56540767e+01] [ 1.63038617e-01 9.86603269e-01 -5.69199777e-03 6.82284118e+00] [ 4.26275613e-02 -1.28027081e-03 9.99090212e-01 1.83995610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944391417999995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:55.68, Y:6.83, Z:1.85 [[ 9.85926683e-01 -1.61270478e-01 -4.40500752e-02 5.56798883e+01] [ 1.60527589e-01 9.86830030e-01 -1.99345301e-02 6.83391831e+00] [ 4.66847883e-02 1.25827328e-02 9.98830419e-01 1.84530337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.974391417999996 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:55.71, Y:6.83, Z:1.84 [[ 9.86019999e-01 -1.60616923e-01 -4.43482283e-02 5.57103956e+01] [ 1.61107949e-01 9.86906707e-01 7.70587054e-03 6.82647279e+00] [ 4.25298708e-02 -1.47429946e-02 9.98986413e-01 1.84025492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:55.74, Y:6.84, Z:1.84 [[ 9.86098958e-01 -1.60574997e-01 -4.27143514e-02 5.57381853e+01] [ 1.60474849e-01 9.87022973e-01 -5.78564479e-03 6.83820679e+00] [ 4.30890760e-02 -1.14936079e-03 9.99070573e-01 1.84405686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:55.77, Y:6.84, Z:1.85 [[ 9.86340940e-01 -1.59009121e-01 -4.29842976e-02 5.57651317e+01] [ 1.58905734e-01 9.87276527e-01 -5.83332741e-03 6.84356945e+00] [ 4.33649403e-02 -1.07680171e-03 9.99058718e-01 1.84551055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06439141799999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:55.79, Y:6.85, Z:1.85 [[ 9.86751411e-01 -1.56734917e-01 -4.19024928e-02 5.57937707e+01] [ 1.56634331e-01 9.87640254e-01 -5.69335909e-03 6.84892213e+00] [ 4.22769368e-02 -9.45438814e-04 9.99105483e-01 1.84649792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.094391417999994 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:55.82, Y:6.85, Z:1.85 [[ 9.86928161e-01 -1.55596810e-01 -4.19813923e-02 5.58241873e+01] [ 1.55494378e-01 9.87820249e-01 -5.71441301e-03 6.85422145e+00] [ 4.23592138e-02 -8.88155338e-04 9.99102051e-01 1.84863522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124391417999995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:55.85, Y:6.86, Z:1.85 [[ 9.86924987e-01 -1.55616946e-01 -4.19813763e-02 5.58540484e+01] [ 1.55514527e-01 9.87817076e-01 -5.71453040e-03 6.85832194e+00] [ 4.23591981e-02 -8.88901041e-04 9.99102051e-01 1.84973806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.154391417999996 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:55.88, Y:6.86, Z:1.85 [[ 9.87339186e-01 -1.52667851e-01 -4.30564639e-02 5.58831017e+01] [ 1.52557275e-01 9.88277247e-01 -5.86178526e-03 6.86468014e+00] [ 4.34466298e-02 -7.81006544e-04 9.99055444e-01 1.85061158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.184391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:55.91, Y:6.87, Z:1.85 [[ 9.87467496e-01 -1.51733097e-01 -4.34167255e-02 5.59115417e+01] [ 1.51619707e-01 9.88421222e-01 -5.91201763e-03 6.86990046e+00] [ 4.38110616e-02 -7.44905974e-04 9.99039557e-01 1.85189161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.214391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:55.94, Y:6.88, Z:1.85 [[ 9.87520616e-01 -1.51297075e-01 -4.37290404e-02 5.59414981e+01] [ 1.51181523e-01 9.88488070e-01 -5.95674131e-03 6.87528584e+00] [ 4.41268723e-02 -7.28618092e-04 9.99025669e-01 1.85297462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24439141799999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:55.97, Y:6.88, Z:1.85 [[ 9.87883818e-01 -1.48765135e-01 -4.42096989e-02 5.59675523e+01] [ 1.48828533e-01 9.88861245e-01 -1.87237622e-03 6.87689817e+00] [ 4.39958022e-02 -4.72997448e-03 9.99020519e-01 1.85267382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27439141799999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:56.00, Y:6.89, Z:1.86 [[ 9.87606958e-01 -1.50875951e-01 -4.32312820e-02 5.59976562e+01] [ 1.50562445e-01 9.88545405e-01 -1.04371097e-02 6.88583394e+00] [ 4.43107940e-02 3.79875465e-03 9.99010572e-01 1.85563458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304391417999994 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:56.03, Y:6.89, Z:1.86 [[ 9.87560441e-01 -1.51083277e-01 -4.35685625e-02 5.60265082e+01] [ 1.50967483e-01 9.88520793e-01 -5.95490296e-03 6.88817666e+00] [ 4.39681162e-02 -6.96609646e-04 9.99032692e-01 1.85620941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334391417999996 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:56.06, Y:6.89, Z:1.86 [[ 9.87476629e-01 -1.51727380e-01 -4.32285813e-02 5.60560365e+01] [ 1.51613895e-01 9.88422120e-01 -5.91091456e-03 6.89398006e+00] [ 4.36249336e-02 -7.17163623e-04 9.99047722e-01 1.85785393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:56.09, Y:6.90, Z:1.86 [[ 9.87350815e-01 -1.52508990e-01 -4.33517636e-02 5.60855657e+01] [ 1.52395534e-01 9.88301797e-01 -5.92950722e-03 6.89896265e+00] [ 4.37489291e-02 -7.52111360e-04 9.99042274e-01 1.85890823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.394391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:56.12, Y:6.90, Z:1.86 [[ 9.87212838e-01 -1.53408599e-01 -4.33199166e-02 5.61151135e+01] [ 1.53296099e-01 9.88162526e-01 -5.92688583e-03 6.90336786e+00] [ 4.37163535e-02 -7.89676438e-04 9.99043671e-01 1.85968651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:56.14, Y:6.91, Z:1.86 [[ 9.87072034e-01 -1.54277029e-01 -4.34441913e-02 5.61448222e+01] [ 1.54164646e-01 9.88027283e-01 -5.94562354e-03 6.90757341e+00] [ 4.38413194e-02 -8.28799650e-04 9.99038163e-01 1.86036114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45439141799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:56.17, Y:6.91, Z:1.86 [[ 9.87026108e-01 -1.54548098e-01 -4.35241002e-02 5.61747025e+01] [ 1.54435489e-01 9.87984908e-01 -5.95828790e-03 6.91132181e+00] [ 4.39219962e-02 -8.40679969e-04 9.99034610e-01 1.86140863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.484391417999994 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:56.20, Y:6.91, Z:1.86 [[ 9.87192567e-01 -1.53686207e-01 -4.27946873e-02 5.62034035e+01] [ 1.53576454e-01 9.88119391e-01 -5.86023835e-03 6.91472921e+00] [ 4.31868982e-02 -7.87072581e-04 9.99066701e-01 1.86182983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514391417999995 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:56.23, Y:6.92, Z:1.86 [[ 9.87375487e-01 -1.52432115e-01 -4.30592459e-02 5.62314205e+01] [ 1.52319698e-01 9.88313670e-01 -5.89902166e-03 6.91858015e+00] [ 4.34552417e-02 -7.34221941e-04 9.99055105e-01 1.86295349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:56.26, Y:6.92, Z:1.86 [[ 9.87589827e-01 -1.51003610e-01 -4.31768834e-02 5.62591254e+01] [ 1.50889076e-01 9.88532984e-01 -5.91827562e-03 6.92279306e+00] [ 4.35754544e-02 -6.70091249e-04 9.99049914e-01 1.86438780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.574391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:56.29, Y:6.93, Z:1.87 [[ 9.88240725e-01 -1.46783951e-01 -4.28338695e-02 5.62881455e+01] [ 1.46667028e-01 9.89168462e-01 -5.87676123e-03 6.92786288e+00] [ 4.32325270e-02 -4.74661568e-04 9.99064924e-01 1.86600802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60439141799999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:56.32, Y:6.93, Z:1.87 [[ 9.88636464e-01 -1.44050891e-01 -4.29800330e-02 5.63156786e+01] [ 1.43844882e-01 9.89569000e-01 -7.86413701e-03 6.93282006e+00] [ 4.36645442e-02 1.59231483e-03 9.99044980e-01 1.86792769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63439141799999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:56.34, Y:6.94, Z:1.87 [[ 9.88874406e-01 -1.42406862e-01 -4.29848179e-02 5.63448832e+01] [ 1.42363297e-01 9.89806029e-01 -4.08864700e-03 6.93566902e+00] [ 4.31288833e-02 -2.07630202e-03 9.99067359e-01 1.86837618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664391417999994 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:56.37, Y:6.94, Z:1.87 [[ 9.89189507e-01 -1.40433442e-01 -4.22204662e-02 5.63723628e+01] [ 1.40313142e-01 9.90090106e-01 -5.81409435e-03 6.94059285e+00] [ 4.26185592e-02 -1.72845156e-04 9.99091401e-01 1.86995995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694391417999995 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:56.40, Y:6.94, Z:1.87 [[ 9.89682482e-01 -1.36896202e-01 -4.22849165e-02 5.63996574e+01] [ 1.36771686e-01 9.90585398e-01 -5.83748112e-03 6.94434394e+00] [ 4.26859498e-02 -6.12649264e-06 9.99088539e-01 1.87042064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724391417999996 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:56.43, Y:6.95, Z:1.87 [[ 9.89738048e-01 -1.36427890e-01 -4.24973864e-02 5.64271063e+01] [ 1.36301087e-01 9.90650004e-01 -5.88077908e-03 6.94827086e+00] [ 4.29023383e-02 2.79908375e-05 9.99079270e-01 1.87152383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.754391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:56.45, Y:6.95, Z:1.87 [[ 9.89760046e-01 -1.36185163e-01 -4.27627443e-02 5.64537637e+01] [ 1.36055924e-01 9.90683400e-01 -5.93185922e-03 6.95224248e+00] [ 4.31721722e-02 5.29925749e-05 9.99067646e-01 1.87206059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:56.48, Y:6.96, Z:1.87 [[ 9.89732007e-01 -1.36337921e-01 -4.29246543e-02 5.64804091e+01] [ 1.36207381e-01 9.90662389e-01 -5.96501066e-03 6.95584104e+00] [ 4.33370977e-02 5.71072493e-05 9.99060505e-01 1.87257618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81439141799999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:56.51, Y:6.96, Z:1.87 [[ 9.89508722e-01 -1.37656777e-01 -4.38531782e-02 5.65072295e+01] [ 1.37521376e-01 9.90479991e-01 -6.10405608e-03 6.95810334e+00] [ 4.42759602e-02 9.26733026e-06 9.99019339e-01 1.87276530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844391417999994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:56.53, Y:6.96, Z:1.87 [[ 9.89318846e-01 -1.38983961e-01 -4.39508708e-02 5.65346339e+01] [ 1.38848920e-01 9.90294631e-01 -6.12542031e-03 6.96116354e+00] [ 4.43756466e-02 -4.25371832e-05 9.99014915e-01 1.87267966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874391417999995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:56.56, Y:6.96, Z:1.87 [[ 9.89015521e-01 -1.41235159e-01 -4.35996530e-02 5.65619678e+01] [ 1.41103832e-01 9.89976067e-01 -6.09059248e-03 6.96440912e+00] [ 4.40228188e-02 -1.28387616e-04 9.99030518e-01 1.87414481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904391417999996 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:56.59, Y:6.97, Z:1.87 [[ 9.88748404e-01 -1.43117436e-01 -4.35200283e-02 5.65885196e+01] [ 1.42987823e-01 9.89705694e-01 -6.09282113e-03 6.96724524e+00] [ 4.39440087e-02 -1.98566929e-04 9.99033976e-01 1.87485105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.934391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:56.62, Y:6.97, Z:1.88 [[ 9.87895184e-01 -1.48970428e-01 -4.32541073e-02 5.66157558e+01] [ 1.48847542e-01 9.88841551e-01 -6.06600839e-03 6.97065694e+00] [ 4.36751144e-02 -4.45687054e-04 9.99045688e-01 1.87741229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:56.64, Y:6.97, Z:1.88 [[ 9.87538868e-01 -1.51313667e-01 -4.32568972e-02 5.66444820e+01] [ 1.51192388e-01 9.88485654e-01 -6.08061734e-03 6.97424017e+00] [ 4.36789028e-02 -5.35267633e-04 9.99045478e-01 1.87786619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99439141799999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:56.67, Y:6.98, Z:1.88 [[ 9.87065309e-01 -1.54475632e-01 -4.28877117e-02 5.66736339e+01] [ 1.54358944e-01 9.87996379e-01 -6.03917574e-03 6.97847341e+00] [ 4.33058094e-02 -6.59041011e-04 9.99061646e-01 1.87971515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02439141799999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:56.70, Y:6.98, Z:1.88 [[ 9.86618085e-01 -1.57379454e-01 -4.26199736e-02 5.67032204e+01] [ 1.57266856e-01 9.87537897e-01 -6.00308878e-03 6.98199396e+00] [ 4.30336019e-02 -7.79953283e-04 9.99073321e-01 1.88082963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054391417999994 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:56.73, Y:6.98, Z:1.88 [[ 9.85861553e-01 -1.62228557e-01 -4.19391769e-02 5.67326233e+01] [ 1.62123868e-01 9.86752727e-01 -5.90816211e-03 6.98358114e+00] [ 4.23420698e-02 -9.74711687e-04 9.99102697e-01 1.88050517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084391417999996 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:56.76, Y:6.99, Z:1.88 [[ 9.85462710e-01 -1.64724505e-01 -4.15822619e-02 5.67633191e+01] [ 1.64623746e-01 9.86339034e-01 -5.85937079e-03 6.98743414e+00] [ 4.19793900e-02 -1.07123632e-03 9.99117903e-01 1.88143818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.114391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:56.79, Y:6.99, Z:1.88 [[ 9.85076398e-01 -1.67047700e-01 -4.14675221e-02 5.67935388e+01] [ 1.66949552e-01 9.85948124e-01 -5.84320277e-03 6.99194601e+00] [ 4.18609193e-02 -1.16698313e-03 9.99122766e-01 1.88341743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:56.82, Y:7.00, Z:1.88 [[ 9.84907151e-01 -1.68022124e-01 -4.15507958e-02 5.68225915e+01] [ 1.67924443e-01 9.85782481e-01 -5.85504673e-03 6.99596247e+00] [ 4.19438239e-02 -1.21071685e-03 9.99119237e-01 1.88356413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17439141799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:56.85, Y:7.00, Z:1.89 [[ 9.84453169e-01 -1.70765036e-01 -4.11249410e-02 5.68524083e+01] [ 1.70671705e-01 9.85310904e-01 -5.79577717e-03 7.00108575e+00] [ 4.15105689e-02 -1.31319262e-03 9.99137202e-01 1.88551788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20439141799999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:56.88, Y:7.01, Z:1.89 [[ 9.84353937e-01 -1.71223390e-01 -4.15917831e-02 5.68818878e+01] [ 1.71128332e-01 9.85231310e-01 -5.86167912e-03 7.00533075e+00] [ 4.19811835e-02 -1.34756553e-03 9.99117493e-01 1.88682360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.234391417999994 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:56.91, Y:7.01, Z:1.89 [[ 9.84272286e-01 -1.71611728e-01 -4.19223362e-02 5.69122027e+01] [ 1.71515473e-01 9.85163705e-01 -5.90900927e-03 7.01012580e+00] [ 4.23144194e-02 -1.37425527e-03 9.99103399e-01 1.88819436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264391417999995 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:56.94, Y:7.02, Z:1.89 [[ 9.84329976e-01 -1.70962932e-01 -4.31992344e-02 5.69388022e+01] [ 1.70492306e-01 9.85254063e-01 -1.43807217e-02 7.01832294e+00] [ 4.50207916e-02 6.79023831e-03 9.98962973e-01 1.89110876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.294391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:56.97, Y:7.02, Z:1.89 [[ 9.84197020e-01 -1.71696256e-01 -4.33199868e-02 5.69683009e+01] [ 1.71939670e-01 9.85105592e-01 1.92911691e-03 7.01696356e+00] [ 4.23435391e-02 -9.34705536e-03 9.99059386e-01 1.88857642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:57.00, Y:7.03, Z:1.89 [[ 9.84229915e-01 -1.71793157e-01 -4.21732775e-02 5.69980773e+01] [ 1.71695185e-01 9.85132085e-01 -5.96142970e-03 7.02562269e+00] [ 4.25703816e-02 -1.37353125e-03 9.99092526e-01 1.89147891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35439141799999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:57.03, Y:7.03, Z:1.89 [[ 9.84226470e-01 -1.71812900e-01 -4.21732606e-02 5.70279169e+01] [ 1.71714941e-01 9.85128641e-01 -5.96154940e-03 7.02987715e+00] [ 4.25703580e-02 -1.37426425e-03 9.99092526e-01 1.89258188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38439141799999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:57.06, Y:7.03, Z:1.89 [[ 9.84280276e-01 -1.71651391e-01 -4.15708854e-02 5.70584533e+01] [ 1.71556037e-01 9.85156833e-01 -5.87712911e-03 7.03488931e+00] [ 4.19626591e-02 -1.34699409e-03 9.99118272e-01 1.89373356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.414391417999994 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:57.09, Y:7.04, Z:1.89 [[ 9.84459516e-01 -1.70693436e-01 -4.12699940e-02 5.70875704e+01] [ 1.70598612e-01 9.85323333e-01 -5.83469281e-03 7.04092466e+00] [ 4.16602318e-02 -1.29658483e-03 9.99130994e-01 1.89443370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444391417999995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:57.12, Y:7.05, Z:1.90 [[ 9.84570110e-01 -1.70021892e-01 -4.14035693e-02 5.71166576e+01] [ 1.69925825e-01 9.85439465e-01 -5.85441726e-03 7.04639971e+00] [ 4.17960903e-02 -1.27145144e-03 9.99125353e-01 1.89566101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.474391417999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:57.15, Y:7.05, Z:1.90 [[ 9.84658575e-01 -1.69412209e-01 -4.17970656e-02 5.71454287e+01] [ 1.69313723e-01 9.85544481e-01 -5.91089761e-03 7.05191326e+00] [ 4.21942456e-02 -1.25660078e-03 9.99108636e-01 1.89708358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504391418 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:57.17, Y:7.06, Z:1.90 [[ 9.84953742e-01 -1.67289352e-01 -4.33635730e-02 5.71706227e+01] [ 1.66877868e-01 9.85892301e-01 -1.29671919e-02 7.06007419e+00] [ 4.49210859e-02 5.53566359e-03 9.98975201e-01 1.90061262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:57.20, Y:7.06, Z:1.90 [[ 9.84986774e-01 -1.66887316e-01 -4.41551738e-02 5.72017008e+01] [ 1.67035373e-01 9.85950845e-01 -3.40993471e-04 7.06199390e+00] [ 4.35917384e-02 -7.03960186e-03 9.99024627e-01 1.89836085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56439141799999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:57.23, Y:7.07, Z:1.90 [[ 9.85015447e-01 -1.67066725e-01 -4.28168060e-02 5.72313659e+01] [ 1.66961936e-01 9.85944859e-01 -6.03718185e-03 7.07036677e+00] [ 4.32236220e-02 -1.20205946e-03 9.99064699e-01 1.90119025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.594391417999994 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:57.26, Y:7.08, Z:1.90 [[ 9.84966821e-01 -1.67084422e-01 -4.38538162e-02 5.72617532e+01] [ 1.66974546e-01 9.85941822e-01 -6.18261491e-03 7.07570852e+00] [ 4.42703301e-02 -1.23280052e-03 9.99018828e-01 1.90185802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624391417999995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:57.29, Y:7.08, Z:1.90 [[ 9.84846359e-01 -1.67986015e-01 -4.31085661e-02 5.72919939e+01] [ 1.67880717e-01 9.85788584e-01 -6.07728582e-03 7.08325880e+00] [ 4.35168314e-02 -1.25190417e-03 9.99051910e-01 1.90396562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.654391417999996 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:57.32, Y:7.09, Z:1.90 [[ 9.84914190e-01 -1.67564794e-01 -4.31981349e-02 5.73232549e+01] [ 1.67458744e-01 9.85860288e-01 -6.08783486e-03 7.08894554e+00] [ 4.36074325e-02 -1.23791046e-03 9.99047977e-01 1.90473301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:57.35, Y:7.09, Z:1.91 [[ 9.84835873e-01 -1.68329706e-01 -4.19930081e-02 5.73535049e+01] [ 1.68230330e-01 9.85729970e-01 -5.91461065e-03 7.09474391e+00] [ 4.23893713e-02 -1.23957687e-03 9.99100398e-01 1.90675244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.714391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:57.38, Y:7.10, Z:1.91 [[ 9.84843621e-01 -1.68152286e-01 -4.25188272e-02 5.73847932e+01] [ 1.68050362e-01 9.85760238e-01 -5.98582085e-03 7.10043734e+00] [ 4.29198987e-02 -1.25020682e-03 9.99077734e-01 1.90669383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74439141799999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:57.42, Y:7.11, Z:1.91 [[ 9.84803558e-01 -1.68385179e-01 -4.25250940e-02 5.74167485e+01] [ 1.68283595e-01 9.85720464e-01 -5.98314730e-03 7.10625096e+00] [ 4.29253288e-02 -1.26405095e-03 9.99077484e-01 1.90759761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77439141799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:57.45, Y:7.11, Z:1.91 [[ 9.84604921e-01 -1.69529158e-01 -4.25795028e-02 5.74475804e+01] [ 1.69428530e-01 9.85524289e-01 -5.98736797e-03 7.11247436e+00] [ 4.29781676e-02 -1.31899058e-03 9.99075141e-01 1.90936070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804391417999994 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:57.48, Y:7.12, Z:1.91 [[ 9.84470410e-01 -1.70029641e-01 -4.36798904e-02 5.74798050e+01] [ 1.69924363e-01 9.85437984e-01 -6.13918688e-03 7.11806641e+00] [ 4.40876669e-02 -1.37842974e-03 9.99026715e-01 1.90994193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834391417999996 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:57.51, Y:7.13, Z:1.91 [[ 9.84078588e-01 -1.71986521e-01 -4.48326710e-02 5.75109895e+01] [ 1.71877810e-01 9.85098148e-01 -6.29743842e-03 7.12568732e+00] [ 4.52476557e-02 -1.50856699e-03 9.98974661e-01 1.91140062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:57.54, Y:7.13, Z:1.91 [[ 9.83942660e-01 -1.72706114e-01 -4.50493112e-02 5.75420399e+01] [ 1.72597256e-01 9.84972176e-01 -6.32448808e-03 7.13179463e+00] [ 4.54645958e-02 -1.55245385e-03 9.98964744e-01 1.91261391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.894391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:57.57, Y:7.14, Z:1.91 [[ 9.83784847e-01 -1.73588447e-01 -4.51046135e-02 5.75724114e+01] [ 1.73480331e-01 9.84816988e-01 -6.33041148e-03 7.13788865e+00] [ 4.55186759e-02 -1.59700038e-03 9.98962211e-01 1.91359250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92439141799999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:57.60, Y:7.14, Z:1.91 [[ 9.83725536e-01 -1.73826870e-01 -4.54784468e-02 5.76042239e+01] [ 1.73717311e-01 9.84774890e-01 -6.38065571e-03 7.14373721e+00] [ 4.58951619e-02 -1.62357953e-03 9.98944942e-01 1.91480198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95439141799999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:57.63, Y:7.15, Z:1.92 [[ 9.83674001e-01 -1.74332674e-01 -4.46495037e-02 5.76348518e+01] [ 1.74227749e-01 9.84685479e-01 -6.26089229e-03 7.15131374e+00] [ 4.50571961e-02 -1.62050556e-03 9.98983094e-01 1.91646491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.984391417999994 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:57.67, Y:7.16, Z:1.92 [[ 9.83785331e-01 -1.73828553e-01 -4.41594419e-02 5.76659020e+01] [ 1.73725532e-01 9.84774659e-01 -6.18950309e-03 7.15734536e+00] [ 4.45630117e-02 -1.58248017e-03 9.99005322e-01 1.91813708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014391417999995 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:57.70, Y:7.16, Z:1.92 [[ 9.83834284e-01 -1.73341373e-01 -4.49763271e-02 5.76954048e+01] [ 1.73465559e-01 9.84839257e-01 -1.15672156e-03 7.16253150e+00] [ 4.44949602e-02 -6.66382138e-03 9.98987383e-01 1.92020211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:57.73, Y:7.17, Z:1.92 [[ 9.84143968e-01 -1.71759663e-01 -4.42636275e-02 5.77277583e+01] [ 1.71406400e-01 9.85131113e-01 -1.16848341e-02 7.17284228e+00] [ 4.56124598e-02 3.91248997e-03 9.98951548e-01 1.92206535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.074391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:57.76, Y:7.18, Z:1.92 [[ 9.84439150e-01 -1.69884794e-01 -4.49301277e-02 5.77593995e+01] [ 1.69774581e-01 9.85462877e-01 -6.28563239e-03 7.17986492e+00] [ 4.53448063e-02 -1.44017099e-03 9.98970357e-01 1.92352094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10439141799999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:57.79, Y:7.19, Z:1.92 [[ 9.84585737e-01 -1.68997344e-01 -4.50646649e-02 5.77901169e+01] [ 1.68885694e-01 9.85615502e-01 -6.30109114e-03 7.18617519e+00] [ 4.54813000e-02 -1.40681273e-03 9.98964200e-01 1.92495460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13439141799999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:57.82, Y:7.19, Z:1.93 [[ 9.84692087e-01 -1.68277692e-01 -4.54324956e-02 5.78218837e+01] [ 1.68163576e-01 9.85738653e-01 -6.34970391e-03 7.19223423e+00] [ 4.58530805e-02 -1.38758773e-03 9.98947231e-01 1.92613364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.164391417999994 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:57.85, Y:7.19, Z:1.92 [[ 9.85109438e-01 -1.65892127e-01 -4.51574649e-02 5.78511892e+01] [ 1.66077320e-01 9.86112670e-01 3.54494502e-04 7.19397701e+00] [ 4.44715404e-02 -7.84884664e-03 9.98979818e-01 1.92429420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194391417999995 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:57.88, Y:7.21, Z:1.93 [[ 9.84883608e-01 -1.67448222e-01 -4.43325113e-02 5.78807994e+01] [ 1.67028555e-01 9.85865909e-01 -1.30334979e-02 7.20701856e+00] [ 4.58883476e-02 5.43168311e-03 9.98931808e-01 1.92955618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.224391417999996 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:57.91, Y:7.21, Z:1.93 [[ 9.84466232e-01 -1.69416423e-01 -4.60902754e-02 5.79135219e+01] [ 1.69300696e-01 9.85543459e-01 -6.43148666e-03 7.20971905e+00] [ 4.65135689e-02 -1.47153429e-03 9.98916574e-01 1.92822836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.254391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:57.94, Y:7.22, Z:1.93 [[ 9.84267588e-01 -1.70693878e-01 -4.56170599e-02 5.79448333e+01] [ 1.70582393e-01 9.85322926e-01 -6.35444390e-03 7.21600864e+00] [ 4.60321996e-02 -1.52699406e-03 9.98938789e-01 1.93027278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:57.98, Y:7.22, Z:1.93 [[ 9.84072685e-01 -1.71709753e-01 -4.60077239e-02 5.79751441e+01] [ 1.71597623e-01 9.85146298e-01 -6.40531069e-03 7.22383200e+00] [ 4.64241931e-02 -1.59152474e-03 9.98920548e-01 1.93161491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31439141799999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:58.01, Y:7.23, Z:1.93 [[ 9.84053355e-01 -1.71918520e-01 -4.56400850e-02 5.80062457e+01] [ 1.71808525e-01 9.85109888e-01 -6.35139748e-03 7.22954272e+00] [ 4.60524219e-02 -1.59124167e-03 9.98937757e-01 1.93323581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.344391417999994 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:58.04, Y:7.23, Z:1.93 [[ 9.84219158e-01 -1.70873437e-01 -4.59882406e-02 5.80380749e+01] [ 1.70760755e-01 9.85291756e-01 -6.39689589e-03 7.23486056e+00] [ 4.64048939e-02 -1.55703922e-03 9.98921499e-01 1.93346360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374391417999995 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:58.07, Y:7.24, Z:1.93 [[ 9.84504654e-01 -1.69128519e-01 -4.63263479e-02 5.80701460e+01] [ 1.69012418e-01 9.85592880e-01 -6.44022457e-03 7.24037515e+00] [ 4.67481443e-02 -1.48929702e-03 9.98905598e-01 1.93396129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.404391417999996 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:58.10, Y:7.25, Z:1.94 [[ 9.85163188e-01 -1.65650714e-01 -4.48701986e-02 5.81016282e+01] [ 1.65538352e-01 9.86183648e-01 -6.23431953e-03 7.24980287e+00] [ 4.52829756e-02 -1.28591661e-03 9.98973372e-01 1.93633507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.434391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:58.13, Y:7.26, Z:1.94 [[ 9.85570843e-01 -1.63090724e-01 -4.52938014e-02 5.81337953e+01] [ 1.62973717e-01 9.86610367e-01 -6.28905257e-03 7.25701579e+00] [ 4.57130201e-02 -1.18339232e-03 9.98953913e-01 1.93809573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464391418 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:58.17, Y:7.27, Z:1.94 [[ 9.86463256e-01 -1.57708999e-01 -4.49234440e-02 5.81657955e+01] [ 1.57588573e-01 9.87485191e-01 -6.23203470e-03 7.26615911e+00] [ 4.53440837e-02 -9.31748205e-04 9.98970994e-01 1.93997818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49439141799999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:58.20, Y:7.27, Z:1.94 [[ 9.86906990e-01 -1.54921664e-01 -4.48761773e-02 5.81985328e+01] [ 1.54798864e-01 9.87926427e-01 -6.21988274e-03 7.27258664e+00] [ 4.52979561e-02 -8.08335535e-04 9.98973194e-01 1.94089564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52439141799999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:58.23, Y:7.28, Z:1.94 [[ 9.87298294e-01 -1.52584921e-01 -4.42709887e-02 5.82304086e+01] [ 1.52463301e-01 9.88290117e-01 -6.13072725e-03 7.27885933e+00] [ 4.46880371e-02 -6.96844500e-04 9.99000748e-01 1.94187518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554391417999994 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:58.26, Y:7.29, Z:1.94 [[ 9.87667557e-01 -1.50168670e-01 -4.42963630e-02 5.82629829e+01] [ 1.50044691e-01 9.88660214e-01 -6.12952654e-03 7.28512571e+00] [ 4.47145145e-02 -5.92499588e-04 9.98999630e-01 1.94327780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584391417999996 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:58.29, Y:7.29, Z:1.94 [[ 9.88288235e-01 -1.46250752e-01 -4.35555055e-02 5.82948550e+01] [ 1.46127314e-01 9.89247465e-01 -6.02175317e-03 7.29313356e+00] [ 4.39678593e-02 -4.13421221e-04 9.99032861e-01 1.94465362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.614391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:58.33, Y:7.30, Z:1.95 [[ 9.88605574e-01 -1.43867695e-01 -4.42843773e-02 5.83263953e+01] [ 1.43737936e-01 9.89596880e-01 -6.11722955e-03 7.29872783e+00] [ 4.47037533e-02 -3.17817756e-04 9.99000237e-01 1.94532022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644391418 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:58.36, Y:7.31, Z:1.95 [[ 9.88959108e-01 -1.41601336e-01 -4.36914617e-02 5.83577747e+01] [ 1.41473038e-01 9.89923742e-01 -6.03034807e-03 7.30636489e+00] [ 4.41051206e-02 -2.17396182e-04 9.99026872e-01 1.94786793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67439141799999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:58.39, Y:7.31, Z:1.95 [[ 9.89142721e-01 -1.40349939e-01 -4.35726003e-02 5.83893589e+01] [ 1.40221453e-01 9.90101947e-01 -6.00647418e-03 7.31172764e+00] [ 4.39843247e-02 -1.68553113e-04 9.99032207e-01 1.94918310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70439141799999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:58.42, Y:7.32, Z:1.95 [[ 9.89222955e-01 -1.39817275e-01 -4.34634954e-02 5.84217994e+01] [ 1.39689113e-01 9.90177311e-01 -5.98701008e-03 7.31742089e+00] [ 4.38736544e-02 -1.48889335e-04 9.99037077e-01 1.95042498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.734391417999994 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:58.45, Y:7.32, Z:1.95 [[ 9.89280726e-01 -1.39440079e-01 -4.33602181e-02 5.84547772e+01] [ 1.39312398e-01 9.90230501e-01 -5.96743653e-03 7.32283009e+00] [ 4.37687103e-02 -1.37146005e-04 9.99041681e-01 1.95111083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764391417999995 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:58.49, Y:7.33, Z:1.95 [[ 9.89221803e-01 -1.39769100e-01 -4.36442713e-02 5.84872822e+01] [ 1.39640298e-01 9.90184111e-01 -6.00113556e-03 7.32806195e+00] [ 4.40546373e-02 -1.58044895e-04 9.99029111e-01 1.95248743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.794391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:58.52, Y:7.33, Z:1.95 [[ 9.88969175e-01 -1.41562374e-01 -4.35897486e-02 5.85191525e+01] [ 1.41435861e-01 9.89929308e-01 -5.98847655e-03 7.33326423e+00] [ 4.39985127e-02 -2.42734908e-04 9.99031567e-01 1.95296693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:58.55, Y:7.34, Z:1.95 [[ 9.88726569e-01 -1.43205809e-01 -4.37249074e-02 5.85518268e+01] [ 1.43080318e-01 9.89692878e-01 -6.00246811e-03 7.33819249e+00] [ 4.41338177e-02 -3.21373942e-04 9.99025577e-01 1.95372539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85439141799999 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:58.58, Y:7.34, Z:1.96 [[ 9.88459130e-01 -1.44959053e-01 -4.39934226e-02 5.85833840e+01] [ 1.44833981e-01 9.89437571e-01 -6.03413626e-03 7.34301132e+00] [ 4.44034479e-02 -4.07245442e-04 9.99013597e-01 1.95502316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88439141799999 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:58.62, Y:7.35, Z:1.96 [[ 9.88162998e-01 -1.46906085e-01 -4.41870167e-02 5.86164808e+01] [ 1.46782060e-01 9.89150318e-01 -6.05608093e-03 7.34818796e+00] [ 4.45972768e-02 -5.01466233e-04 9.99004921e-01 1.95563985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.914391417999994 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:58.65, Y:7.35, Z:1.96 [[ 9.87536441e-01 -1.50963803e-01 -4.45163724e-02 5.86480743e+01] [ 1.50842276e-01 9.88539047e-01 -6.09595777e-03 7.35369839e+00] [ 4.49264413e-02 -6.94970474e-04 9.98990056e-01 1.95602149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944391417999995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:58.68, Y:7.36, Z:1.96 [[ 9.87277208e-01 -1.52739209e-01 -4.42091406e-02 5.86802513e+01] [ 1.52621335e-01 9.88266226e-01 -6.04933881e-03 7.35861462e+00] [ 4.46143718e-02 -7.74883750e-04 9.99003983e-01 1.95735870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.974391417999996 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:58.71, Y:7.36, Z:1.96 [[ 9.87152495e-01 -1.53828834e-01 -4.32046375e-02 5.87125327e+01] [ 1.53717518e-01 9.88097178e-01 -5.90688642e-03 7.36308893e+00] [ 4.35990298e-02 -8.10311986e-04 9.99048782e-01 1.95738557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:58.74, Y:7.37, Z:1.96 [[ 9.86798016e-01 -1.56568733e-01 -4.14235036e-02 5.87449495e+01] [ 1.56469019e-01 9.87666657e-01 -5.65862767e-03 7.36922895e+00] [ 4.17985775e-02 -8.97572398e-04 9.99125654e-01 1.95930852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.034391418 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:58.78, Y:7.37, Z:1.96 [[ 9.86671798e-01 -1.57538178e-01 -4.07490526e-02 5.87765535e+01] [ 1.57442711e-01 9.87512461e-01 -5.56162796e-03 7.37453974e+00] [ 4.11163659e-02 -9.28139844e-04 9.99153934e-01 1.96183181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06439141799999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:58.81, Y:7.38, Z:1.96 [[ 9.86588047e-01 -1.58284316e-01 -3.98760645e-02 5.88088832e+01] [ 1.58193669e-01 9.87393127e-01 -5.43841358e-03 7.37970462e+00] [ 4.02341676e-02 -9.42667123e-04 9.99189833e-01 1.96308104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.094391417999994 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:58.84, Y:7.38, Z:1.96 [[ 9.86626918e-01 -1.58152673e-01 -3.94342181e-02 5.88403495e+01] [ 1.58064104e-01 9.87414231e-01 -5.37350856e-03 7.38425638e+00] [ 3.97877429e-02 -9.31486152e-04 9.99207720e-01 1.96291918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124391417999995 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:58.87, Y:7.39, Z:1.96 [[ 9.86448869e-01 -1.59189591e-01 -3.97152797e-02 5.88726281e+01] [ 1.59100757e-01 9.87247540e-01 -5.40775153e-03 7.38951794e+00] [ 4.00696700e-02 -9.84260684e-04 9.99196404e-01 1.96419747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.154391417999996 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:58.91, Y:7.39, Z:1.97 [[ 9.86456638e-01 -1.59160089e-01 -3.96404756e-02 5.89057442e+01] [ 1.59071755e-01 9.87252295e-01 -5.39283387e-03 7.39466354e+00] [ 3.99934744e-02 -9.85883258e-04 9.99199455e-01 1.96539777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.184391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:58.94, Y:7.40, Z:1.97 [[ 9.86486428e-01 -1.59336890e-01 -3.81612689e-02 5.89364271e+01] [ 1.59066477e-01 9.87216823e-01 -1.00399508e-02 7.40312224e+00] [ 3.92731812e-02 3.83409657e-03 9.99221155e-01 1.96622464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.214391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:58.97, Y:7.40, Z:1.96 [[ 9.86904633e-01 -1.56052380e-01 -4.08276855e-02 5.89701984e+01] [ 1.56152028e-01 9.87732743e-01 -7.56506634e-04 7.40233421e+00] [ 4.04448965e-02 -5.62872597e-03 9.99165916e-01 1.96486987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24439141799999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:59.00, Y:7.41, Z:1.97 [[ 9.86925087e-01 -1.56088394e-01 -4.01906227e-02 5.90030777e+01] [ 1.55995607e-01 9.87742692e-01 -5.45380802e-03 7.40897355e+00] [ 4.05492701e-02 -8.87060648e-04 9.99177146e-01 1.96763753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27439141799999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:59.04, Y:7.42, Z:1.97 [[ 9.87543409e-01 -1.51941911e-01 -4.08860703e-02 5.90356657e+01] [ 1.51842573e-01 9.88389152e-01 -5.54233448e-03 7.41624145e+00] [ 4.12534612e-02 -7.34950217e-04 9.99148443e-01 1.97058207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304391417999994 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:59.07, Y:7.42, Z:1.97 [[ 9.88025181e-01 -1.48770242e-01 -4.09103522e-02 5.90667961e+01] [ 1.48668294e-01 9.88871602e-01 -5.54014979e-03 7.42181303e+00] [ 4.12792950e-02 -6.08264774e-04 9.99147462e-01 1.97141017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334391417999996 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:59.10, Y:7.43, Z:1.97 [[ 9.88530249e-01 -1.45286124e-01 -4.12297162e-02 5.90990155e+01] [ 1.45179886e-01 9.89389568e-01 -5.57525335e-03 7.42712630e+00] [ 4.16022581e-02 -4.74418937e-04 9.99134139e-01 1.97281333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.364391418 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:59.13, Y:7.43, Z:1.97 [[ 9.89578113e-01 -1.37941684e-01 -4.13188894e-02 5.91317290e+01] [ 1.37828796e-01 9.90440338e-01 -5.58216711e-03 7.43353494e+00] [ 4.16939083e-02 -1.70942381e-04 9.99130416e-01 1.97302379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.394391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:59.16, Y:7.44, Z:1.97 [[ 9.90110018e-01 -1.33993408e-01 -4.15682408e-02 5.91640797e+01] [ 1.33875889e-01 9.90982223e-01 -5.61068912e-03 7.43863221e+00] [ 4.19451831e-02 -9.78567729e-06 9.99119913e-01 1.97369191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42439141799999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:59.20, Y:7.44, Z:1.98 [[ 9.90478991e-01 -1.31421671e-01 -4.09843056e-02 5.91954726e+01] [ 1.31305451e-01 9.91326554e-01 -5.52654334e-03 7.44419182e+00] [ 4.13551380e-02 9.24623543e-05 9.99144506e-01 1.97540957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45439141799999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:59.23, Y:7.45, Z:1.98 [[ 9.90949880e-01 -1.27537403e-01 -4.18634313e-02 5.92272119e+01] [ 1.27413016e-01 9.91833730e-01 -5.63703675e-03 7.45042602e+00] [ 4.22404963e-02 2.52074843e-04 9.99107440e-01 1.97712491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.484391417999994 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:59.26, Y:7.46, Z:1.98 [[ 9.91131084e-01 -1.25992436e-01 -4.22502019e-02 5.92596609e+01] [ 1.25864522e-01 9.92031152e-01 -5.68473512e-03 7.45533407e+00] [ 4.26297501e-02 3.16516217e-04 9.99090889e-01 1.97823907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514391417999995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:59.29, Y:7.46, Z:1.98 [[ 9.91230384e-01 -1.25037560e-01 -4.27543559e-02 5.92910947e+01] [ 1.24905936e-01 9.92151945e-01 -5.74676666e-03 7.46001226e+00] [ 4.31373791e-02 3.56096863e-04 9.99069087e-01 1.97893722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.544391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:59.32, Y:7.46, Z:1.98 [[ 9.91235110e-01 -1.24997483e-01 -4.27619705e-02 5.93238797e+01] [ 1.24866125e-01 9.92156997e-01 -5.73969047e-03 7.46493087e+00] [ 4.31440351e-02 3.49861162e-04 9.99068801e-01 1.98052859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.574391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:59.36, Y:7.47, Z:1.98 [[ 9.91020516e-01 -1.26704212e-01 -4.27127573e-02 5.93559894e+01] [ 1.26574958e-01 9.91940507e-01 -5.72804014e-03 7.46922957e+00] [ 4.30942810e-02 2.70239849e-04 9.99070973e-01 1.98195815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60439141799999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:59.39, Y:7.47, Z:1.98 [[ 9.90797311e-01 -1.28422023e-01 -4.27606524e-02 5.93884277e+01] [ 1.28294268e-01 9.91719591e-01 -5.73005066e-03 7.47329048e+00] [ 4.31424414e-02 1.91372190e-04 9.99068913e-01 1.98325400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63439141799999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:59.42, Y:7.48, Z:1.98 [[ 9.90528658e-01 -1.30605473e-01 -4.23696509e-02 5.94213800e+01] [ 1.30482253e-01 9.91434417e-01 -5.67267655e-03 7.47730667e+00] [ 4.27476127e-02 9.04611782e-05 9.99085899e-01 1.98417208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664391417999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:59.45, Y:7.48, Z:1.99 [[ 9.89782267e-01 -1.36344668e-01 -4.17276335e-02 5.94531780e+01] [ 1.36230471e-01 9.90661449e-01 -5.58148256e-03 7.47988378e+00] [ 4.20989632e-02 -1.60122700e-04 9.99113433e-01 1.98564429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694391417999995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:59.49, Y:7.48, Z:1.99 [[ 9.89339239e-01 -1.39700496e-01 -4.11295804e-02 5.94862756e+01] [ 1.39592755e-01 9.90193758e-01 -5.49406713e-03 7.48316827e+00] [ 4.14937777e-02 -3.05895256e-04 9.99138716e-01 1.98674579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.724391417999996 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:59.52, Y:7.49, Z:1.99 [[ 9.88927686e-01 -1.42726028e-01 -4.06363541e-02 5.95195000e+01] [ 1.42623602e-01 9.89762140e-01 -5.42348902e-03 7.48586830e+00] [ 4.09943979e-02 -4.32264750e-04 9.99159283e-01 1.98648124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.754391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:59.55, Y:7.49, Z:1.99 [[ 9.88290366e-01 -1.47150494e-01 -4.03594540e-02 5.95519064e+01] [ 1.47053335e-01 9.89113923e-01 -5.38182700e-03 7.48932485e+00] [ 4.07120363e-02 -6.16184546e-04 9.99170731e-01 1.98925462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:59.58, Y:7.49, Z:1.99 [[ 9.87311430e-01 -1.53707289e-01 -3.98774428e-02 5.95835744e+01] [ 1.53618003e-01 9.88116032e-01 -5.31192842e-03 7.49125375e+00] [ 4.02200226e-02 -8.81365480e-04 9.99190459e-01 1.99032914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81439141799999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:59.62, Y:7.49, Z:1.99 [[ 9.86936403e-01 -1.56082855e-01 -3.99334379e-02 5.96168485e+01] [ 1.55995737e-01 9.87743469e-01 -5.30756851e-03 7.49426073e+00] [ 4.02724129e-02 -9.91213507e-04 9.99188246e-01 1.99078929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.844391417999994 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:59.65, Y:7.50, Z:1.99 [[ 9.86522794e-01 -1.58747525e-01 -3.96484682e-02 5.96490782e+01] [ 1.58663989e-01 9.87318601e-01 -5.26484398e-03 7.49773308e+00] [ 3.99814511e-02 -1.09689552e-03 9.99199820e-01 1.99236574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874391417999995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:59.68, Y:7.50, Z:1.99 [[ 9.86279199e-01 -1.60299371e-01 -3.94645883e-02 5.96820161e+01] [ 1.60218013e-01 9.87067763e-01 -5.23630619e-03 7.50101931e+00] [ 3.97935995e-02 -1.15847804e-03 9.99207249e-01 1.99269564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.904391417999996 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:59.71, Y:7.50, Z:2.00 [[ 9.85848392e-01 -1.62820336e-01 -3.99059651e-02 5.97146022e+01] [ 1.62739410e-01 9.86654905e-01 -5.28987233e-03 7.50480817e+00] [ 4.02347150e-02 -1.27926109e-03 9.99189437e-01 1.99501853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.934391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:59.75, Y:7.51, Z:2.00 [[ 9.85805432e-01 -1.62967395e-01 -4.03643166e-02 5.97470771e+01] [ 1.62884927e-01 9.86630592e-01 -5.34560086e-03 7.50835505e+00] [ 4.06958282e-02 -1.30501640e-03 9.99170729e-01 1.99507307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:59.78, Y:7.51, Z:2.00 [[ 9.85616155e-01 -1.64077226e-01 -4.04902250e-02 5.97793476e+01] [ 1.63995381e-01 9.86446559e-01 -5.35730828e-03 7.51268142e+00] [ 4.08204554e-02 -1.35996028e-03 9.99165572e-01 1.99709108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99439141799999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:59.81, Y:7.52, Z:2.00 [[ 9.85525416e-01 -1.64353430e-01 -4.15644528e-02 5.98126258e+01] [ 1.64267647e-01 9.86400504e-01 -5.49424816e-03 7.51661565e+00] [ 4.19021957e-02 -1.41297364e-03 9.99120718e-01 1.99824298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02439141799999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:59.85, Y:7.52, Z:2.00 [[ 9.85674947e-01 -1.63456127e-01 -4.15571046e-02 5.98459376e+01] [ 1.63369792e-01 9.86549639e-01 -5.48816572e-03 7.52038725e+00] [ 4.18952209e-02 -1.37962808e-03 9.99121057e-01 1.99796155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054391417999994 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:59.88, Y:7.53, Z:2.00 [[ 9.85669320e-01 -1.63577037e-01 -4.12133909e-02 5.98787918e+01] [ 1.63492441e-01 9.86529601e-01 -5.43770108e-03 7.52523780e+00] [ 4.15477131e-02 -1.37830274e-03 9.99135570e-01 2.00081472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084391417999996 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:59.91, Y:7.53, Z:2.00 [[ 9.85935395e-01 -1.62032346e-01 -4.09501508e-02 5.99121357e+01] [ 1.61947704e-01 9.86784578e-01 -5.39793009e-03 7.52918477e+00] [ 4.12836165e-02 -1.30977257e-03 9.99146610e-01 2.00043598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.114391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:59.94, Y:7.53, Z:2.00 [[ 9.86396199e-01 -1.59187687e-01 -4.10099968e-02 5.99444087e+01] [ 1.59100550e-01 9.87247612e-01 -5.40076945e-03 7.53362568e+00] [ 4.13467574e-02 -1.19741461e-03 9.99144140e-01 2.00223234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:59.98, Y:7.54, Z:2.00 [[ 9.86600892e-01 -1.57756515e-01 -4.16120352e-02 5.99758139e+01] [ 1.57665742e-01 9.87477361e-01 -5.47498339e-03 7.53847970e+00] [ 4.19546570e-02 -1.15916889e-03 9.99118843e-01 2.00477570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17439141799999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:60.01, Y:7.54, Z:2.01 [[ 9.87001331e-01 -1.54900388e-01 -4.28280614e-02 6.00069352e+01] [ 1.54648964e-01 9.87927177e-01 -9.14284604e-03 7.54433470e+00] [ 4.37272361e-02 2.40068589e-03 9.99040623e-01 2.00709793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20439141799999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:60.04, Y:7.55, Z:2.00 [[ 9.87708019e-01 -1.49909496e-01 -4.42720240e-02 6.00397282e+01] [ 1.49951107e-01 9.88690504e-01 -2.39845680e-03 7.54568999e+00] [ 4.41308811e-02 -4.26966398e-03 9.99016634e-01 2.00475106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.234391417999994 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:60.07, Y:7.55, Z:2.01 [[ 9.88108924e-01 -1.47341013e-01 -4.39474772e-02 6.00717879e+01] [ 1.47230234e-01 9.89085449e-01 -5.76471576e-03 7.55194445e+00] [ 4.43171893e-02 -7.74230261e-04 9.99017211e-01 2.00761454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264391417999995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:60.10, Y:7.56, Z:2.01 [[ 9.88585586e-01 -1.44018209e-01 -4.42413326e-02 6.01049322e+01] [ 1.43902855e-01 9.89574834e-01 -5.79791002e-03 7.55669445e+00] [ 4.46151139e-02 -6.34723773e-04 9.99004048e-01 2.00929686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.294391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:60.14, Y:7.56, Z:2.01 [[ 9.89074391e-01 -1.40623632e-01 -4.42362096e-02 6.01372623e+01] [ 1.40505153e-01 9.90063007e-01 -5.79179370e-03 7.56134821e+00] [ 4.46110978e-02 -4.86900593e-04 9.99004311e-01 2.01111503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:60.17, Y:7.57, Z:2.01 [[ 9.89711533e-01 -1.36246030e-01 -4.36818079e-02 6.01698143e+01] [ 1.36126482e-01 9.90674989e-01 -5.71372667e-03 7.56593882e+00] [ 4.40529472e-02 -2.91309640e-04 9.99029155e-01 2.01266235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35439141799999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:60.20, Y:7.57, Z:2.01 [[ 9.90435149e-01 -1.30924220e-01 -4.35553086e-02 6.02027452e+01] [ 1.30800486e-01 9.91392377e-01 -5.69104012e-03 7.57031061e+00] [ 4.39254959e-02 -6.04493767e-05 9.99034808e-01 2.01342413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38439141799999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:60.24, Y:7.57, Z:2.02 [[ 9.90713332e-01 -1.28953756e-01 -4.31047768e-02 6.02353321e+01] [ 1.28830936e-01 9.91650608e-01 -5.62686171e-03 7.57485011e+00] [ 4.34704831e-02 2.13781608e-05 9.99054712e-01 2.01555801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.414391417999994 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:60.27, Y:7.58, Z:2.02 [[ 9.91060493e-01 -1.26354266e-01 -4.28217152e-02 6.02685441e+01] [ 1.26230857e-01 9.91985173e-01 -5.58462244e-03 7.57842173e+00] [ 4.31841474e-02 1.29276862e-04 9.99067121e-01 2.01594660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444391417999995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:60.30, Y:7.58, Z:2.02 [[ 9.91303478e-01 -1.24781354e-01 -4.17974677e-02 6.03000441e+01] [ 1.24662594e-01 9.92184246e-01 -5.44603144e-03 7.58229223e+00] [ 4.21503522e-02 1.88089170e-04 9.99111261e-01 2.01789334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.474391417999996 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:60.33, Y:7.58, Z:2.02 [[ 9.91814931e-01 -1.20732336e-01 -4.15553456e-02 6.03326903e+01] [ 1.20611579e-01 9.92685035e-01 -5.41009684e-03 7.58499943e+00] [ 4.19045433e-02 3.53758990e-04 9.99121556e-01 2.01843955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:60.36, Y:7.59, Z:2.02 [[ 9.92060262e-01 -1.18537778e-01 -4.20146529e-02 6.03618493e+01] [ 1.18115590e-01 9.92922412e-01 -1.24012184e-02 7.59177294e+00] [ 4.31873034e-02 7.34017040e-03 9.99040029e-01 2.02201440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.534391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:60.40, Y:7.59, Z:2.02 [[ 9.92150422e-01 -1.17627825e-01 -4.24409489e-02 6.03963358e+01] [ 1.17783896e-01 9.93038542e-01 1.18701078e-03 7.58920008e+00] [ 4.20058725e-02 -6.17655354e-03 9.99098272e-01 2.01783473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56439141799999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:60.43, Y:7.60, Z:2.02 [[ 9.92181690e-01 -1.17481005e-01 -4.21154164e-02 6.04282139e+01] [ 1.17354709e-01 9.93075013e-01 -5.46729112e-03 7.59569824e+00] [ 4.24660705e-02 4.82103722e-04 9.99097793e-01 2.02222770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.594391417999994 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:60.46, Y:7.60, Z:2.02 [[ 9.92164091e-01 -1.17209637e-01 -4.32702825e-02 6.04606294e+01] [ 1.17076322e-01 9.93107069e-01 -5.61115644e-03 7.59789143e+00] [ 4.36297050e-02 5.01262387e-04 9.99047645e-01 2.02221699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624391417999995 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:60.49, Y:7.60, Z:2.02 [[ 9.92012056e-01 -1.18749691e-01 -4.25510436e-02 6.04928212e+01] [ 1.18622526e-01 9.92924134e-01 -5.51003370e-03 7.60045071e+00] [ 4.29042729e-02 4.18507583e-04 9.99079100e-01 2.02405210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.654391417999996 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:60.53, Y:7.60, Z:2.02 [[ 9.91559052e-01 -1.22431979e-01 -4.26738442e-02 6.05257106e+01] [ 1.22307637e-01 9.92476874e-01 -5.52243605e-03 7.59993832e+00] [ 4.30289263e-02 2.56484405e-04 9.99073794e-01 2.02457177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:60.56, Y:7.60, Z:2.03 [[ 9.91284287e-01 -1.24562208e-01 -4.28919466e-02 6.05576350e+01] [ 1.24438741e-01 9.92211787e-01 -5.54701597e-03 7.60186163e+00] [ 4.32488436e-02 1.61249916e-04 9.99064318e-01 2.02580328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.714391418 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:60.59, Y:7.60, Z:2.03 [[ 9.91044440e-01 -1.26298867e-01 -4.33533583e-02 6.05898504e+01] [ 1.26174576e-01 9.91992233e-01 -5.60238772e-03 7.60405655e+00] [ 4.37137699e-02 8.21235909e-05 9.99044093e-01 2.02622911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74439141799999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:60.62, Y:7.61, Z:2.03 [[ 9.90783676e-01 -1.28725675e-01 -4.21593277e-02 6.06223260e+01] [ 1.28610475e-01 9.91680241e-01 -5.44481088e-03 7.60714651e+00] [ 4.25094592e-02 -2.75014117e-05 9.99096064e-01 2.02832351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77439141799999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:60.66, Y:7.61, Z:2.03 [[ 9.90423594e-01 -1.31613961e-01 -4.16997554e-02 6.06550376e+01] [ 1.31503960e-01 9.91301035e-01 -5.38208005e-03 7.60750325e+00] [ 4.20453675e-02 -1.53143888e-04 9.99115691e-01 2.02863819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804391417999994 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:60.69, Y:7.61, Z:2.03 [[ 9.90263843e-01 -1.32843214e-01 -4.15956879e-02 6.06867676e+01] [ 1.32735012e-01 9.91137042e-01 -5.36465610e-03 7.60924039e+00] [ 4.19396852e-02 -2.08779172e-04 9.99120123e-01 2.02966997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834391417999996 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:60.72, Y:7.61, Z:2.03 [[ 9.90084358e-01 -1.34188688e-01 -4.15494983e-02 6.07192332e+01] [ 1.34082046e-01 9.90955763e-01 -5.35547139e-03 7.61110018e+00] [ 4.18923585e-02 -2.68673301e-04 9.99122094e-01 2.03146152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.864391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:60.75, Y:7.61, Z:2.03 [[ 9.89700314e-01 -1.36593153e-01 -4.28438881e-02 6.07526895e+01] [ 1.36482170e-01 9.90627156e-01 -5.51862489e-03 7.61042421e+00] [ 4.31961254e-02 -3.85642056e-04 9.99066537e-01 2.03104387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.894391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:60.79, Y:7.61, Z:2.03 [[ 9.89515529e-01 -1.38116508e-01 -4.22237844e-02 6.07855366e+01] [ 1.38010321e-01 9.90415886e-01 -5.43361750e-03 7.61274458e+00] [ 4.25695791e-02 -4.50669163e-04 9.99093403e-01 2.03312092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92439141799999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:60.82, Y:7.62, Z:2.03 [[ 9.89329168e-01 -1.39329691e-01 -4.26032170e-02 6.08179236e+01] [ 1.39222931e-01 9.90245916e-01 -5.47731232e-03 7.61501890e+00] [ 4.29508139e-02 -5.12479904e-04 9.99077057e-01 2.03345006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95439141799999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:60.85, Y:7.62, Z:2.04 [[ 9.89060644e-01 -1.41429421e-01 -4.19137288e-02 6.08502960e+01] [ 1.41328145e-01 9.89948161e-01 -5.38461248e-03 7.61773080e+00] [ 4.22539613e-02 -5.97881256e-04 9.99106724e-01 2.03546520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.984391417999994 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:60.88, Y:7.62, Z:2.04 [[ 9.88575027e-01 -1.44796229e-01 -4.18744405e-02 6.08825796e+01] [ 1.44698295e-01 9.89461216e-01 -5.37634804e-03 7.61761198e+00] [ 4.22116098e-02 -7.44236760e-04 9.99108416e-01 2.03668875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014391417999995 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:60.92, Y:7.62, Z:2.04 [[ 9.88410473e-01 -1.45856909e-01 -4.20772905e-02 6.09160800e+01] [ 1.45759134e-01 9.89305376e-01 -5.39887423e-03 7.61954116e+00] [ 4.24147528e-02 -7.96845588e-04 9.99099772e-01 2.03735607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.044391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:60.95, Y:7.62, Z:2.04 [[ 9.88343055e-01 -1.46219347e-01 -4.24017512e-02 6.09477051e+01] [ 1.46120611e-01 9.89251851e-01 -5.43535799e-03 7.62150174e+00] [ 4.27407654e-02 -8.23771476e-04 9.99085856e-01 2.03804924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.074391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:60.98, Y:7.62, Z:2.04 [[ 9.88594385e-01 -1.44256733e-01 -4.32566488e-02 6.09797279e+01] [ 1.44152286e-01 9.89540004e-01 -5.54059979e-03 7.62309536e+00] [ 4.36034532e-02 -7.58138968e-04 9.99048629e-01 2.03887335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10439141799999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:61.01, Y:7.63, Z:2.04 [[ 9.88885637e-01 -1.42147027e-01 -4.35823284e-02 6.10115145e+01] [ 1.42039108e-01 9.89845326e-01 -5.57877852e-03 7.62638405e+00] [ 4.39327708e-02 -6.73621107e-04 9.99034263e-01 2.04003799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13439141799999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:61.04, Y:7.63, Z:2.04 [[ 9.89332869e-01 -1.38642619e-01 -4.47068089e-02 6.10431701e+01] [ 1.38525649e-01 9.90342334e-01 -5.71896340e-03 7.62942890e+00] [ 4.50679375e-02 -5.35081263e-04 9.98983781e-01 2.04010526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164391417999994 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:61.08, Y:7.63, Z:2.04 [[ 9.89346815e-01 -1.38542910e-01 -4.47072916e-02 6.10755941e+01] [ 1.38426009e-01 9.90356288e-01 -5.71518709e-03 7.63349403e+00] [ 4.50679460e-02 -5.34349823e-04 9.98983781e-01 2.04130838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194391417999995 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:61.11, Y:7.64, Z:2.04 [[ 9.90318601e-01 -1.31853425e-01 -4.34021124e-02 6.11073612e+01] [ 1.31737010e-01 9.91269198e-01 -5.54414166e-03 7.63675036e+00] [ 4.37541912e-02 -2.27197887e-04 9.99042301e-01 2.04271228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.224391417999996 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:61.14, Y:7.64, Z:2.04 [[ 9.90741920e-01 -1.29029393e-01 -4.22121191e-02 6.11394220e+01] [ 1.28916858e-01 9.91640764e-01 -5.38873374e-03 7.64026497e+00] [ 4.25545631e-02 -1.03009364e-04 9.99094139e-01 2.04481289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.254391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:61.17, Y:7.64, Z:2.05 [[ 9.91173253e-01 -1.25839035e-01 -4.17147405e-02 6.11717111e+01] [ 1.25726455e-01 9.92050672e-01 -5.32185537e-03 7.64292343e+00] [ 4.20528335e-02 3.02342570e-05 9.99115388e-01 2.04572270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:61.20, Y:7.65, Z:2.05 [[ 9.91482351e-01 -1.23561303e-01 -4.11746474e-02 6.12035741e+01] [ 1.23449794e-01 9.92336934e-01 -5.24962915e-03 7.64607502e+00] [ 4.15077744e-02 1.21912901e-04 9.99138174e-01 2.04707907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31439141799999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:61.23, Y:7.65, Z:2.05 [[ 9.91855140e-01 -1.20839204e-01 -4.02649695e-02 6.12349584e+01] [ 1.20730455e-01 9.92672068e-01 -5.13051544e-03 7.64834077e+00] [ 4.05898779e-02 2.27520009e-04 9.99175865e-01 2.04851318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.344391417999994 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:61.27, Y:7.65, Z:2.05 [[ 9.91908366e-01 -1.20177639e-01 -4.09283331e-02 6.12667423e+01] [ 1.20064820e-01 9.92752371e-01 -5.21244241e-03 7.65116789e+00] [ 4.12581187e-02 2.56212274e-04 9.99148488e-01 2.04881264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374391417999995 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:61.30, Y:7.65, Z:2.05 [[ 9.91812944e-01 -1.20995039e-01 -4.08324048e-02 6.12977594e+01] [ 1.20883571e-01 9.92653088e-01 -5.19706074e-03 7.65422110e+00] [ 4.11612313e-02 2.18545192e-04 9.99152494e-01 2.05043905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404391417999996 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:61.33, Y:7.66, Z:2.05 [[ 9.91400552e-01 -1.23989773e-01 -4.18507116e-02 6.13295753e+01] [ 1.23875452e-01 9.92283491e-01 -5.32401624e-03 7.65528128e+00] [ 4.21878938e-02 9.39568291e-05 9.99109690e-01 2.05102970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.434391418 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:61.36, Y:7.66, Z:2.05 [[ 9.91126461e-01 -1.26047167e-01 -4.21953747e-02 6.13619407e+01] [ 1.25932962e-01 9.92024250e-01 -5.36445137e-03 7.65718411e+00] [ 4.25350088e-02 3.06118362e-06 9.99094977e-01 2.05140747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:61.39, Y:7.66, Z:2.05 [[ 9.90776233e-01 -1.28756804e-01 -4.22390907e-02 6.13945069e+01] [ 1.28644967e-01 9.91676193e-01 -5.36662801e-03 7.65913188e+00] [ 4.25784905e-02 -1.16718922e-04 9.99093118e-01 2.05274379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49439141799999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:61.43, Y:7.66, Z:2.05 [[ 9.90426784e-01 -1.31583587e-01 -4.17198307e-02 6.14267858e+01] [ 1.31477128e-01 9.91305050e-01 -5.29735002e-03 7.66093432e+00] [ 4.20541232e-02 -2.38566188e-04 9.99115306e-01 2.05360048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52439141799999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:61.46, Y:7.66, Z:2.06 [[ 9.89537756e-01 -1.38007905e-01 -4.20576636e-02 6.14585596e+01] [ 1.37905658e-01 9.90430991e-01 -5.33674346e-03 7.66253546e+00] [ 4.23917262e-02 -5.19080597e-04 9.99100932e-01 2.05512597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554391417999994 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:61.49, Y:7.67, Z:2.06 [[ 9.89155211e-01 -1.40584441e-01 -4.25203911e-02 6.14894254e+01] [ 1.40482455e-01 9.90068485e-01 -5.39205125e-03 7.66532334e+00] [ 4.28561378e-02 -6.39793349e-04 9.99081049e-01 2.05684510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584391417999996 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:61.52, Y:7.67, Z:2.06 [[ 9.88788232e-01 -1.43258695e-01 -4.21281209e-02 6.15217373e+01] [ 1.43161121e-01 9.89684991e-01 -5.33962605e-03 7.66872142e+00] [ 4.24585169e-02 -7.51349623e-04 9.99097948e-01 2.05835850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.614391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:61.55, Y:7.67, Z:2.06 [[ 9.88549230e-01 -1.44741067e-01 -4.26666514e-02 6.15544154e+01] [ 1.44642514e-01 9.89469219e-01 -5.40434351e-03 7.67097064e+00] [ 4.29995687e-02 -8.28952106e-04 9.99074747e-01 2.05808363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:61.59, Y:7.67, Z:2.06 [[ 9.88176734e-01 -1.47858267e-01 -4.05545955e-02 6.15869398e+01] [ 1.47771983e-01 9.89008133e-01 -5.13365258e-03 7.67203583e+00] [ 4.08678777e-02 -9.19876952e-04 9.99164136e-01 2.05951633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67439141799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:61.62, Y:7.68, Z:2.06 [[ 9.87983389e-01 -1.49412732e-01 -3.95557572e-02 6.16177035e+01] [ 1.49332023e-01 9.88774447e-01 -5.00388733e-03 7.67511438e+00] [ 3.98593664e-02 -9.63183684e-04 9.99204835e-01 2.06194780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70439141799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:61.65, Y:7.68, Z:2.06 [[ 9.87899634e-01 -1.50050591e-01 -3.92317886e-02 6.16488838e+01] [ 1.49971904e-01 9.88677828e-01 -4.95780914e-03 7.67786607e+00] [ 3.95315218e-02 -9.85848195e-04 9.99217838e-01 2.06276495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.734391417999994 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:61.68, Y:7.68, Z:2.06 [[ 9.87907590e-01 -1.49941087e-01 -3.94495189e-02 6.16813512e+01] [ 1.49861533e-01 9.88694438e-01 -4.98289367e-03 7.68084348e+00] [ 3.97506604e-02 -9.89326896e-04 9.99209140e-01 2.06227268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764391417999995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:61.71, Y:7.68, Z:2.06 [[ 9.87738956e-01 -1.51099301e-01 -3.92524593e-02 6.17131653e+01] [ 1.51021578e-01 9.88518049e-01 -4.95486222e-03 7.68480206e+00] [ 3.95504407e-02 -1.03385789e-03 9.99217040e-01 2.06411222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.794391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:61.75, Y:7.69, Z:2.07 [[ 9.87571183e-01 -1.52013049e-01 -3.99398404e-02 6.17452768e+01] [ 1.52000699e-01 9.88374663e-01 -3.36344536e-03 7.68870335e+00] [ 3.99868139e-02 -2.74924195e-03 9.99196425e-01 2.06518285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:61.78, Y:7.71, Z:2.07 [[ 9.88182263e-01 -1.50596370e-01 -2.85753207e-02 6.17791200e+01] [ 1.49304736e-01 9.87857704e-01 -4.29563948e-02 7.70831042e+00] [ 3.46974278e-02 3.81823167e-02 9.98668213e-01 2.06743575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85439141799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:61.81, Y:7.68, Z:2.06 [[ 9.87698306e-01 -1.49627064e-01 -4.54290438e-02 6.18076788e+01] [ 1.50789254e-01 9.88290933e-01 2.33159229e-02 7.68019779e+00] [ 4.14084190e-02 -2.98793091e-02 9.98695434e-01 2.05929358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88439141799999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:61.84, Y:7.69, Z:2.06 [[ 9.87472025e-01 -1.52164015e-01 -4.17745491e-02 6.18397247e+01] [ 1.52490711e-01 9.88293585e-01 4.72994120e-03 7.69242956e+00] [ 4.05657921e-02 -1.10409153e-02 9.99115867e-01 2.06359996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.914391417999994 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:61.87, Y:7.70, Z:2.07 [[ 9.87396469e-01 -1.52850108e-01 -4.10494534e-02 6.18703374e+01] [ 1.52766997e-01 9.88248699e-01 -5.17246910e-03 7.70155840e+00] [ 4.13576814e-02 -1.16372399e-03 9.99143727e-01 2.06832561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944391417999995 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:61.90, Y:7.71, Z:2.07 [[ 9.87523775e-01 -1.52003568e-01 -4.11303867e-02 6.19022973e+01] [ 1.51919501e-01 9.88379295e-01 -5.18012562e-03 7.70561609e+00] [ 4.14398202e-02 -1.13301062e-03 9.99140359e-01 2.06872301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.974391417999996 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:61.93, Y:7.71, Z:2.07 [[ 9.87923260e-01 -1.49643396e-01 -4.01806783e-02 6.19345404e+01] [ 1.49561343e-01 9.88739514e-01 -5.05739230e-03 7.70992958e+00] [ 4.04850297e-02 -1.01316071e-03 9.99179631e-01 2.06994645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:61.97, Y:7.71, Z:2.07 [[ 9.88203743e-01 -1.47913968e-01 -3.96840065e-02 6.19668773e+01] [ 1.47832667e-01 9.88999791e-01 -4.99164876e-03 7.71412257e+00] [ 3.99858087e-02 -9.33826513e-04 9.99199811e-01 2.07209235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.034391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:62.00, Y:7.72, Z:2.07 [[ 9.88590730e-01 -1.45428470e-01 -3.92291746e-02 6.19976807e+01] [ 1.45347190e-01 9.89368423e-01 -4.93131745e-03 7.71791012e+00] [ 3.95292606e-02 -8.26795569e-04 9.99218071e-01 2.07280753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06439141799999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:62.03, Y:7.72, Z:2.07 [[ 9.89112184e-01 -1.41874102e-01 -3.91002140e-02 6.20295345e+01] [ 1.41790676e-01 9.89884473e-01 -4.91265319e-03 7.72163423e+00] [ 3.94016730e-02 -6.84880637e-04 9.99223218e-01 2.07192104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.094391417999994 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:62.06, Y:7.73, Z:2.07 [[ 9.89942536e-01 -1.35715356e-01 -3.99389137e-02 6.20599999e+01] [ 1.35623431e-01 9.90747767e-01 -5.01472793e-03 7.72759413e+00] [ 4.02499652e-02 -4.52360009e-04 9.99189539e-01 2.07455976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124391417999995 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:62.09, Y:7.73, Z:2.08 [[ 9.90415400e-01 -1.32189562e-01 -4.00406716e-02 6.20919130e+01] [ 1.32094390e-01 9.91224406e-01 -5.02493626e-03 7.73267605e+00] [ 4.03535351e-02 -3.12373853e-04 9.99185416e-01 2.07582463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.154391417999996 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:62.12, Y:7.74, Z:2.08 [[ 9.90882248e-01 -1.28598574e-01 -4.01843023e-02 6.21226234e+01] [ 1.28499895e-01 9.91696717e-01 -5.03974064e-03 7.73740514e+00] [ 4.04987441e-02 -1.69889105e-04 9.99179575e-01 2.07728271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:62.15, Y:7.74, Z:2.08 [[ 9.91302535e-01 -1.25353999e-01 -4.00706729e-02 6.21541350e+01] [ 1.25253329e-01 9.92112077e-01 -5.02296430e-03 7.74169093e+00] [ 4.03842472e-02 -3.97079227e-05 9.99184223e-01 2.07805386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.214391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:62.19, Y:7.75, Z:2.08 [[ 9.91979829e-01 -1.20070103e-01 -3.94865640e-02 6.21850789e+01] [ 1.19968296e-01 9.92765401e-01 -4.94635528e-03 7.74529780e+00] [ 3.97948040e-02 1.69548881e-04 9.99207859e-01 2.07869369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24439141799999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:62.22, Y:7.75, Z:2.08 [[ 9.92116411e-01 -1.19381481e-01 -3.81193934e-02 6.22167694e+01] [ 1.19286285e-01 9.92848441e-01 -4.77018132e-03 7.74955708e+00] [ 3.84162516e-02 1.85454337e-04 9.99261806e-01 2.08121362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27439141799999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:62.25, Y:7.75, Z:2.08 [[ 9.92272099e-01 -1.18340989e-01 -3.73027068e-02 6.22488697e+01] [ 1.18249208e-01 9.92972992e-01 -4.66498953e-03 7.75305687e+00] [ 3.75926399e-02 2.17923434e-04 9.99293123e-01 2.08212528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304391417999994 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:62.28, Y:7.76, Z:2.08 [[ 9.92199774e-01 -1.19045080e-01 -3.69848300e-02 6.22813657e+01] [ 1.18955457e-01 9.92888833e-01 -4.62224870e-03 7.75615538e+00] [ 3.72720807e-02 1.86646775e-04 9.99305137e-01 2.08388178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334391417999996 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:62.31, Y:7.76, Z:2.08 [[ 9.92131247e-01 -1.19629108e-01 -3.69386745e-02 6.23131046e+01] [ 1.19540224e-01 9.92818639e-01 -4.61350729e-03 7.75871036e+00] [ 3.72253143e-02 1.61547322e-04 9.99306885e-01 2.08358040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:62.34, Y:7.76, Z:2.08 [[ 9.91933509e-01 -1.21080566e-01 -3.75154780e-02 6.23441871e+01] [ 1.20990035e-01 9.92642678e-01 -4.68252536e-03 7.76098833e+00] [ 3.78064274e-02 1.05754799e-04 9.99285076e-01 2.08343807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.394391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:62.38, Y:7.76, Z:2.09 [[ 9.91178439e-01 -1.26895363e-01 -3.82474660e-02 6.23755132e+01] [ 1.26805676e-01 9.91916101e-01 -4.77159593e-03 7.76187309e+00] [ 3.85437708e-02 -1.20492781e-04 9.99256906e-01 2.08543230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42439141799999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:62.41, Y:7.76, Z:2.08 [[ 9.90813651e-01 -1.29559260e-01 -3.87647763e-02 6.24080861e+01] [ 1.29469234e-01 9.91571654e-01 -4.83441387e-03 7.76390201e+00] [ 3.90643964e-02 -2.28842640e-04 9.99236669e-01 2.08449234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45439141799999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:62.44, Y:7.77, Z:2.09 [[ 9.90285133e-01 -1.33545795e-01 -3.87411382e-02 6.24403924e+01] [ 1.33459051e-01 9.91042567e-01 -4.82828987e-03 7.76724315e+00] [ 3.90389148e-02 -3.88971874e-04 9.99237615e-01 2.08747354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.484391417999994 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:62.47, Y:7.77, Z:2.09 [[ 9.89249405e-01 -1.40744524e-01 -3.97063542e-02 6.24722139e+01] [ 1.40659325e-01 9.90045705e-01 -4.94527305e-03 7.76877289e+00] [ 4.00071255e-02 -6.92960540e-04 9.99199154e-01 2.08892045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514391417999995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:62.50, Y:7.77, Z:2.09 [[ 9.88735981e-01 -1.44351348e-01 -3.95455259e-02 6.25046644e+01] [ 1.44269847e-01 9.89526142e-01 -4.92200344e-03 7.77148756e+00] [ 3.98418295e-02 -8.38665088e-04 9.99205647e-01 2.08986269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:62.54, Y:7.77, Z:2.09 [[ 9.88226230e-01 -1.47766399e-01 -3.96737846e-02 6.25365809e+01] [ 1.47687249e-01 9.89021802e-01 -4.93468751e-03 7.77434306e+00] [ 3.99674190e-02 -9.82724455e-04 9.99200500e-01 2.09118264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.574391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:62.57, Y:7.78, Z:2.09 [[ 9.87788373e-01 -1.50740151e-01 -3.93895543e-02 6.25680267e+01] [ 1.50664627e-01 9.88572810e-01 -4.89589900e-03 7.77748414e+00] [ 3.96774510e-02 -1.09850041e-03 9.99211936e-01 2.09234051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60439141799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:62.60, Y:7.78, Z:2.09 [[ 9.87065928e-01 -1.55494139e-01 -3.90182794e-02 6.26001046e+01] [ 1.55423943e-01 9.87835982e-01 -4.84458534e-03 7.78020904e+00] [ 3.92969650e-02 -1.28244969e-03 9.99226753e-01 2.09346394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63439141799999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:62.63, Y:7.78, Z:2.09 [[ 9.86811424e-01 -1.57122048e-01 -3.89342399e-02 6.26312956e+01] [ 1.57053542e-01 9.87578274e-01 -4.83098616e-03 7.78344362e+00] [ 3.92096638e-02 -1.34748797e-03 9.99230097e-01 2.09472630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.664391417999994 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:62.66, Y:7.79, Z:2.10 [[ 9.86756345e-01 -1.57320447e-01 -3.95245740e-02 6.26609602e+01] [ 1.57070080e-01 9.87542901e-01 -9.38132834e-03 7.78882575e+00] [ 4.05080872e-02 3.04895727e-03 9.99174559e-01 2.09708421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694391417999995 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:62.69, Y:7.79, Z:2.09 [[ 9.86482396e-01 -1.59056394e-01 -3.94150399e-02 6.26925295e+01] [ 1.59155735e-01 9.87253292e-01 -6.24579479e-04 7.78916203e+00] [ 3.90119713e-02 -5.65699297e-03 9.99222730e-01 2.09457068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724391417999996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:62.72, Y:7.80, Z:2.10 [[ 9.86346436e-01 -1.60254308e-01 -3.79376438e-02 6.27242667e+01] [ 1.60191794e-01 9.87074710e-01 -4.70164809e-03 7.79690081e+00] [ 3.82007481e-02 -1.43984537e-03 9.99269048e-01 2.09825796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.754391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:62.76, Y:7.80, Z:2.10 [[ 9.86321342e-01 -1.60308095e-01 -3.83604670e-02 6.27555143e+01] [ 1.60244351e-01 9.87065945e-01 -4.75066828e-03 7.80156990e+00] [ 3.86258812e-02 -1.46136262e-03 9.99252674e-01 2.10003231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:62.79, Y:7.81, Z:2.10 [[ 9.86203713e-01 -1.60844537e-01 -3.91314629e-02 6.27877516e+01] [ 1.60778838e-01 9.86978587e-01 -4.84077889e-03 7.80690318e+00] [ 3.94005289e-02 -1.51751704e-03 9.99222345e-01 2.09952474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81439141799999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:62.82, Y:7.81, Z:2.10 [[ 9.86058123e-01 -1.61817068e-01 -3.87893582e-02 6.28182021e+01] [ 1.61753386e-01 9.86819561e-01 -4.79532257e-03 7.81153490e+00] [ 3.90540625e-02 -1.54584327e-03 9.99235903e-01 2.10109040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.844391417999994 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:62.85, Y:7.82, Z:2.10 [[ 9.85870290e-01 -1.62786940e-01 -3.94991666e-02 6.28497029e+01] [ 1.62721785e-01 9.86659922e-01 -4.88051336e-03 7.81625258e+00] [ 3.97667284e-02 -1.61582177e-03 9.99207684e-01 2.10231070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874391417999995 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:62.88, Y:7.82, Z:2.11 [[ 9.85808405e-01 -1.62728098e-01 -4.12474924e-02 6.28804327e+01] [ 1.62423230e-01 9.86663598e-01 -1.06601854e-02 7.82337586e+00] [ 4.24321109e-02 3.80934948e-03 9.99092090e-01 2.10505738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904391417999996 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:62.91, Y:7.83, Z:2.10 [[ 9.85366313e-01 -1.65211798e-01 -4.19319904e-02 6.29135364e+01] [ 1.65365701e-01 9.86232297e-01 2.04609048e-04 7.82500170e+00] [ 4.13208793e-02 -7.13572784e-03 9.99120446e-01 2.10322225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.934391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:62.95, Y:7.83, Z:2.11 [[ 9.85269267e-01 -1.65928055e-01 -4.13805666e-02 6.29454150e+01] [ 1.65859819e-01 9.86136148e-01 -5.10071523e-03 7.83317659e+00] [ 4.16532243e-02 -1.83779534e-03 9.99130438e-01 2.10516538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:62.98, Y:7.84, Z:2.11 [[ 9.85176443e-01 -1.66346329e-01 -4.19079323e-02 6.29758796e+01] [ 1.66276866e-01 9.86065594e-01 -5.16227865e-03 7.83842615e+00] [ 4.21826962e-02 -1.88256431e-03 9.99108140e-01 2.10631257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99439141799999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:63.01, Y:7.84, Z:2.11 [[ 9.85143176e-01 -1.66496904e-01 -4.20915986e-02 6.30068422e+01] [ 1.66427080e-01 9.86040147e-01 -5.18226078e-03 7.84360664e+00] [ 4.23668365e-02 -1.89991302e-03 9.99100316e-01 2.10706741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:63.04, Y:7.86, Z:2.11 [[ 9.85826004e-01 -1.64337773e-01 -3.37666481e-02 6.30415212e+01] [ 1.63222496e-01 9.86020172e-01 -3.35057753e-02 7.86227513e+00] [ 3.88008607e-02 2.75193880e-02 9.98867947e-01 2.10983713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:63.08, Y:7.85, Z:2.10 [[ 9.85819924e-01 -1.63438958e-01 -3.80366168e-02 6.30761190e+01] [ 1.63420978e-01 9.86549850e-01 -3.60241564e-03 7.85173510e+00] [ 3.81137937e-02 -2.66464799e-03 9.99269853e-01 2.10348089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.084391418 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:63.10, Y:7.85, Z:2.10 [[ 9.85189391e-01 -1.64645157e-01 -4.78939996e-02 6.31028066e+01] [ 1.65921259e-01 9.85847197e-01 2.39883363e-02 7.84703562e+00] [ 4.32666018e-02 -3.15796871e-02 9.98564332e-01 2.10357692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:63.13, Y:7.87, Z:2.11 [[ 9.85257907e-01 -1.65482537e-01 -4.33864770e-02 6.31326586e+01] [ 1.65407007e-01 9.86210880e-01 -5.34998816e-03 7.86803942e+00] [ 4.36735453e-02 -1.90530916e-03 9.99044039e-01 2.11401673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144391418 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:63.16, Y:7.88, Z:2.12 [[ 9.85717732e-01 -1.62728433e-01 -4.33590839e-02 6.31632649e+01] [ 1.62650506e-01 9.86669280e-01 -5.34276402e-03 7.87725976e+00] [ 4.36504957e-02 -1.78591971e-03 9.99045267e-01 2.11540913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:63.19, Y:7.88, Z:2.12 [[ 9.86106086e-01 -1.60452780e-01 -4.30080428e-02 6.31946251e+01] [ 1.60374183e-01 9.87042093e-01 -5.29412565e-03 7.88388997e+00] [ 4.33002058e-02 -1.67681021e-03 9.99060699e-01 2.11743106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:63.23, Y:7.89, Z:2.12 [[ 9.86469035e-01 -1.58077227e-01 -4.34791043e-02 6.32256524e+01] [ 1.57994745e-01 9.87425467e-01 -5.34868340e-03 7.89066605e+00] [ 4.37778799e-02 -1.59315945e-03 9.99040019e-01 2.11872055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.234391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:63.26, Y:7.90, Z:2.12 [[ 9.87307462e-01 -1.52876228e-01 -4.30445653e-02 6.32555189e+01] [ 1.52790560e-01 9.88244420e-01 -5.29265190e-03 7.89990615e+00] [ 4.33476721e-02 -1.35132851e-03 9.99059134e-01 2.12009154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26439141799999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:63.29, Y:7.91, Z:2.12 [[ 9.87854718e-01 -1.49440099e-01 -4.25524650e-02 6.32855699e+01] [ 1.49140932e-01 9.88763974e-01 -1.01383665e-02 7.90836418e+00] [ 4.35894229e-02 3.66891886e-03 9.99042793e-01 2.12385641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29439141799999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:63.32, Y:7.91, Z:2.12 [[ 9.88189485e-01 -1.47346030e-01 -4.20795516e-02 6.33191052e+01] [ 1.47458709e-01 9.89068119e-01 -4.30490104e-04 7.91010145e+00] [ 4.16829740e-02 -5.77959057e-03 9.99114171e-01 2.12241588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32439141799999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:63.35, Y:7.92, Z:2.12 [[ 9.88573184e-01 -1.45123638e-01 -4.07699541e-02 6.33516165e+01] [ 1.45040668e-01 9.89413054e-01 -5.00138400e-03 7.91847339e+00] [ 4.10641438e-02 -9.69067274e-04 9.99156042e-01 2.12476163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35439141799999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:63.38, Y:7.93, Z:2.13 [[ 9.89010402e-01 -1.41887830e-01 -4.15483766e-02 6.33816145e+01] [ 1.41632607e-01 9.89878030e-01 -9.03822964e-03 7.92613999e+00] [ 4.24102400e-02 3.05429824e-03 9.99095612e-01 2.12612911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38439141799999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:63.41, Y:7.93, Z:2.13 [[ 9.89334027e-01 -1.39931162e-01 -4.04654591e-02 6.34144580e+01] [ 1.39997939e-01 9.90151077e-01 -1.19277842e-03 7.93182575e+00] [ 4.02338247e-02 -4.48502460e-03 9.99180226e-01 2.12654079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:63.45, Y:7.94, Z:2.13 [[ 9.89469798e-01 -1.38947410e-01 -4.05356059e-02 6.34472165e+01] [ 1.38860753e-01 9.90299498e-01 -4.95931282e-03 7.93954582e+00] [ 4.08314739e-02 -7.21714502e-04 9.99165787e-01 2.12882848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:63.48, Y:7.95, Z:2.13 [[ 9.89654973e-01 -1.37334207e-01 -4.15012066e-02 6.34783446e+01] [ 1.37242171e-01 9.90524537e-01 -5.07225000e-03 7.94506012e+00] [ 4.18045569e-02 -6.75938260e-04 9.99125579e-01 2.12944157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.474391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:63.51, Y:7.95, Z:2.13 [[ 9.89725440e-01 -1.36685147e-01 -4.19609883e-02 6.35110240e+01] [ 1.36590667e-01 9.90614322e-01 -5.12395192e-03 7.94949141e+00] [ 4.22675240e-02 -6.60173802e-04 9.99106111e-01 2.13039640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504391418 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:63.54, Y:7.95, Z:2.13 [[ 9.89796458e-01 -1.36144779e-01 -4.20424985e-02 6.35429381e+01] [ 1.36049681e-01 9.90688743e-01 -5.12832485e-03 7.95430716e+00] [ 4.23492246e-02 -6.43870717e-04 9.99102662e-01 2.13185641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:63.57, Y:7.96, Z:2.13 [[ 9.89853188e-01 -1.35344530e-01 -4.32726647e-02 6.35741231e+01] [ 1.35243375e-01 9.90798392e-01 -5.27023692e-03 7.95955021e+00] [ 4.35877843e-02 -6.35580381e-04 9.99049399e-01 2.13276108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:63.61, Y:7.97, Z:2.14 [[ 9.89991202e-01 -1.34652330e-01 -4.22631011e-02 6.36058669e+01] [ 1.34555389e-01 9.90892727e-01 -5.14311294e-03 7.96655497e+00] [ 4.25707316e-02 -5.95091429e-04 9.99093278e-01 2.13639017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.594391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:63.64, Y:7.98, Z:2.14 [[ 9.90061920e-01 -1.33808469e-01 -4.32745664e-02 6.36358626e+01] [ 1.33026973e-01 9.90900927e-01 -2.04738250e-02 7.97878952e+00] [ 4.56203792e-02 1.45136699e-02 9.98853410e-01 2.14344792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.624391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:63.67, Y:7.97, Z:2.14 [[ 9.90223098e-01 -1.33161769e-01 -4.15470793e-02 6.36704285e+01] [ 1.33686331e-01 9.90972214e-01 1.01013221e-02 7.96933239e+00] [ 3.98268912e-02 -1.55568391e-02 9.99085484e-01 2.13575151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65439141799999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:63.70, Y:7.98, Z:2.14 [[ 9.90315748e-01 -1.33234397e-01 -3.90296671e-02 6.37022068e+01] [ 1.33151065e-01 9.91084427e-01 -4.73844291e-03 7.98118934e+00] [ 3.93130188e-02 -5.04287087e-04 9.99226817e-01 2.14265221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68439141799999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:63.73, Y:7.99, Z:2.15 [[ 9.90509956e-01 -1.32172038e-01 -3.76905839e-02 6.37342155e+01] [ 1.32093722e-01 9.91226689e-01 -4.57157172e-03 7.98671891e+00] [ 3.79641467e-02 -4.50502193e-04 9.99279000e-01 2.14618334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71439141799999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:63.77, Y:7.99, Z:2.15 [[ 9.90608927e-01 -1.31388201e-01 -3.78297993e-02 6.37669031e+01] [ 1.31308913e-01 9.91330903e-01 -4.58374525e-03 7.99190808e+00] [ 3.81040991e-02 -4.26690860e-04 9.99273684e-01 2.14853167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74439141799999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:63.80, Y:8.00, Z:2.15 [[ 9.90620953e-01 -1.31098101e-01 -3.85151242e-02 6.37984745e+01] [ 1.31015882e-01 9.91369308e-01 -4.66196380e-03 7.99726652e+00] [ 3.87938867e-02 -4.27853931e-04 9.99247142e-01 2.15163254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:63.83, Y:8.00, Z:2.16 [[ 9.90487204e-01 -1.32374710e-01 -3.75770543e-02 6.38313519e+01] [ 1.32297509e-01 9.91199634e-01 -4.54465249e-03 8.00324307e+00] [ 3.78479595e-02 -4.69930530e-04 9.99283399e-01 2.15706931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804391418 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:63.86, Y:8.01, Z:2.16 [[ 9.90260199e-01 -1.34178711e-01 -3.71592882e-02 6.38636653e+01] [ 1.34104655e-01 9.90957005e-01 -4.48962255e-03 8.00748478e+00] [ 3.74256687e-02 -5.37339008e-04 9.99299270e-01 2.16057098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.834391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:63.90, Y:8.01, Z:2.16 [[ 9.90018655e-01 -1.35794487e-01 -3.77216021e-02 6.38966755e+01] [ 1.35719523e-01 9.90736838e-01 -4.55284710e-03 8.01129142e+00] [ 3.79904323e-02 -6.12154264e-04 9.99277915e-01 2.16272668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:63.93, Y:8.01, Z:2.16 [[ 9.89738519e-01 -1.37363517e-01 -3.93564226e-02 6.39297327e+01] [ 1.37283354e-01 9.90520452e-01 -4.74508260e-03 8.01454057e+00] [ 3.96351427e-02 -7.06590659e-04 9.99213969e-01 2.16455810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:63.96, Y:8.02, Z:2.17 [[ 9.89175550e-01 -1.39723901e-01 -4.48214432e-02 6.39616736e+01] [ 1.39622657e-01 9.90190076e-01 -5.39701406e-03 8.01711669e+00] [ 4.51358401e-02 -9.19494620e-04 9.98980435e-01 2.16504324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924391418 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:63.99, Y:8.02, Z:2.17 [[ 9.88986624e-01 -1.40542838e-01 -4.64022449e-02 6.39947557e+01] [ 1.40435651e-01 9.90074094e-01 -5.57823929e-03 8.02160669e+00] [ 4.67256421e-02 -9.99725433e-04 9.98907260e-01 2.16657404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:64.03, Y:8.03, Z:2.17 [[ 9.88952953e-01 -1.39845704e-01 -4.91450429e-02 6.40269768e+01] [ 1.39724918e-01 9.90172772e-01 -5.90167521e-03 8.02634067e+00] [ 4.94874072e-02 -1.03030795e-03 9.98774216e-01 2.16724596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.984391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:64.06, Y:8.03, Z:2.17 [[ 9.89355092e-01 -1.36363952e-01 -5.08072240e-02 6.40581676e+01] [ 1.36230581e-01 9.90658406e-01 -6.09512068e-03 8.03182991e+00] [ 5.11637583e-02 -8.91258992e-04 9.98689880e-01 2.16749653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01439141799999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:64.09, Y:8.04, Z:2.17 [[ 9.89815893e-01 -1.32769977e-01 -5.13481426e-02 6.40905988e+01] [ 1.32629175e-01 9.91146618e-01 -6.15502068e-03 8.03570579e+00] [ 5.17107398e-02 -7.17924479e-04 9.98661847e-01 2.16744685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04439141799999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:64.12, Y:8.04, Z:2.17 [[ 9.90313969e-01 -1.28904992e-01 -5.15921168e-02 6.41228189e+01] [ 1.28757823e-01 9.91656810e-01 -6.18007899e-03 8.03959353e+00] [ 5.19583170e-02 -5.22670066e-04 9.98649118e-01 2.16777310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07439141799999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:64.15, Y:8.05, Z:2.17 [[ 9.91390882e-01 -1.20817420e-01 -5.04704863e-02 6.41538412e+01] [ 1.20469260e-01 9.92667738e-01 -9.89546734e-03 8.04553884e+00] [ 5.12959683e-02 3.73013396e-03 9.98676529e-01 2.16927398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10439141799999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:64.19, Y:8.05, Z:2.17 [[ 9.91713786e-01 -1.18647956e-01 -4.92588060e-02 6.41869803e+01] [ 1.18682979e-01 9.92929708e-01 -2.22363571e-03 8.04634013e+00] [ 4.91743617e-02 -3.64097167e-03 9.98783573e-01 2.16803943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13439141799999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:64.22, Y:8.06, Z:2.17 [[ 9.92055553e-01 -1.15931542e-01 -4.88431888e-02 6.42173627e+01] [ 1.15427006e-01 9.93230418e-01 -1.30362375e-02 8.05506241e+00] [ 5.00238519e-02 7.29484879e-03 9.98721382e-01 2.17329018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:64.25, Y:8.05, Z:2.17 [[ 9.92281465e-01 -1.14475707e-01 -4.76739557e-02 6.42506807e+01] [ 1.14669508e-01 9.93402791e-01 1.34120550e-03 8.05149339e+00] [ 4.72059052e-02 -6.79760239e-03 9.98862050e-01 2.16969407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:64.28, Y:8.06, Z:2.17 [[ 9.92127858e-01 -1.16194189e-01 -4.67035837e-02 6.42821379e+01] [ 1.16060448e-01 9.93226509e-01 -5.57440131e-03 8.05804706e+00] [ 4.70349504e-02 1.10079974e-04 9.98893238e-01 2.17404462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.224391418 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:64.31, Y:8.06, Z:2.18 [[ 9.91857042e-01 -1.18053605e-01 -4.77802730e-02 6.43137000e+01] [ 1.17915999e-01 9.93007224e-01 -5.69834176e-03 8.06047358e+00] [ 4.81188660e-02 1.78817885e-05 9.98841616e-01 2.17510492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:64.35, Y:8.06, Z:2.18 [[ 9.90882812e-01 -1.25349192e-01 -4.93845355e-02 6.43463066e+01] [ 1.25211532e-01 9.92112622e-01 -5.88362662e-03 8.06145895e+00] [ 4.97325289e-02 -3.53528875e-04 9.98762510e-01 2.17676490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:64.38, Y:8.06, Z:2.18 [[ 9.90305150e-01 -1.29647179e-01 -4.98730176e-02 6.43787486e+01] [ 1.29512430e-01 9.91560020e-01 -5.93774648e-03 8.06348180e+00] [ 5.02219024e-02 -5.78994784e-04 9.98737916e-01 2.17777626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:64.41, Y:8.07, Z:2.18 [[ 9.89712983e-01 -1.33589784e-01 -5.12052835e-02 6.44106676e+01] [ 1.33453225e-01 9.91036388e-01 -6.09209592e-03 8.06551156e+00] [ 5.15601410e-02 -8.04083792e-04 9.98669568e-01 2.17893760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.344391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:64.44, Y:8.07, Z:2.18 [[ 9.89110380e-01 -1.37748601e-01 -5.18264326e-02 6.44427789e+01] [ 1.37614630e-01 9.90466681e-01 -6.16173668e-03 8.06839447e+00] [ 5.21811253e-02 -1.03743762e-03 9.98637098e-01 2.18069208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.374391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:64.47, Y:8.07, Z:2.18 [[ 9.88064717e-01 -1.44665206e-01 -5.29158987e-02 6.44737190e+01] [ 1.44535653e-01 9.89479619e-01 -6.28722250e-03 8.07117942e+00] [ 5.32687456e-02 -1.43605124e-03 9.98579180e-01 2.18242089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40439141799999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:64.51, Y:8.07, Z:2.18 [[ 9.87574153e-01 -1.47831420e-01 -5.33213257e-02 6.45055555e+01] [ 1.47704672e-01 9.89011243e-01 -6.33181698e-03 8.07431503e+00] [ 5.36714321e-02 -1.62267011e-03 9.98557332e-01 2.18352772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43439141799999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:64.54, Y:8.08, Z:2.18 [[ 9.87135515e-01 -1.50730742e-01 -5.33265197e-02 6.45366939e+01] [ 1.50608468e-01 9.88573242e-01 -6.32726046e-03 8.07716895e+00] [ 5.36708832e-02 -1.78556191e-03 9.98557083e-01 2.18423527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46439141799999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:64.57, Y:8.08, Z:2.18 [[ 9.86393413e-01 -1.56015550e-01 -5.18380435e-02 6.45677311e+01] [ 1.55907639e-01 9.87752530e-01 -6.14386028e-03 8.07974387e+00] [ 5.21616964e-02 -2.02168367e-03 9.98636606e-01 2.18436977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49439141799999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:64.60, Y:8.08, Z:2.19 [[ 9.86055872e-01 -1.58045993e-01 -5.21083575e-02 6.45995429e+01] [ 1.57940102e-01 9.87429419e-01 -6.16980084e-03 8.08302176e+00] [ 5.24284375e-02 -2.14623095e-03 9.98622377e-01 2.18505783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:64.63, Y:8.09, Z:2.19 [[ 9.85780436e-01 -1.60359016e-01 -5.02186976e-02 6.46300352e+01] [ 1.60263839e-01 9.87056325e-01 -5.94249022e-03 8.08687926e+00] [ 5.05216150e-02 -2.19025064e-03 9.98720566e-01 2.18671681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554391418 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:64.66, Y:8.09, Z:2.19 [[ 9.85560911e-01 -1.62096422e-01 -4.89330261e-02 6.46625723e+01] [ 1.62008367e-01 9.86772417e-01 -5.78676548e-03 8.09131998e+00] [ 4.92237744e-02 -2.22434981e-03 9.98785298e-01 2.18879492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.584391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:64.69, Y:8.10, Z:2.19 [[ 9.85369911e-01 -1.63849329e-01 -4.68992138e-02 6.46944278e+01] [ 1.63770723e-01 9.86482874e-01 -5.53983384e-03 8.09765879e+00] [ 4.71729693e-02 -2.22193258e-03 9.98884265e-01 2.19104791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:64.73, Y:8.10, Z:2.19 [[ 9.85404440e-01 -1.63560564e-01 -4.71808372e-02 6.47263961e+01] [ 1.63481077e-01 9.86530775e-01 -5.56477046e-03 8.10304510e+00] [ 4.74555249e-02 -2.22962456e-03 9.98870863e-01 2.19265975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:64.76, Y:8.11, Z:2.19 [[ 9.85447856e-01 -1.63657094e-01 -4.59225331e-02 6.47570488e+01] [ 1.63582044e-01 9.86514882e-01 -5.41313549e-03 8.10889553e+00] [ 4.61891603e-02 -2.17773905e-03 9.98930337e-01 2.19490257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674391418 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:64.79, Y:8.12, Z:2.20 [[ 9.85640155e-01 -1.62166737e-01 -4.70683935e-02 6.47892438e+01] [ 1.62086359e-01 9.86760998e-01 -5.54485967e-03 8.11606275e+00] [ 4.73444468e-02 -2.16390817e-03 9.98876279e-01 2.19557415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:64.82, Y:8.12, Z:2.20 [[ 9.85566271e-01 -1.62895428e-01 -4.60891063e-02 6.48203324e+01] [ 1.62819398e-01 9.86640979e-01 -5.42424213e-03 8.12178980e+00] [ 4.63569853e-02 -2.15825044e-03 9.98922606e-01 2.19793207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.734391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:64.85, Y:8.13, Z:2.20 [[ 9.85559447e-01 -1.62724339e-01 -4.68333904e-02 6.48533106e+01] [ 1.62645872e-01 9.86669141e-01 -5.50692978e-03 8.12722054e+00] [ 4.71051726e-02 -2.18985094e-03 9.98887535e-01 2.19900486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76439141799999 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:64.88, Y:8.14, Z:2.20 [[ 9.85490346e-01 -1.62242345e-01 -4.98618067e-02 6.48841365e+01] [ 1.62153088e-01 9.86748231e-01 -5.85706790e-03 8.13509894e+00] [ 5.01513140e-02 -2.31316209e-03 9.98738952e-01 2.20060024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79439141799999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:64.92, Y:8.14, Z:2.20 [[ 9.85669976e-01 -1.60631757e-01 -5.14989114e-02 6.49169584e+01] [ 1.60534639e-01 9.87011703e-01 -6.04381914e-03 8.14078845e+00] [ 5.18008575e-02 -2.31014808e-03 9.98654762e-01 2.20020398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82439141799999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:64.95, Y:8.15, Z:2.20 [[ 9.85794421e-01 -1.59821460e-01 -5.16377810e-02 6.49495227e+01] [ 1.59723041e-01 9.87143304e-01 -6.05375015e-03 8.14720168e+00] [ 5.19414090e-02 -2.27999027e-03 9.98647531e-01 2.20223161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85439141799999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:64.98, Y:8.15, Z:2.20 [[ 9.86117026e-01 -1.57600887e-01 -5.22988578e-02 6.49815558e+01] [ 1.57497139e-01 9.87500448e-01 -6.12510033e-03 8.15328831e+00] [ 5.26104667e-02 -2.19685476e-03 9.98612694e-01 2.20324970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88439141799999 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:65.01, Y:8.16, Z:2.20 [[ 9.86605980e-01 -1.54596994e-01 -5.20423834e-02 6.50138661e+01] [ 1.54490382e-01 9.87975526e-01 -6.08949335e-03 8.15943988e+00] [ 5.23580185e-02 -2.03211712e-03 9.98626311e-01 2.20412802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:65.05, Y:8.17, Z:2.20 [[ 9.87785396e-01 -1.47022035e-01 -5.16191061e-02 6.50455858e+01] [ 1.46907124e-01 9.89131886e-01 -6.03401824e-03 8.16812918e+00] [ 5.19452374e-02 -1.62289933e-03 9.98648616e-01 2.20489009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:65.08, Y:8.17, Z:2.21 [[ 9.88526893e-01 -1.42078591e-01 -5.12665144e-02 6.50785560e+01] [ 1.41958881e-01 9.89854447e-01 -5.98740252e-03 8.17422515e+00] [ 5.15970690e-02 -1.35902860e-03 9.98667059e-01 2.20538109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.974391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:65.11, Y:8.18, Z:2.21 [[ 9.88540635e-01 -1.41982707e-01 -5.12671801e-02 6.51110276e+01] [ 1.41863164e-01 9.89868204e-01 -5.98169762e-03 8.17792908e+00] [ 5.15970492e-02 -1.35977325e-03 9.98667059e-01 2.20659756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:65.14, Y:8.19, Z:2.21 [[ 9.89793569e-01 -1.33494512e-01 -4.98789227e-02 6.51422316e+01] [ 1.33370820e-01 9.91049147e-01 -5.81492505e-03 8.18729667e+00] [ 5.02087244e-02 -8.96817413e-04 9.98738344e-01 2.20955007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:65.17, Y:8.19, Z:2.21 [[ 9.90356087e-01 -1.29667951e-01 -4.87959360e-02 6.51746282e+01] [ 1.29545173e-01 9.91557231e-01 -5.68375304e-03 8.19393952e+00] [ 4.91209638e-02 -6.92338557e-04 9.98792597e-01 2.21095577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:65.21, Y:8.20, Z:2.21 [[ 9.90892911e-01 -1.25866823e-01 -4.78412215e-02 6.52075673e+01] [ 1.25744638e-01 9.92047022e-01 -5.56707512e-03 8.20038300e+00] [ 4.81614514e-02 -4.99401834e-04 9.98839439e-01 2.21277025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.094391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:65.24, Y:8.21, Z:2.21 [[ 9.91286907e-01 -1.22820535e-01 -4.75960493e-02 6.52390874e+01] [ 1.22696344e-01 9.92428834e-01 -5.53325901e-03 8.20635384e+00] [ 4.79152895e-02 -3.54814015e-04 9.98851340e-01 2.21460377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.124391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:65.27, Y:8.21, Z:2.22 [[ 9.91719544e-01 -1.19834454e-01 -4.61741290e-02 6.52711047e+01] [ 1.19714548e-01 9.92793866e-01 -5.36346471e-03 8.21329637e+00] [ 4.64841199e-02 -2.08662222e-04 9.98919007e-01 2.21568141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15439141799999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:65.30, Y:8.22, Z:2.22 [[ 9.91546741e-01 -1.20668742e-01 -4.76876786e-02 6.53049399e+01] [ 1.20188551e-01 9.92668273e-01 -1.28223098e-02 8.22171549e+00] [ 4.88852975e-02 6.98240652e-03 9.98779993e-01 2.21968127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18439141799999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:65.34, Y:8.22, Z:2.22 [[ 9.91614640e-01 -1.20262832e-01 -4.72996596e-02 6.53360129e+01] [ 1.20492052e-01 9.92712248e-01 2.01473033e-03 8.21926469e+00] [ 4.67126543e-02 -7.69706912e-03 9.98878713e-01 2.21521305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21439141799999 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:65.37, Y:8.23, Z:2.22 [[ 9.91128707e-01 -1.23813976e-01 -4.83113342e-02 6.53668249e+01] [ 1.23688080e-01 9.92305355e-01 -5.59836836e-03 8.22761111e+00] [ 4.86327519e-02 -4.26832569e-04 9.98816636e-01 2.21713818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24439141799999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:65.40, Y:8.23, Z:2.22 [[ 9.90766722e-01 -1.26499788e-01 -4.87760740e-02 6.53997908e+01] [ 1.26374942e-01 9.91966471e-01 -5.64745091e-03 8.23231350e+00] [ 4.90986314e-02 -5.68767119e-04 9.98793773e-01 2.21887386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:65.43, Y:8.24, Z:2.22 [[ 9.90463806e-01 -1.28636362e-01 -4.93369475e-02 6.54329474e+01] [ 1.28511556e-01 9.91691592e-01 -5.70674886e-03 8.23694332e+00] [ 4.96611314e-02 -6.88039712e-04 9.98765888e-01 2.21960153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:65.46, Y:8.24, Z:2.22 [[ 9.89932638e-01 -1.32700539e-01 -4.92335065e-02 6.54646113e+01] [ 1.32581623e-01 9.91155771e-01 -5.68778834e-03 8.24142385e+00] [ 4.95528467e-02 -8.96930870e-04 9.98771100e-01 2.22004181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.334391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:65.50, Y:8.25, Z:2.22 [[ 9.89777204e-01 -1.34336337e-01 -4.79044304e-02 6.54974304e+01] [ 1.34226084e-01 9.90935329e-01 -5.52567258e-03 8.24506986e+00] [ 4.82124911e-02 -9.60839345e-04 9.98836640e-01 2.22057812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:65.53, Y:8.25, Z:2.22 [[ 9.89663829e-01 -1.35846184e-01 -4.59490942e-02 6.55301532e+01] [ 1.35746622e-01 9.90729438e-01 -5.29480570e-03 8.24913285e+00] [ 4.62423995e-02 -9.97356650e-04 9.98929750e-01 2.22195676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:65.56, Y:8.25, Z:2.22 [[ 9.89541341e-01 -1.38175761e-01 -4.14173160e-02 6.55628907e+01] [ 1.38097101e-01 9.90407217e-01 -4.76808322e-03 8.25449918e+00] [ 4.16788422e-02 -1.00139579e-03 9.99130558e-01 2.22447433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:65.60, Y:8.26, Z:2.23 [[ 9.89489661e-01 -1.38888632e-01 -4.02511849e-02 6.55952048e+01] [ 1.38815118e-01 9.90307495e-01 -4.62914831e-03 8.25845927e+00] [ 4.05039861e-02 -1.00697860e-03 9.99178869e-01 2.22571723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:65.63, Y:8.26, Z:2.23 [[ 9.89295562e-01 -1.40547425e-01 -3.92519058e-02 6.56276482e+01] [ 1.40479003e-01 9.90073388e-01 -4.50961856e-03 8.26246065e+00] [ 3.94960826e-02 -1.05272297e-03 9.99219171e-01 2.22749041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.484391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:65.66, Y:8.27, Z:2.23 [[ 9.88807742e-01 -1.43870602e-01 -3.95031528e-02 6.56609194e+01] [ 1.43804142e-01 9.89595784e-01 -4.53361921e-03 8.26560447e+00] [ 3.97444080e-02 -1.19783921e-03 9.99209161e-01 2.22785497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51439141799999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:65.69, Y:8.27, Z:2.23 [[ 9.88514353e-01 -1.45618111e-01 -4.04319216e-02 6.56926500e+01] [ 1.45550163e-01 9.89340016e-01 -4.63491699e-03 8.26867225e+00] [ 4.06758458e-02 -1.30319081e-03 9.99171545e-01 2.22868827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54439141799999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:65.73, Y:8.27, Z:2.23 [[ 9.88336268e-01 -1.46411408e-01 -4.18941689e-02 6.57253616e+01] [ 1.46339559e-01 9.89222805e-01 -4.79327734e-03 8.27129966e+00] [ 4.21444577e-02 -1.39340437e-03 9.99110556e-01 2.22794784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57439141799999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:65.76, Y:8.28, Z:2.23 [[ 9.88047627e-01 -1.48221912e-01 -4.23338170e-02 6.57576707e+01] [ 1.48150792e-01 9.88952990e-01 -4.82983198e-03 8.27514045e+00] [ 4.25820418e-02 -1.49968448e-03 9.99091848e-01 2.22941712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60439141799999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:65.79, Y:8.28, Z:2.23 [[ 9.87694027e-01 -1.50002270e-01 -4.42699521e-02 6.57895252e+01] [ 1.49926831e-01 9.88684257e-01 -5.03835142e-03 8.27967315e+00] [ 4.45247689e-02 -1.66090401e-03 9.99006900e-01 2.23036283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63439141799999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:65.82, Y:8.28, Z:2.23 [[ 9.87740963e-01 -1.49384046e-01 -4.53011852e-02 6.58226781e+01] [ 1.49304609e-01 9.88777831e-01 -5.15118007e-03 8.28373761e+00] [ 4.55623118e-02 -1.67564419e-03 9.98960093e-01 2.23110369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:65.86, Y:8.29, Z:2.23 [[ 9.87865061e-01 -1.48436865e-01 -4.57068825e-02 6.58555899e+01] [ 1.48355229e-01 9.88920507e-01 -5.19205958e-03 8.28818522e+00] [ 4.59711665e-02 -1.65180077e-03 9.98941401e-01 2.23184807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:65.89, Y:8.29, Z:2.23 [[ 9.88613416e-01 -1.43312643e-01 -4.58802816e-02 6.58877212e+01] [ 1.43225118e-01 9.89676441e-01 -5.20645252e-03 8.29376438e+00] [ 4.61527843e-02 -1.42403993e-03 9.98933377e-01 2.23203842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.724391418 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:65.92, Y:8.30, Z:2.23 [[ 9.89094529e-01 -1.40271245e-01 -4.48997931e-02 6.59202385e+01] [ 1.40184494e-01 9.90112313e-01 -5.09067823e-03 8.29897646e+00] [ 4.51699137e-02 -1.25909280e-03 9.98978525e-01 2.23474770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754391418 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:65.95, Y:8.30, Z:2.24 [[ 9.89653658e-01 -1.36607068e-01 -4.38650885e-02 6.59524426e+01] [ 1.36520900e-01 9.90624732e-01 -4.96823665e-03 8.30421468e+00] [ 4.41325378e-02 -1.07166779e-03 9.99025110e-01 2.23650445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784391418 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:65.99, Y:8.31, Z:2.24 [[ 9.90260767e-01 -1.32289617e-01 -4.33943703e-02 6.59852882e+01] [ 1.32201378e-01 9.91210720e-01 -4.90960192e-03 8.30924998e+00] [ 4.36624544e-02 -8.75009382e-04 9.99045957e-01 2.23819739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814391418 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:66.02, Y:8.32, Z:2.24 [[ 9.91239475e-01 -1.25403153e-01 -4.14530127e-02 6.60166382e+01] [ 1.25316813e-01 9.92105713e-01 -4.68513462e-03 8.31557464e+00] [ 4.17133014e-02 -5.50669035e-04 9.99129470e-01 2.24086680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.844391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:66.05, Y:8.33, Z:2.24 [[ 9.91781695e-01 -1.22724523e-01 -3.61629743e-02 6.60493565e+01] [ 1.22168895e-01 9.92360248e-01 -1.72017003e-02 8.32635101e+00] [ 3.79977687e-02 1.26423409e-02 9.99197849e-01 2.24399904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.08, Y:8.32, Z:2.24 [[ 9.91864394e-01 -1.19889190e-01 -4.27972772e-02 6.60802551e+01] [ 1.20361682e-01 9.92692592e-01 8.63037875e-03 8.31905880e+00] [ 4.14498509e-02 -1.37113177e-02 9.99046500e-01 2.23943426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90439141799999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:66.11, Y:8.33, Z:2.24 [[ 9.92126615e-01 -1.17382390e-01 -4.36595313e-02 6.61108728e+01] [ 1.17279692e-01 9.93086761e-01 -4.91517490e-03 8.32992455e+00] [ 4.39346575e-02 -2.43900535e-04 9.99034377e-01 2.24344567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93439141799999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:66.14, Y:8.33, Z:2.24 [[ 9.92047256e-01 -1.17503377e-01 -4.51131767e-02 6.61437812e+01] [ 1.17394406e-01 9.93072446e-01 -5.06653691e-03 8.33413609e+00] [ 4.53959879e-02 -2.69790530e-04 9.98969034e-01 2.24385884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96439141799999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:66.18, Y:8.34, Z:2.24 [[ 9.91934857e-01 -1.17866181e-01 -4.66133372e-02 6.61754024e+01] [ 1.17750508e-01 9.93029442e-01 -5.22928828e-03 8.33789427e+00] [ 4.69047725e-02 -3.01630834e-04 9.98899320e-01 2.24382797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99439141799999 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:66.21, Y:8.34, Z:2.24 [[ 9.91699242e-01 -1.19040500e-01 -4.86001301e-02 6.62081806e+01] [ 1.18916421e-01 9.92889328e-01 -5.44683272e-03 8.34153273e+00] [ 4.89029442e-02 -3.77733664e-04 9.98803464e-01 2.24094432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024391418 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:66.24, Y:8.35, Z:2.24 [[ 9.91486885e-01 -1.21098021e-01 -4.78437648e-02 6.62408216e+01] [ 1.20980444e-01 9.92640439e-01 -5.35637906e-03 8.34546740e+00] [ 4.81403026e-02 -4.77380318e-04 9.98840469e-01 2.24325207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.27, Y:8.35, Z:2.24 [[ 9.91361489e-01 -1.22555095e-01 -4.67188031e-02 6.62721233e+01] [ 1.22444852e-01 9.92461564e-01 -5.22508301e-03 8.34921015e+00] [ 4.70069769e-02 -5.40530877e-04 9.98894415e-01 2.24449719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.084391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:66.30, Y:8.35, Z:2.25 [[ 9.91159341e-01 -1.24463902e-01 -4.59553993e-02 6.63049587e+01] [ 1.24359504e-01 9.92223939e-01 -5.13496731e-03 8.35360987e+00] [ 4.62371654e-02 -6.25419841e-04 9.98930295e-01 2.24634452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.34, Y:8.36, Z:2.25 [[ 9.90997992e-01 -1.26290749e-01 -4.44255223e-02 6.63378397e+01] [ 1.26195258e-01 9.91993028e-01 -4.95875040e-03 8.35749364e+00] [ 4.46960527e-02 -6.92178555e-04 9.99000392e-01 2.24822043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144391418 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:66.37, Y:8.36, Z:2.25 [[ 9.90577645e-01 -1.30271815e-01 -4.22514257e-02 6.63696020e+01] [ 1.30189313e-01 9.91477966e-01 -4.71016919e-03 8.36131323e+00] [ 4.25049599e-02 -8.34895769e-04 9.99095907e-01 2.25018887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:66.40, Y:8.37, Z:2.25 [[ 9.90305340e-01 -1.32395498e-01 -4.20329018e-02 6.64025519e+01] [ 1.32316259e-01 9.91196530e-01 -4.67395387e-03 8.36522632e+00] [ 4.22816769e-02 -9.32994853e-04 9.99105294e-01 2.25219903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:66.44, Y:8.37, Z:2.25 [[ 9.90028163e-01 -1.34419784e-01 -4.21373788e-02 6.64354403e+01] [ 1.34342199e-01 9.90923946e-01 -4.68045369e-03 8.36918197e+00] [ 4.23840833e-02 -1.02704719e-03 9.99100863e-01 2.25373138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.234391418 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:66.47, Y:8.37, Z:2.25 [[ 9.89632846e-01 -1.36896889e-01 -4.34289255e-02 6.64673936e+01] [ 1.36817141e-01 9.90584606e-01 -4.81740622e-03 8.37343524e+00] [ 4.36795130e-02 -1.17435799e-03 9.99044904e-01 2.25451237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26439141799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.50, Y:8.38, Z:2.26 [[ 9.89675950e-01 -1.36283836e-01 -4.43647395e-02 6.65002399e+01] [ 1.36200543e-01 9.90669124e-01 -4.90900672e-03 8.37734895e+00] [ 4.46197959e-02 -1.18417573e-03 9.99003339e-01 2.25520009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29439141799999 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:66.53, Y:8.38, Z:2.26 [[ 9.89869064e-01 -1.34804233e-01 -4.45763966e-02 6.65326398e+01] [ 1.34718882e-01 9.90871609e-01 -4.92713842e-03 8.38169554e+00] [ 4.48336850e-02 -1.12806042e-03 9.98993828e-01 2.25554239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32439141799999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:66.57, Y:8.39, Z:2.26 [[ 9.90768755e-01 -1.28405905e-01 -4.34649073e-02 6.65655850e+01] [ 1.28318821e-01 9.91721356e-01 -4.79927026e-03 8.38637654e+00] [ 4.37213314e-02 -8.22398631e-04 9.99043427e-01 2.25528717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35439141799999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:66.60, Y:8.39, Z:2.26 [[ 9.91329279e-01 -1.24556912e-01 -4.18549449e-02 6.65973486e+01] [ 1.24472929e-01 9.92212263e-01 -4.61681250e-03 8.39055935e+00] [ 4.21040455e-02 -6.33026165e-04 9.99113031e-01 2.25621881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38439141799999 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:66.63, Y:8.40, Z:2.26 [[ 9.91881005e-01 -1.20644812e-01 -4.02107103e-02 6.66304529e+01] [ 1.20564241e-01 9.92695635e-01 -4.43159616e-03 8.39521688e+00] [ 4.04516457e-02 -4.52357719e-04 9.99181395e-01 2.25779633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414391418 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:66.66, Y:8.40, Z:2.26 [[ 9.92863999e-01 -1.13596658e-01 -3.62888228e-02 6.66631018e+01] [ 1.13526473e-01 9.93526938e-01 -3.99550548e-03 8.40134995e+00] [ 3.65077991e-02 -1.52748504e-04 9.99333356e-01 2.25982892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444391418 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:66.70, Y:8.41, Z:2.26 [[ 9.93087531e-01 -1.12640175e-01 -3.30052414e-02 6.66960262e+01] [ 1.12413766e-01 9.93623896e-01 -8.64286571e-03 8.40916879e+00] [ 3.37683304e-02 4.87287868e-03 9.99417808e-01 2.26267196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.73, Y:8.41, Z:2.26 [[ 9.93246198e-01 -1.10446328e-01 -3.55471417e-02 6.67289729e+01] [ 1.10559398e-01 9.93868763e-01 1.22502939e-03 8.40728094e+00] [ 3.51938938e-02 -5.14682637e-03 9.99367250e-01 2.26186984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504391418 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:66.76, Y:8.41, Z:2.26 [[ 9.93092206e-01 -1.10995439e-01 -3.80510506e-02 6.67617487e+01] [ 1.10917201e-01 9.93820912e-01 -4.16759180e-03 8.41235732e+00] [ 3.82785135e-02 -8.17130860e-05 9.99267106e-01 2.26411911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534391418 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:66.80, Y:8.42, Z:2.26 [[ 9.92985462e-01 -1.11314790e-01 -3.98608718e-02 6.67950164e+01] [ 1.11229385e-01 9.93785192e-01 -4.36086474e-03 8.41530649e+00] [ 4.00985729e-02 -1.03424958e-04 9.99195723e-01 2.26445004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564391418 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:66.83, Y:8.42, Z:2.27 [[ 9.92856674e-01 -1.11564837e-01 -4.22955401e-02 6.68281030e+01] [ 1.11469131e-01 9.93757149e-01 -4.62186096e-03 8.41880387e+00] [ 4.25471325e-02 -1.25801594e-04 9.99094453e-01 2.26508784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.594391418 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:66.86, Y:8.42, Z:2.27 [[ 9.92801650e-01 -1.11153114e-01 -4.46079378e-02 6.68606010e+01] [ 1.11046487e-01 9.93803286e-01 -4.86896615e-03 8.42226741e+00] [ 4.48727159e-02 -1.19637159e-04 9.98992705e-01 2.26565036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.624391418 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:66.89, Y:8.43, Z:2.27 [[ 9.92893843e-01 -1.08978678e-01 -4.78065317e-02 6.68922271e+01] [ 1.08853963e-01 9.94044087e-01 -5.21228285e-03 8.42679408e+00] [ 4.80898278e-02 -2.86868634e-05 9.98843015e-01 2.26587196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65439141799999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:66.93, Y:8.43, Z:2.27 [[ 9.93019875e-01 -1.07637349e-01 -4.82258151e-02 6.69250177e+01] [ 1.07509100e-01 9.94190223e-01 -5.25293675e-03 8.43090131e+00] [ 4.85110461e-02 3.15566053e-05 9.98822646e-01 2.26681562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68439141799999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:66.96, Y:8.43, Z:2.27 [[ 9.93188715e-01 -1.06333819e-01 -4.76371322e-02 6.69568266e+01] [ 1.06207501e-01 9.94330484e-01 -5.18220971e-03 8.43368546e+00] [ 4.79180969e-02 8.74914234e-05 9.98851264e-01 2.26775188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71439141799999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:66.99, Y:8.44, Z:2.27 [[ 9.93411703e-01 -1.05061019e-01 -4.57752098e-02 6.69901396e+01] [ 1.04943417e-01 9.94465768e-01 -4.97141889e-03 8.43506013e+00] [ 4.60441815e-02 1.34858769e-04 9.98939395e-01 2.26836330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74439141799999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:67.02, Y:8.44, Z:2.27 [[ 9.93501989e-01 -1.04767609e-01 -4.44696104e-02 6.70230555e+01] [ 1.04656563e-01 9.94496721e-01 -4.82442342e-03 8.43702918e+00] [ 4.47303250e-02 1.39037686e-04 9.98999088e-01 2.26810012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774391418 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:67.05, Y:8.44, Z:2.27 [[ 9.93473961e-01 -1.05332695e-01 -4.37551373e-02 6.70548943e+01] [ 1.05225967e-01 9.94437033e-01 -4.74171755e-03 8.43926872e+00] [ 4.40111868e-02 1.06596299e-04 9.99031033e-01 2.27014236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804391418 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:67.09, Y:8.44, Z:2.27 [[ 9.93413108e-01 -1.06087520e-01 -4.33109204e-02 6.70871267e+01] [ 1.05983857e-01 9.94356794e-01 -4.68919815e-03 8.44046300e+00] [ 4.35639733e-02 6.80525256e-05 9.99050637e-01 2.27074132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.834391418 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:67.12, Y:8.44, Z:2.27 [[ 9.93459765e-01 -1.05708254e-01 -4.31678235e-02 6.71206344e+01] [ 1.05605111e-01 9.94397184e-01 -4.66924814e-03 8.44251137e+00] [ 4.34195402e-02 7.99673531e-05 9.99056924e-01 2.27027598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864391418 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:67.15, Y:8.45, Z:2.27 [[ 9.93474367e-01 -1.05570698e-01 -4.31683903e-02 6.71539908e+01] [ 1.05467653e-01 9.94411797e-01 -4.66400227e-03 8.44599523e+00] [ 4.34195386e-02 8.06978837e-05 9.99056924e-01 2.27153308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894391418 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:67.19, Y:8.45, Z:2.27 [[ 9.93419631e-01 -1.06348299e-01 -4.25144159e-02 6.71864568e+01] [ 1.06249313e-01 9.94328938e-01 -4.58757651e-03 8.44849755e+00] [ 4.27611950e-02 4.02610988e-05 9.99085321e-01 2.27428138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924391418 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:67.22, Y:8.45, Z:2.28 [[ 9.93358711e-01 -1.07585946e-01 -4.07889207e-02 6.72191038e+01] [ 1.07496071e-01 9.94195788e-01 -4.39666133e-03 8.44936611e+00] [ 4.10251921e-02 -1.71868926e-05 9.99158112e-01 2.27655728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:67.25, Y:8.45, Z:2.28 [[ 9.93308305e-01 -1.08325534e-01 -4.00523471e-02 6.72515498e+01] [ 1.08239666e-01 9.94115474e-01 -4.31261120e-03 8.45106486e+00] [ 4.02838240e-02 -5.15001590e-05 9.99188276e-01 2.27728785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.984391418 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:67.28, Y:8.45, Z:2.28 [[ 9.93114618e-01 -1.10562034e-01 -3.87219850e-02 6.72843181e+01] [ 1.10483623e-01 9.93869215e-01 -4.16562224e-03 8.45280972e+00] [ 3.89451485e-02 -1.41204833e-04 9.99241340e-01 2.28002581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01439141799999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:67.32, Y:8.45, Z:2.28 [[ 9.92908694e-01 -1.12703073e-01 -3.78198834e-02 6.73173570e+01] [ 1.12630000e-01 9.93628687e-01 -4.06402284e-03 8.45391395e+00] [ 3.80369489e-02 -2.24449851e-04 9.99276308e-01 2.28191703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04439141799999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:67.35, Y:8.45, Z:2.28 [[ 9.92271374e-01 -1.18230704e-01 -3.76698931e-02 6.73503058e+01] [ 1.18162363e-01 9.92986056e-01 -4.04326714e-03 8.45320043e+00] [ 3.78837169e-02 -4.39145355e-04 9.99282058e-01 2.28413506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07439141799999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:67.38, Y:8.45, Z:2.29 [[ 9.91953362e-01 -1.20718195e-01 -3.81529160e-02 6.73825918e+01] [ 1.20650119e-01 9.92686667e-01 -4.09014551e-03 8.45477650e+00] [ 3.83676460e-02 -5.45920276e-04 9.99263542e-01 2.28566911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10439141799999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:67.42, Y:8.46, Z:2.28 [[ 9.91677070e-01 -1.22575173e-01 -3.93943664e-02 6.74156730e+01] [ 1.22504537e-01 9.92459019e-01 -4.21115097e-03 8.45595291e+00] [ 3.96134768e-02 -6.49886764e-04 9.99214867e-01 2.28458917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13439141799999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:67.45, Y:8.46, Z:2.29 [[ 9.91244895e-01 -1.25711637e-01 -4.03750342e-02 6.74483362e+01] [ 1.25640245e-01 9.92066502e-01 -4.31089869e-03 8.45759274e+00] [ 4.05966490e-02 -7.99572851e-04 9.99175296e-01 2.28686260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:67.48, Y:8.46, Z:2.29 [[ 9.90690972e-01 -1.29292393e-01 -4.26013526e-02 6.74820187e+01] [ 1.29216453e-01 9.91606005e-01 -4.54303732e-03 8.45616304e+00] [ 4.28311372e-02 -1.00404961e-03 9.99081821e-01 2.28511373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:67.51, Y:8.46, Z:2.29 [[ 9.90555764e-01 -1.30097348e-01 -4.32892358e-02 6.75146768e+01] [ 1.30019990e-01 9.91500657e-01 -4.60979408e-03 8.45734622e+00] [ 4.35210277e-02 -1.06220793e-03 9.99051947e-01 2.28510044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.224391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:67.55, Y:8.46, Z:2.29 [[ 9.90580769e-01 -1.30029983e-01 -4.29178774e-02 6.75481135e+01] [ 1.29954408e-01 9.91509493e-01 -4.55812274e-03 8.45718379e+00] [ 4.31461755e-02 -1.06217863e-03 9.99068206e-01 2.28558929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:67.58, Y:8.46, Z:2.29 [[ 9.90702038e-01 -1.29391089e-01 -4.20406701e-02 6.75809907e+01] [ 1.29318216e-01 9.91593117e-01 -4.45981862e-03 8.45955552e+00] [ 4.22642998e-02 -1.01827304e-03 9.99105946e-01 2.28666264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:67.61, Y:8.46, Z:2.29 [[ 9.90914715e-01 -1.28010333e-01 -4.12478081e-02 6.76131438e+01] [ 1.27939194e-01 9.91772383e-01 -4.37071672e-03 8.46193952e+00] [ 4.14679338e-02 -9.46203805e-04 9.99139387e-01 2.28862027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:67.64, Y:8.46, Z:2.29 [[ 9.91162104e-01 -1.26193600e-01 -4.09005938e-02 6.76447358e+01] [ 1.26122282e-01 9.92005254e-01 -4.32972755e-03 8.46485054e+00] [ 4.11199878e-02 -8.67014348e-04 9.99153839e-01 2.29074753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.344391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:67.68, Y:8.47, Z:2.29 [[ 9.91777782e-01 -1.21548516e-01 -4.00348633e-02 6.76771448e+01] [ 1.21476565e-01 9.92585269e-01 -4.23403521e-03 8.46735627e+00] [ 4.02526562e-02 -6.64075599e-04 9.99189313e-01 2.29324194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.374391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:67.71, Y:8.47, Z:2.29 [[ 9.92108316e-01 -1.18676792e-01 -4.04587178e-02 6.77093068e+01] [ 1.18601133e-01 9.92932781e-01 -4.27365693e-03 8.47013616e+00] [ 4.06799711e-02 -5.58519206e-04 9.99172071e-01 2.29480845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40439141799999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:67.74, Y:8.47, Z:2.30 [[ 9.92450265e-01 -1.15628970e-01 -4.08951515e-02 6.77419358e+01] [ 1.15549410e-01 9.93292375e-01 -4.31180511e-03 8.47261770e+00] [ 4.11194117e-02 -4.46158505e-04 9.99154140e-01 2.29592889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43439141799999 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:67.78, Y:8.50, Z:2.30 [[ 9.93616339e-01 -1.10441411e-01 -2.30057810e-02 6.77802840e+01] [ 1.08790565e-01 9.92024370e-01 -6.36573835e-02 8.50074247e+00] [ 2.98527066e-02 6.07482044e-02 9.97706606e-01 2.30295868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46439141799999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:67.81, Y:8.44, Z:2.27 [[ 9.93223658e-01 -1.04029422e-01 -5.18135537e-02 6.78095663e+01] [ 1.06982124e-01 9.92573236e-01 5.79067864e-02 8.44462133e+00] [ 4.54047371e-02 -6.30575143e-02 9.96976509e-01 2.27446824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49439141799999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:67.84, Y:8.49, Z:2.30 [[ 9.93547884e-01 -1.05022945e-01 -4.28110137e-02 6.78364179e+01] [ 1.04349655e-01 9.94383588e-01 -1.76756945e-02 8.48510899e+00] [ 4.44269229e-02 1.30943344e-02 9.98926818e-01 2.29798615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:67.87, Y:8.48, Z:2.29 [[ 9.93861116e-01 -1.01089229e-01 -4.49560943e-02 6.78701916e+01] [ 1.01057856e-01 9.94876100e-01 -2.97588611e-03 8.47987764e+00] [ 4.50265738e-02 -1.58554903e-03 9.98984531e-01 2.29312661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:67.90, Y:8.48, Z:2.29 [[ 9.94215157e-01 -9.75028927e-02 -4.50489359e-02 6.79020915e+01] [ 9.74357389e-02 9.95234980e-01 -3.68934348e-03 8.48187887e+00] [ 4.51939985e-02 -7.21375142e-04 9.98977969e-01 2.29466488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:67.93, Y:8.48, Z:2.30 [[ 9.94123993e-01 -9.73947484e-02 -4.72413960e-02 6.79335540e+01] [ 9.77645015e-02 9.95193962e-01 5.57500666e-03 8.48098945e+00] [ 4.64713757e-02 -1.01607794e-02 9.98867944e-01 2.29626992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:67.97, Y:8.49, Z:2.30 [[ 9.94239678e-01 -9.66824359e-02 -4.62597981e-02 6.79674614e+01] [ 9.64977376e-02 9.95313803e-01 -6.21454009e-03 8.48677973e+00] [ 4.66438524e-02 1.71477648e-03 9.98910111e-01 2.30139891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:68.00, Y:8.49, Z:2.30 [[ 9.94101560e-01 -9.90421370e-02 -4.41898680e-02 6.79965910e+01] [ 9.89857822e-02 9.95082808e-01 -3.46702422e-03 8.48954259e+00] [ 4.43159594e-02 -9.27594463e-04 9.99017135e-01 2.30429820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:68.03, Y:8.49, Z:2.31 [[ 9.93557866e-01 -1.04788120e-01 -4.31534217e-02 6.80309834e+01] [ 1.04622948e-01 9.94493408e-01 -6.07463008e-03 8.48768021e+00] [ 4.35523425e-02 1.52065830e-03 9.99049989e-01 2.30809903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:68.06, Y:8.49, Z:2.31 [[ 9.93002922e-01 -1.09654352e-01 -4.38305736e-02 6.80634481e+01] [ 1.09559901e-01 9.93969742e-01 -4.55859701e-03 8.48819061e+00] [ 4.40661340e-02 -2.75373155e-04 9.99028578e-01 2.30929968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.734391418 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:68.09, Y:8.49, Z:2.31 [[ 9.92370508e-01 -1.14768278e-01 -4.50446035e-02 6.80943070e+01] [ 1.14673940e-01 9.93392154e-01 -4.68136520e-03 8.48941241e+00] [ 4.52842280e-02 -5.19793413e-04 9.98974008e-01 2.31098211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76439141799999 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:68.13, Y:8.49, Z:2.31 [[ 9.90942533e-01 -1.25643046e-01 -4.73996005e-02 6.81271337e+01] [ 1.25551140e-01 9.92074934e-01 -4.92307250e-03 8.48933397e+00] [ 4.76425053e-02 -1.07259194e-03 9.98863875e-01 2.31200759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79439141799999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:68.16, Y:8.49, Z:2.31 [[ 9.90390545e-01 -1.29241597e-01 -4.92257825e-02 6.81578807e+01] [ 1.28880271e-01 9.91605013e-01 -1.04582168e-02 8.49295886e+00] [ 5.01641693e-02 4.01348690e-03 9.98732921e-01 2.31443069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82439141799999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:68.19, Y:8.49, Z:2.31 [[ 9.89775522e-01 -1.33696955e-01 -4.96944756e-02 6.81916125e+01] [ 1.33858763e-01 9.91000417e-01 -7.26704290e-05 8.48993451e+00] [ 4.92569618e-02 -6.58011360e-03 9.98764464e-01 2.31195945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85439141799999 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:68.22, Y:8.49, Z:2.31 [[ 9.89170765e-01 -1.38608550e-01 -4.82583454e-02 6.82243576e+01] [ 1.38529584e-01 9.90345708e-01 -4.99329231e-03 8.49397840e+00] [ 4.84845582e-02 -1.74598974e-03 9.98822406e-01 2.31425167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88439141799999 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:68.26, Y:8.50, Z:2.32 [[ 9.89058604e-01 -1.39724474e-01 -4.73302085e-02 6.82558071e+01] [ 1.39650059e-01 9.90188837e-01 -4.89163805e-03 8.49670347e+00] [ 4.75493257e-02 -1.77154970e-03 9.98867320e-01 2.31570281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:68.29, Y:8.50, Z:2.32 [[ 9.89002369e-01 -1.40725165e-01 -4.55053983e-02 6.82879089e+01] [ 1.40657640e-01 9.90047146e-01 -4.69852487e-03 8.49962077e+00] [ 4.57136904e-02 -1.75382970e-03 9.98953043e-01 2.31815763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:68.32, Y:8.50, Z:2.32 [[ 9.89056255e-01 -1.40575240e-01 -4.47920378e-02 6.83204125e+01] [ 1.40509869e-01 9.90068498e-01 -4.62027393e-03 8.50326827e+00] [ 4.49966817e-02 -1.72401254e-03 9.98985649e-01 2.32034978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.974391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:68.35, Y:8.51, Z:2.32 [[ 9.89164567e-01 -1.39969515e-01 -4.42944030e-02 6.83523811e+01] [ 1.39905214e-01 9.90154384e-01 -4.56373616e-03 8.50646533e+00] [ 4.44970812e-02 -1.68273182e-03 9.99008097e-01 2.32200708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004391418 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:68.39, Y:8.51, Z:2.32 [[ 9.89273622e-01 -1.39229926e-01 -4.41896839e-02 6.83857218e+01] [ 1.39165393e-01 9.90258706e-01 -4.54842608e-03 8.50966354e+00] [ 4.43924962e-02 -1.65003680e-03 9.99012805e-01 2.32348088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:68.42, Y:8.51, Z:2.32 [[ 9.89593453e-01 -1.37039686e-01 -4.38739295e-02 6.84182785e+01] [ 1.36974160e-01 9.90564352e-01 -4.51053796e-03 8.51243084e+00] [ 4.40780732e-02 -1.54599582e-03 9.99026893e-01 2.32397101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:68.45, Y:8.52, Z:2.33 [[ 9.89815532e-01 -1.35480139e-01 -4.37074961e-02 6.84500157e+01] [ 1.35413825e-01 9.90778963e-01 -4.48812107e-03 8.51572255e+00] [ 4.39125190e-02 -1.47618729e-03 9.99034289e-01 2.32515334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.094391418 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:68.48, Y:8.52, Z:2.33 [[ 9.90069467e-01 -1.33566159e-01 -4.38466798e-02 6.84832844e+01] [ 1.33497750e-01 9.91038910e-01 -4.49781791e-03 8.51927295e+00] [ 4.40545220e-02 -1.40028091e-03 9.99028147e-01 2.32673620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.124391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:68.52, Y:8.52, Z:2.33 [[ 9.90333102e-01 -1.31605883e-01 -4.38205268e-02 6.85165897e+01] [ 1.31535879e-01 9.91301243e-01 -4.48969504e-03 8.52294629e+00] [ 4.40302130e-02 -1.31767789e-03 9.99029331e-01 2.32785924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15439141799999 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:68.55, Y:8.53, Z:2.33 [[ 9.90942628e-01 -1.26887714e-01 -4.39569764e-02 6.85499539e+01] [ 1.26812875e-01 9.91916459e-01 -4.49821992e-03 8.52601024e+00] [ 4.41724172e-02 -1.11683269e-03 9.99023298e-01 2.32827873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18439141799999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:68.58, Y:8.53, Z:2.33 [[ 9.91260699e-01 -1.24025381e-01 -4.49436405e-02 6.85816359e+01] [ 1.23944456e-01 9.92278525e-01 -4.59362024e-03 8.52971292e+00] [ 4.51663348e-02 -1.01703988e-03 9.98978963e-01 2.32953632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21439141799999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:68.61, Y:8.53, Z:2.33 [[ 9.91650956e-01 -1.20363902e-01 -4.62700039e-02 6.86130107e+01] [ 1.20274371e-01 9.92729448e-01 -4.72432785e-03 8.53341363e+00] [ 4.65022340e-02 -8.80211382e-04 9.98917798e-01 2.33013020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24439141799999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:68.64, Y:8.54, Z:2.33 [[ 9.92525367e-01 -1.12047235e-01 -4.83612736e-02 6.86449427e+01] [ 1.11939791e-01 9.93702747e-01 -4.93293996e-03 8.53905698e+00] [ 4.86094527e-02 -5.17482820e-04 9.98817728e-01 2.32976383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:68.68, Y:8.54, Z:2.33 [[ 9.93012483e-01 -1.07524078e-01 -4.86290150e-02 6.86767177e+01] [ 1.07410209e-01 9.94202435e-01 -4.95635079e-03 8.54412654e+00] [ 4.88800122e-02 -3.01534453e-04 9.98804612e-01 2.33160207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:68.71, Y:8.55, Z:2.33 [[ 9.93539247e-01 -1.02564731e-01 -4.85823072e-02 6.87082277e+01] [ 1.02445339e-01 9.94726330e-01 -4.94774475e-03 8.54905962e+00] [ 4.88335642e-02 -6.12523428e-05 9.98806928e-01 2.33364735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:68.74, Y:8.55, Z:2.34 [[ 9.94050085e-01 -9.80127307e-02 -4.75177071e-02 6.87400235e+01] [ 9.78934933e-02 9.95185149e-01 -4.83564292e-03 8.55356415e+00] [ 4.77628710e-02 1.55196919e-04 9.98858691e-01 2.33504327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:68.77, Y:8.56, Z:2.34 [[ 9.94731138e-01 -9.12749293e-02 -4.66781626e-02 6.87706946e+01] [ 9.11526384e-02 9.95825622e-01 -4.74623655e-03 8.55783610e+00] [ 4.69165227e-02 4.66391609e-04 9.98898705e-01 2.33710106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:68.80, Y:8.56, Z:2.34 [[ 9.94889720e-01 -8.98998064e-02 -4.59616098e-02 6.88006118e+01] [ 8.97800179e-02 9.95950680e-01 -4.66816678e-03 8.56089500e+00] [ 4.61951639e-02 5.17876988e-04 9.98932299e-01 2.33969787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:68.83, Y:8.56, Z:2.34 [[ 9.94866676e-01 -8.97397255e-02 -4.67662132e-02 6.88319239e+01] [ 8.96155756e-02 9.95965108e-01 -4.74884761e-03 8.56379844e+00] [ 4.70036769e-02 5.33489120e-04 9.98894574e-01 2.34117979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:68.86, Y:8.57, Z:2.34 [[ 9.94680121e-01 -9.01609270e-02 -4.98243391e-02 6.88621514e+01] [ 9.00206154e-02 9.95927060e-01 -5.05757772e-03 8.56515478e+00] [ 5.00774035e-02 5.45454344e-04 9.98745191e-01 2.34098049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.484391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:68.89, Y:8.57, Z:2.34 [[ 9.94715146e-01 -9.00224243e-02 -4.93734974e-02 6.88917703e+01] [ 8.94420757e-02 9.95895796e-01 -1.38448055e-02 8.57192729e+00] [ 5.04172014e-02 9.35556967e-03 9.98684424e-01 2.34092840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51439141799999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:68.92, Y:8.57, Z:2.34 [[ 9.94463632e-01 -9.05464039e-02 -5.33238501e-02 6.89242273e+01] [ 9.08452115e-02 9.95859878e-01 3.20172452e-03 8.56661639e+00] [ 5.28131782e-02 -8.02821503e-03 9.98572139e-01 2.33799162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54439141799999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:68.95, Y:8.57, Z:2.34 [[ 9.94502128e-01 -9.10216325e-02 -5.17743119e-02 6.89526773e+01] [ 9.08716029e-02 9.95848782e-01 -5.24930853e-03 8.57424178e+00] [ 5.20371861e-02 5.15633794e-04 9.98645015e-01 2.34108066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57439141799999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:68.98, Y:8.58, Z:2.34 [[ 9.94643908e-01 -9.01427012e-02 -5.05745959e-02 6.89807906e+01] [ 8.96710049e-02 9.95904767e-01 -1.15241093e-02 8.57964793e+00] [ 5.14062955e-02 6.92731026e-03 9.98653796e-01 2.34459078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60439141799999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:69.01, Y:8.58, Z:2.34 [[ 9.94736570e-01 -9.10564928e-02 -4.69879917e-02 6.90125901e+01] [ 9.12247451e-02 9.95829282e-01 1.44437366e-03 8.57612962e+00] [ 4.66604985e-02 -5.72323887e-03 9.98894410e-01 2.34245556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63439141799999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:69.04, Y:8.58, Z:2.35 [[ 9.94746344e-01 -9.36687496e-02 -4.13022529e-02 6.90448749e+01] [ 9.35755735e-02 9.95603372e-01 -4.18774574e-03 8.57850611e+00] [ 4.15129232e-02 3.00862759e-04 9.99137922e-01 2.34772785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:69.08, Y:8.58, Z:2.35 [[ 9.94647167e-01 -9.50866557e-02 -4.04418125e-02 6.90764818e+01] [ 9.49986260e-02 9.95468972e-01 -4.09727230e-03 8.57870512e+00] [ 4.06481654e-02 2.33423674e-04 9.99173495e-01 2.34886303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:69.11, Y:8.58, Z:2.35 [[ 9.94200536e-01 -9.95335272e-02 -4.07231083e-02 6.91087780e+01] [ 9.94480985e-02 9.95034208e-01 -4.12325032e-03 8.57816413e+00] [ 4.09312874e-02 4.95019970e-05 9.99161962e-01 2.35130765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.724391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:69.14, Y:8.58, Z:2.35 [[ 9.93996932e-01 -1.01283284e-01 -4.13738456e-02 6.91402476e+01] [ 1.01196762e-01 9.94857626e-01 -4.18565108e-03 8.58008149e+00] [ 4.15850223e-02 -2.63748620e-05 9.99134968e-01 2.35237069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:69.17, Y:8.58, Z:2.35 [[ 9.93820769e-01 -1.02579395e-01 -4.23998394e-02 6.91727912e+01] [ 1.02489945e-01 9.94724816e-01 -4.28383594e-03 8.58214022e+00] [ 4.26156058e-02 -8.81920612e-05 9.99091539e-01 2.35352439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:69.21, Y:8.59, Z:2.35 [[ 9.93830859e-01 -1.02481450e-01 -4.24001819e-02 6.92053110e+01] [ 1.02392056e-01 9.94734912e-01 -4.28044318e-03 8.58534156e+00] [ 4.26156073e-02 -8.74052763e-05 9.99091539e-01 2.35483135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814391418 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:69.24, Y:8.59, Z:2.36 [[ 9.93701100e-01 -1.03149650e-01 -4.37981004e-02 6.92359660e+01] [ 1.03055100e-01 9.94665841e-01 -4.41724029e-03 8.58733998e+00] [ 4.40201111e-02 -1.24201084e-04 9.99030637e-01 2.35554708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.844391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:69.27, Y:8.59, Z:2.36 [[ 9.93613134e-01 -1.03216612e-01 -4.55990259e-02 6.92683188e+01] [ 1.03114327e-01 9.94658893e-01 -4.59595836e-03 8.58970271e+00] [ 4.58298559e-02 -1.35308283e-04 9.98949251e-01 2.35628089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87439141799999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:69.30, Y:8.59, Z:2.36 [[ 9.93429259e-01 -1.03553298e-01 -4.87342052e-02 6.93005980e+01] [ 1.03437061e-01 9.94623892e-01 -4.90788401e-03 8.59113124e+00] [ 4.89804324e-02 -1.65287358e-04 9.98799725e-01 2.35588447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90439141799999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:69.33, Y:8.59, Z:2.36 [[ 9.93337961e-01 -1.04022482e-01 -4.95884883e-02 6.93312688e+01] [ 1.03902917e-01 9.94574927e-01 -4.98988685e-03 8.59306163e+00] [ 4.98385275e-02 -1.95744540e-04 9.98757269e-01 2.35686277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93439141799999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:69.36, Y:8.59, Z:2.36 [[ 9.93066906e-01 -1.06596029e-01 -4.95520598e-02 6.93623073e+01] [ 1.06479998e-01 9.94302358e-01 -4.98305692e-03 8.59489744e+00] [ 4.98009040e-02 -3.27794304e-04 9.98759111e-01 2.35845930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96439141799999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:69.39, Y:8.60, Z:2.36 [[ 9.92908775e-01 -1.07925916e-01 -4.98413594e-02 6.93930091e+01] [ 1.07810302e-01 9.94158859e-01 -5.01011788e-03 8.59740375e+00] [ 5.00909505e-02 -3.98821977e-04 9.98744581e-01 2.36060834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99439141799999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:69.42, Y:8.60, Z:2.36 [[ 9.92704243e-01 -1.09740557e-01 -4.99529375e-02 6.94228734e+01] [ 1.09626811e-01 9.93960144e-01 -5.01950998e-03 8.59977990e+00] [ 5.02020727e-02 -4.93292362e-04 9.98738959e-01 2.36251479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:69.45, Y:8.60, Z:2.36 [[ 9.92484342e-01 -1.11552101e-01 -5.03086385e-02 6.94540834e+01] [ 1.11439116e-01 9.93758411e-01 -5.05401918e-03 8.60209109e+00] [ 5.05584191e-02 -5.90315298e-04 9.98720931e-01 2.36448454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054391418 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:69.48, Y:8.60, Z:2.37 [[ 9.91440035e-01 -1.18335292e-01 -5.51671549e-02 6.94801602e+01] [ 1.18816850e-01 9.92900839e-01 5.52089618e-03 8.60338186e+00] [ 5.41221975e-02 -1.20284251e-02 9.98461869e-01 2.36715728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:69.51, Y:8.61, Z:2.37 [[ 9.91629886e-01 -1.18979716e-01 -5.01397788e-02 6.95142660e+01] [ 1.18255071e-01 9.92834450e-01 -1.71898992e-02 8.61248925e+00] [ 5.18257491e-02 1.11167346e-02 9.98594267e-01 2.37174020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:69.55, Y:8.61, Z:2.37 [[ 9.91223911e-01 -1.21530000e-01 -5.20155482e-02 6.95464784e+01] [ 1.21423146e-01 9.92587104e-01 -5.22122866e-03 8.60955253e+00] [ 5.22644983e-02 -1.14048480e-03 9.98632626e-01 2.36968305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:69.58, Y:8.61, Z:2.37 [[ 9.90382388e-01 -1.28339397e-01 -5.16887226e-02 6.95772359e+01] [ 1.28243255e-01 9.91729183e-01 -5.18613793e-03 8.61155606e+00] [ 5.19268004e-02 -1.49247034e-03 9.98649778e-01 2.37100019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:69.61, Y:8.61, Z:2.37 [[ 9.89977786e-01 -1.31708255e-01 -5.09599689e-02 6.96092913e+01] [ 1.31619425e-01 9.91287152e-01 -5.10977081e-03 8.61405289e+00] [ 5.11889615e-02 -1.64876223e-03 9.98687625e-01 2.37192585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:69.64, Y:8.62, Z:2.37 [[ 9.89574169e-01 -1.34959502e-01 -5.02881444e-02 6.96402512e+01] [ 1.34877382e-01 9.90849486e-01 -5.03856315e-03 8.61621780e+00] [ 5.05079841e-02 -1.79670134e-03 9.98722041e-01 2.37348441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.234391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:69.67, Y:8.62, Z:2.37 [[ 9.88667417e-01 -1.42212150e-01 -4.80878616e-02 6.96728049e+01] [ 1.42145754e-01 9.89834026e-01 -4.81513238e-03 8.61677351e+00] [ 4.82837720e-02 -2.07492083e-03 9.98831503e-01 2.37423532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26439141799999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:69.70, Y:8.62, Z:2.38 [[ 9.88169607e-01 -1.45911093e-01 -4.72311523e-02 6.97045516e+01] [ 1.45851429e-01 9.89295218e-01 -4.72563379e-03 8.61844587e+00] [ 4.74150756e-02 -2.21900337e-03 9.98872808e-01 2.37582317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29439141799999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:69.74, Y:8.62, Z:2.38 [[ 9.87750153e-01 -1.49117226e-01 -4.59748569e-02 6.97374519e+01] [ 1.49064333e-01 9.88816819e-01 -4.59607473e-03 8.62055763e+00] [ 4.61460657e-02 -2.31343785e-03 9.98932024e-01 2.37790530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32439141799999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:69.77, Y:8.62, Z:2.38 [[ 9.87059071e-01 -1.53287199e-01 -4.70895409e-02 6.97689261e+01] [ 1.53236712e-01 9.88178326e-01 -4.70171604e-03 8.62305369e+00] [ 4.72535765e-02 -2.57497493e-03 9.98879607e-01 2.38024972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35439141799999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:69.80, Y:8.63, Z:2.38 [[ 9.86771122e-01 -1.54689879e-01 -4.85159238e-02 6.98020623e+01] [ 1.54638235e-01 9.87959312e-01 -4.83885712e-03 8.62704853e+00] [ 4.86802809e-02 -2.72757236e-03 9.98810688e-01 2.38243109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38439141799999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:69.83, Y:8.63, Z:2.38 [[ 9.86608371e-01 -1.54872309e-01 -5.11711827e-02 6.98336681e+01] [ 1.54815436e-01 9.87930260e-01 -5.09731630e-03 8.63036325e+00] [ 5.13429929e-02 -2.89303401e-03 9.98676888e-01 2.38336323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:69.87, Y:8.63, Z:2.38 [[ 9.86667758e-01 -1.52795571e-01 -5.60379159e-02 6.98656424e+01] [ 1.52724368e-01 9.88253091e-01 -5.57631617e-03 8.63406178e+00] [ 5.62316801e-02 -3.05638392e-03 9.98413069e-01 2.38160284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:69.90, Y:8.64, Z:2.38 [[ 9.86926983e-01 -1.51349738e-01 -5.53930283e-02 6.98978523e+01] [ 1.51278143e-01 9.88475892e-01 -5.50767226e-03 8.63873655e+00] [ 5.55882578e-02 -2.94408408e-03 9.98449437e-01 2.38444491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.474391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:69.93, Y:8.64, Z:2.39 [[ 9.87412659e-01 -1.48494854e-01 -5.44565774e-02 6.99297766e+01] [ 1.48421570e-01 9.88909383e-01 -5.41012562e-03 8.64265359e+00] [ 5.46559961e-02 -2.74050419e-03 9.98501483e-01 2.38533162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:69.96, Y:8.65, Z:2.39 [[ 9.87978415e-01 -1.45216445e-01 -5.30173083e-02 6.99606291e+01] [ 1.45142488e-01 9.89396765e-01 -5.26310129e-03 8.64702181e+00] [ 5.32194421e-02 -2.49523356e-03 9.98579724e-01 2.38772200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:69.99, Y:8.65, Z:2.39 [[ 9.89400854e-01 -1.36320230e-01 -5.00274406e-02 6.99916226e+01] [ 1.36243175e-01 9.90662992e-01 -4.96313680e-03 8.65460804e+00] [ 5.02369100e-02 -1.90536556e-03 9.98735512e-01 2.39151810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:70.02, Y:8.66, Z:2.39 [[ 9.90779105e-01 -1.25900418e-01 -5.00584554e-02 7.00222756e+01] [ 1.25810206e-01 9.92041922e-01 -4.96158334e-03 8.66240472e+00] [ 5.02847517e-02 -1.38203150e-03 9.98733965e-01 2.39427996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.594391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:70.05, Y:8.67, Z:2.40 [[ 9.91353464e-01 -1.21233373e-01 -5.02073517e-02 7.00545248e+01] [ 1.21136958e-01 9.92623360e-01 -4.97008112e-03 8.66753158e+00] [ 5.04395298e-02 -1.15485872e-03 9.98726449e-01 2.39681722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62439141799999 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:70.08, Y:8.67, Z:2.40 [[ 9.92309987e-01 -1.12703457e-01 -5.11744021e-02 7.00847561e+01] [ 1.12592159e-01 9.93628394e-01 -5.06174339e-03 8.67438608e+00] [ 5.14188149e-02 -7.39017889e-04 9.98676904e-01 2.39966502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65439141799999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:70.12, Y:8.68, Z:2.40 [[ 9.93087313e-01 -1.05354719e-01 -5.17491333e-02 7.01168360e+01] [ 1.05231108e-01 9.94434638e-01 -5.11513502e-03 8.68130020e+00] [ 5.20000342e-02 -3.65842927e-04 9.98647016e-01 2.40159329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68439141799999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:70.15, Y:8.69, Z:2.40 [[ 9.93420128e-01 -1.01263682e-01 -5.34987533e-02 7.01471208e+01] [ 1.01125831e-01 9.94859609e-01 -5.28444265e-03 8.68503058e+00] [ 5.37588708e-02 -1.60434198e-04 9.98553933e-01 2.39916972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71439141799999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:70.18, Y:8.69, Z:2.40 [[ 9.93466220e-01 -1.01515183e-01 -5.21491885e-02 7.01779981e+01] [ 1.01384591e-01 9.94833975e-01 -5.15035620e-03 8.68713679e+00] [ 5.24026238e-02 -1.70419232e-04 9.98626024e-01 2.39832624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74439141799999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:70.21, Y:8.69, Z:2.40 [[ 9.93472213e-01 -1.01456474e-01 -5.21492606e-02 7.02096781e+01] [ 1.01325839e-01 9.94839965e-01 -5.14962534e-03 8.69022433e+00] [ 5.24026314e-02 -1.68057902e-04 9.98626024e-01 2.39959986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:70.24, Y:8.69, Z:2.40 [[ 9.93478201e-01 -1.01397670e-01 -5.21495648e-02 7.02413584e+01] [ 1.01267116e-01 9.94845960e-01 -5.14654284e-03 8.69330889e+00] [ 5.24026314e-02 -1.68057902e-04 9.98626024e-01 2.40087270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:70.27, Y:8.70, Z:2.40 [[ 9.93385625e-01 -1.03110004e-01 -5.05304627e-02 7.02721012e+01] [ 1.02989788e-01 9.94669927e-01 -4.98403144e-03 8.69672738e+00] [ 5.07750351e-02 -2.53056443e-04 9.98710084e-01 2.40405749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:70.30, Y:8.70, Z:2.41 [[ 9.93245814e-01 -1.04708437e-01 -4.99889678e-02 7.03029661e+01] [ 1.04592907e-01 9.94502907e-01 -4.92866364e-03 8.69979743e+00] [ 5.02302465e-02 -3.33116920e-04 9.98737609e-01 2.40675801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:70.33, Y:8.70, Z:2.41 [[ 9.93036409e-01 -1.06626346e-01 -5.00950314e-02 7.03346114e+01] [ 1.06512862e-01 9.94299067e-01 -4.93714077e-03 8.70270648e+00] [ 5.03358722e-02 -4.33004613e-04 9.98732253e-01 2.40866745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:70.36, Y:8.70, Z:2.41 [[ 9.92354187e-01 -1.11113454e-01 -5.37305186e-02 7.03648014e+01] [ 1.10989600e-01 9.93807474e-01 -5.29283441e-03 8.70432684e+00] [ 5.39858961e-02 -7.11162392e-04 9.98541445e-01 2.40926333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924391418 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:70.40, Y:8.71, Z:2.41 [[ 9.91967992e-01 -1.13704827e-01 -5.54140339e-02 7.03954740e+01] [ 1.13577292e-01 9.93514184e-01 -5.45564693e-03 8.70600803e+00] [ 5.56749621e-02 -8.81948807e-04 9.98448557e-01 2.40997008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:70.43, Y:8.71, Z:2.41 [[ 9.91689655e-01 -1.15942810e-01 -5.57574540e-02 7.04264412e+01] [ 1.15817301e-01 9.93255372e-01 -5.48804377e-03 8.70745248e+00] [ 5.60176899e-02 -1.01524163e-03 9.98429260e-01 2.41032420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.984391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:70.46, Y:8.71, Z:2.41 [[ 9.91545770e-01 -1.18767806e-01 -5.22608362e-02 7.04570357e+01] [ 1.18661562e-01 9.92921443e-01 -5.14212595e-03 8.70880834e+00] [ 5.25016240e-02 -1.10269923e-03 9.98620230e-01 2.41260269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01439141799999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:70.49, Y:8.71, Z:2.42 [[ 9.91632650e-01 -1.19376610e-01 -4.91315853e-02 7.04886777e+01] [ 1.19283531e-01 9.92848470e-01 -4.83276037e-03 8.71274994e+00] [ 4.93571379e-02 -1.06826600e-03 9.98780622e-01 2.41684994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04439141799999 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:70.52, Y:8.72, Z:2.42 [[ 9.91710101e-01 -1.19515961e-01 -4.71912042e-02 7.05206419e+01] [ 1.19430414e-01 9.92831739e-01 -4.63839497e-03 8.71749313e+00] [ 4.74072875e-02 -1.03612190e-03 9.98875105e-01 2.42119326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07439141799999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:70.55, Y:8.72, Z:2.42 [[ 9.91811538e-01 -1.18584869e-01 -4.74078261e-02 7.05530930e+01] [ 1.18497648e-01 9.92943417e-01 -4.65600391e-03 8.72105870e+00] [ 4.76254204e-02 -9.99837483e-04 9.98864765e-01 2.42229635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10439141799999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:70.58, Y:8.72, Z:2.42 [[ 9.91727575e-01 -1.18272663e-01 -4.98797924e-02 7.05845986e+01] [ 1.18175949e-01 9.92980611e-01 -4.89404623e-03 8.72274975e+00] [ 5.01084986e-02 -1.04103121e-03 9.98743238e-01 2.42265926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13439141799999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:70.62, Y:8.72, Z:2.42 [[ 9.91689476e-01 -1.18331247e-01 -5.04945394e-02 7.06160656e+01] [ 1.18232545e-01 9.92973607e-01 -4.94776564e-03 8.72337715e+00] [ 5.07252202e-02 -1.06345076e-03 9.98712081e-01 2.42259738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:70.65, Y:8.72, Z:2.42 [[ 9.91640532e-01 -1.19000961e-01 -4.98781238e-02 7.06473976e+01] [ 1.18905779e-01 9.92893541e-01 -4.88181377e-03 8.72418347e+00] [ 5.01046075e-02 -1.08979275e-03 9.98743381e-01 2.42377699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:70.68, Y:8.73, Z:2.43 [[ 9.91650763e-01 -1.19358756e-01 -4.88083192e-02 7.06794228e+01] [ 1.19268154e-01 9.92850597e-01 -4.77493100e-03 8.72553468e+00] [ 4.90292987e-02 -1.08621417e-03 9.98796750e-01 2.42607242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.224391418 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:70.71, Y:8.73, Z:2.43 [[ 9.91674038e-01 -1.19290661e-01 -4.85009360e-02 7.07111490e+01] [ 1.19201308e-01 9.92858788e-01 -4.74089528e-03 8.72721925e+00] [ 4.87201250e-02 -1.07995226e-03 9.98811886e-01 2.42941833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:70.74, Y:8.73, Z:2.43 [[ 9.91735105e-01 -1.18189498e-01 -4.99271948e-02 7.07432282e+01] [ 1.18093629e-01 9.92990493e-01 -4.87611859e-03 8.72941898e+00] [ 5.01535357e-02 -1.06026563e-03 9.98740957e-01 2.43012347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:70.77, Y:8.73, Z:2.43 [[ 9.92070263e-01 -1.13907045e-01 -5.31204062e-02 7.07742411e+01] [ 1.13792608e-01 9.93491002e-01 -5.18373037e-03 8.72967432e+00] [ 5.33651090e-02 -9.02084811e-04 9.98574660e-01 2.42903340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:70.81, Y:8.73, Z:2.43 [[ 9.92365684e-01 -1.10982186e-01 -5.37894378e-02 7.08053579e+01] [ 1.10860715e-01 9.93822107e-01 -5.24602172e-03 8.73179041e+00] [ 5.40393474e-02 -7.57163611e-04 9.98538520e-01 2.43036112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.344391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:70.84, Y:8.75, Z:2.43 [[ 9.93301859e-01 -1.07622059e-01 -4.20584103e-02 7.08363411e+01] [ 1.05672353e-01 9.93330872e-01 -4.61208392e-02 8.75300382e+00] [ 4.67415370e-02 4.13675042e-02 9.98050078e-01 2.43375101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37439141799999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:70.87, Y:8.72, Z:2.42 [[ 9.93214117e-01 -1.00995806e-01 -5.76677059e-02 7.08679692e+01] [ 1.03233409e-01 9.93960084e-01 3.72319146e-02 8.71680990e+00] [ 5.35591305e-02 -4.29324971e-02 9.97641328e-01 2.41936677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40439141799999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:70.90, Y:8.74, Z:2.43 [[ 9.94160062e-01 -9.45607931e-02 -5.20002703e-02 7.08955549e+01] [ 9.44248834e-02 9.95519080e-01 -5.06970192e-03 8.74113292e+00] [ 5.22466563e-02 1.29975708e-04 9.98634202e-01 2.43401399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43439141799999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:70.92, Y:8.74, Z:2.44 [[ 9.94476179e-01 -9.13805644e-02 -5.16403154e-02 7.09249100e+01] [ 9.12422630e-02 9.95816000e-01 -5.03426661e-03 8.74387282e+00] [ 5.18842864e-02 2.94678988e-04 9.98653060e-01 2.43504536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46439141799999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:70.95, Y:8.75, Z:2.44 [[ 9.94661396e-01 -8.93854913e-02 -5.15649284e-02 7.09549284e+01] [ 8.92448080e-02 9.95997025e-01 -5.02896266e-03 8.74503433e+00] [ 5.18080316e-02 4.00212877e-04 9.98656982e-01 2.43500078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49439141799999 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:70.98, Y:8.74, Z:2.44 [[ 9.94816849e-01 -8.90363749e-02 -4.91117102e-02 7.09847824e+01] [ 8.89082509e-02 9.96028295e-01 -4.79157975e-03 8.74257120e+00] [ 4.93432779e-02 4.00308017e-04 9.98781798e-01 2.43572764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:71.02, Y:8.74, Z:2.44 [[ 9.94787109e-01 -8.98793587e-02 -4.81695807e-02 7.10152729e+01] [ 8.97570171e-02 9.95952597e-01 -4.70124985e-03 8.74343927e+00] [ 4.83971643e-02 3.53184873e-04 9.98828108e-01 2.43836324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:71.05, Y:8.74, Z:2.44 [[ 9.94676708e-01 -9.11285412e-02 -4.81023439e-02 7.10451948e+01] [ 9.10079930e-02 9.95839095e-01 -4.69484608e-03 8.74479580e+00] [ 4.83300291e-02 2.92156263e-04 9.98831379e-01 2.43874784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:71.08, Y:8.75, Z:2.44 [[ 9.94147405e-01 -9.50568408e-02 -5.13335563e-02 7.10755483e+01] [ 9.49247278e-02 9.95471840e-01 -5.01107722e-03 8.74552966e+00] [ 5.15774470e-02 1.08925551e-04 9.98668992e-01 2.44041167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:71.11, Y:8.75, Z:2.44 [[ 9.93915344e-01 -9.69269283e-02 -5.23207466e-02 7.11054048e+01] [ 9.67922441e-02 9.95291500e-01 -5.10794214e-03 8.74688666e+00] [ 5.25694916e-02 1.26195930e-05 9.98617268e-01 2.44096403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:71.13, Y:8.75, Z:2.44 [[ 9.93715098e-01 -9.88829190e-02 -5.24640020e-02 7.11346611e+01] [ 9.87501056e-02 9.95099071e-01 -5.12408317e-03 8.74823527e+00] [ 5.27135640e-02 -8.89469289e-05 9.98609670e-01 2.44210495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:71.16, Y:8.75, Z:2.44 [[ 9.93713101e-01 -9.89030906e-02 -5.24638191e-02 7.11646498e+01] [ 9.87702064e-02 9.95097066e-01 -5.12595565e-03 8.75120162e+00] [ 5.27135653e-02 -8.81329602e-05 9.98609670e-01 2.44332390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:71.19, Y:8.75, Z:2.44 [[ 9.93583703e-01 -1.01964072e-01 -4.89362078e-02 7.11947350e+01] [ 1.01852121e-01 9.94788055e-01 -4.78241192e-03 8.75132431e+00] [ 4.91687891e-02 -2.32530010e-04 9.98790457e-01 2.44482003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.734391418 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:71.23, Y:8.75, Z:2.45 [[ 9.93498619e-01 -1.03447949e-01 -4.75290949e-02 7.12250064e+01] [ 1.03343968e-01 9.94634825e-01 -4.64648140e-03 8.75273180e+00] [ 4.77547620e-02 -2.95572429e-04 9.98859047e-01 2.44577253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76439141799999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:71.25, Y:8.75, Z:2.45 [[ 9.93264853e-01 -1.05793146e-01 -4.72518931e-02 7.12549450e+01] [ 1.05693033e-01 9.94388076e-01 -4.61923976e-03 8.75442439e+00] [ 4.74754030e-02 -4.06067384e-04 9.98872325e-01 2.44754639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79439141799999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:71.29, Y:8.75, Z:2.45 [[ 9.92500632e-01 -1.12463852e-01 -4.78996612e-02 7.12852020e+01] [ 1.12368771e-01 9.93655544e-01 -4.68174146e-03 8.75375107e+00] [ 4.81222906e-02 -7.35794695e-04 9.98841180e-01 2.44804747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82439141799999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:71.32, Y:8.75, Z:2.45 [[ 9.92096380e-01 -1.16265469e-01 -4.71922972e-02 7.13169641e+01] [ 1.16177485e-01 9.93217760e-01 -4.61231804e-03 8.75402201e+00] [ 4.74084810e-02 -9.06818382e-04 9.98875174e-01 2.44874382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85439141799999 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:71.35, Y:8.75, Z:2.45 [[ 9.91634879e-01 -1.20545052e-01 -4.61427969e-02 7.13475313e+01] [ 1.20465646e-01 9.92707261e-01 -4.50802047e-03 8.75426419e+00] [ 4.63497091e-02 -1.08831150e-03 9.98924682e-01 2.45046174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88439141799999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:71.38, Y:8.75, Z:2.45 [[ 9.91241679e-01 -1.24496522e-01 -4.40516728e-02 7.13790440e+01] [ 1.24428088e-01 9.92219299e-01 -4.30279371e-03 8.75491617e+00] [ 4.42446028e-02 -1.21615694e-03 9.99019988e-01 2.45215680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:71.41, Y:8.76, Z:2.46 [[ 9.90504046e-01 -1.30864965e-01 -4.21437575e-02 7.14108354e+01] [ 1.30808155e-01 9.91399161e-01 -4.11471262e-03 8.75602716e+00] [ 4.23197576e-02 -1.43710767e-03 9.99103084e-01 2.45628509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:71.44, Y:8.76, Z:2.46 [[ 9.90207144e-01 -1.32847111e-01 -4.29122140e-02 7.14416803e+01] [ 1.32790221e-01 9.91135325e-01 -4.18620634e-03 8.75824986e+00] [ 4.30879366e-02 -1.55311094e-03 9.99070076e-01 2.45704278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.974391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:71.47, Y:8.76, Z:2.46 [[ 9.89953497e-01 -1.33891049e-01 -4.54451375e-02 7.14731603e+01] [ 1.33828477e-01 9.90994607e-01 -4.43037229e-03 8.76003661e+00] [ 4.56290733e-02 -1.69599098e-03 9.98957012e-01 2.45549517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:71.51, Y:8.76, Z:2.45 [[ 9.89468270e-01 -1.36775039e-01 -4.73828207e-02 7.15055814e+01] [ 1.36710464e-01 9.90600293e-01 -4.61618566e-03 8.76138768e+00] [ 4.75688150e-02 -1.91015815e-03 9.98866137e-01 2.45389183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:71.54, Y:8.76, Z:2.45 [[ 9.89437190e-01 -1.37694183e-01 -4.53250274e-02 7.15365625e+01] [ 1.37636204e-01 9.90473021e-01 -4.41246443e-03 8.76332005e+00] [ 4.55007875e-02 -1.87250830e-03 9.98962548e-01 2.45459541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064391418 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:71.57, Y:8.77, Z:2.46 [[ 9.89374807e-01 -1.39066214e-01 -4.24037606e-02 7.15670960e+01] [ 1.39016792e-01 9.90281427e-01 -4.12646427e-03 8.76601520e+00] [ 4.25655083e-02 -1.81221495e-03 9.99092034e-01 2.45729118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.094391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:71.60, Y:8.77, Z:2.46 [[ 9.89265393e-01 -1.40592107e-01 -3.98477399e-02 7.15992694e+01] [ 1.40549784e-01 9.90066027e-01 -3.87553513e-03 8.77019337e+00] [ 3.99967632e-02 -1.76665847e-03 9.99198248e-01 2.46070769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12439141799999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:71.63, Y:8.77, Z:2.46 [[ 9.89070741e-01 -1.41471295e-01 -4.15324182e-02 7.16314314e+01] [ 1.41426235e-01 9.89940569e-01 -4.03594493e-03 8.77402026e+00] [ 4.16855960e-02 -1.88193851e-03 9.99129005e-01 2.46094064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15439141799999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:71.66, Y:8.78, Z:2.46 [[ 9.88676858e-01 -1.43531943e-01 -4.37795721e-02 7.16619998e+01] [ 1.43484051e-01 9.89643501e-01 -4.25070385e-03 8.77772982e+00] [ 4.39362808e-02 -2.07909783e-03 9.99032172e-01 2.46265063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18439141799999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:71.69, Y:8.78, Z:2.46 [[ 9.88003337e-01 -1.47287092e-01 -4.64318617e-02 7.16941431e+01] [ 1.47237498e-01 9.89090907e-01 -4.50519128e-03 8.77820352e+00] [ 4.65888887e-02 -2.38536711e-03 9.98911300e-01 2.45912559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21439141799999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:71.73, Y:8.78, Z:2.46 [[ 9.87802641e-01 -1.48692429e-01 -4.62223363e-02 7.17258674e+01] [ 1.48644981e-01 9.88880472e-01 -4.48125502e-03 8.77986721e+00] [ 4.63746944e-02 -2.44412277e-03 9.98921125e-01 2.45921021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24439141799999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:71.76, Y:8.78, Z:2.46 [[ 9.87911135e-01 -1.48936772e-01 -4.30049594e-02 7.17564618e+01] [ 1.48896060e-01 9.88844076e-01 -4.16624482e-03 8.78392392e+00] [ 4.31457064e-02 -2.28738935e-03 9.99066172e-01 2.46291616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:71.79, Y:8.79, Z:2.47 [[ 9.88144638e-01 -1.47553956e-01 -4.24028764e-02 7.17877460e+01] [ 1.47513212e-01 9.89051565e-01 -4.10542728e-03 8.78935399e+00] [ 4.25444033e-02 -2.19822853e-03 9.99092159e-01 2.46635515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:71.82, Y:8.80, Z:2.47 [[ 9.88464428e-01 -1.45177541e-01 -4.31457629e-02 7.18191259e+01] [ 1.45133260e-01 9.89403314e-01 -4.17366932e-03 8.79570301e+00] [ 4.32944838e-02 -2.13636155e-03 9.99060070e-01 2.46929250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:71.85, Y:8.80, Z:2.47 [[ 9.88806115e-01 -1.42287049e-01 -4.49094986e-02 7.18507480e+01] [ 1.42236312e-01 9.89823216e-01 -4.33960455e-03 8.80183193e+00] [ 4.50699338e-02 -2.09673391e-03 9.98981634e-01 2.47040803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:71.88, Y:8.81, Z:2.47 [[ 9.89360652e-01 -1.37004508e-01 -4.89414539e-02 7.18824675e+01] [ 1.36938010e-01 9.90568350e-01 -4.72505836e-03 8.80719951e+00] [ 4.91272095e-02 -2.02715847e-03 9.98790472e-01 2.47014906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:71.91, Y:8.81, Z:2.47 [[ 9.89631403e-01 -1.34748107e-01 -4.97255834e-02 7.19147219e+01] [ 1.34676821e-01 9.90877967e-01 -4.79669293e-03 8.80999195e+00] [ 4.99183303e-02 -1.94992555e-03 9.98751400e-01 2.46959286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:71.95, Y:8.81, Z:2.47 [[ 9.89959072e-01 -1.32468169e-01 -4.93276697e-02 7.19469984e+01] [ 1.32395391e-01 9.91185581e-01 -4.75434530e-03 8.81328008e+00] [ 4.95226743e-02 -1.82414886e-03 9.98771334e-01 2.47033508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:71.98, Y:8.82, Z:2.47 [[ 9.90449658e-01 -1.29068243e-01 -4.84857117e-02 7.19776187e+01] [ 1.28994069e-01 9.91634374e-01 -4.66890409e-03 8.81692339e+00] [ 4.86827056e-02 -1.63005480e-03 9.98812964e-01 2.47043154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.484391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:72.01, Y:8.83, Z:2.48 [[ 9.91326695e-01 -1.23214718e-01 -4.57112364e-02 7.20090209e+01] [ 1.23142825e-01 9.92379221e-01 -4.39621032e-03 8.82692908e+00] [ 4.59045590e-02 -1.27093016e-03 9.98945022e-01 2.47813711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51439141799999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:72.04, Y:8.83, Z:2.48 [[ 9.91814762e-01 -1.19253574e-01 -4.56296341e-02 7.20409023e+01] [ 1.19177919e-01 9.92863233e-01 -4.38465660e-03 8.83325700e+00] [ 4.58268720e-02 -1.08927769e-03 9.98948803e-01 2.48004830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54439141799999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:72.07, Y:8.84, Z:2.48 [[ 9.92269161e-01 -1.15071558e-01 -4.64806269e-02 7.20722912e+01] [ 1.14988649e-01 9.93356782e-01 -4.46255981e-03 8.83822388e+00] [ 4.66853597e-02 -9.16683995e-04 9.98909224e-01 2.48110465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57439141799999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:72.10, Y:8.84, Z:2.48 [[ 9.93155030e-01 -1.07810735e-01 -4.49436539e-02 7.21046738e+01] [ 1.07725945e-01 9.94171279e-01 -4.31144456e-03 8.84045851e+00] [ 4.51465099e-02 -5.59664749e-04 9.98980220e-01 2.48028257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60439141799999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:72.14, Y:8.84, Z:2.48 [[ 9.93652197e-01 -1.03836154e-01 -4.32823770e-02 7.21361657e+01] [ 1.03753895e-01 9.94594348e-01 -4.14871397e-03 8.84178215e+00] [ 4.34791940e-02 -3.68336452e-04 9.99054265e-01 2.47900596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63439141799999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:72.17, Y:8.85, Z:2.48 [[ 9.94344030e-01 -9.82864524e-02 -4.02457827e-02 7.21678015e+01] [ 9.82108805e-02 9.95158158e-01 -3.85536628e-03 8.84661376e+00] [ 4.04298493e-02 -1.19013315e-04 9.99182372e-01 2.48437385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:72.20, Y:8.85, Z:2.49 [[ 9.94696216e-01 -9.41765912e-02 -4.13546560e-02 7.21966303e+01] [ 9.38163739e-02 9.95533398e-01 -1.05707506e-02 8.85435015e+00] [ 4.21654585e-02 6.63494176e-03 9.99088611e-01 2.48960690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:72.23, Y:8.85, Z:2.49 [[ 9.94699981e-01 -9.38006250e-02 -4.21116429e-02 7.22294562e+01] [ 9.39751662e-02 9.95572155e-01 2.18005307e-03 8.85425868e+00] [ 4.17206887e-02 -6.12594739e-03 9.99110533e-01 2.48897505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.724391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:72.26, Y:8.86, Z:2.49 [[ 9.94442612e-01 -9.36517396e-02 -4.80961945e-02 7.22609663e+01] [ 9.35385956e-02 9.95605015e-01 -4.60278064e-03 8.86192809e+00] [ 4.83158708e-02 7.83507126e-05 9.98832103e-01 2.49087920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:72.29, Y:8.86, Z:2.49 [[ 9.94141873e-01 -9.52705979e-02 -5.10436113e-02 7.22913884e+01] [ 9.51454602e-02 9.95451412e-01 -4.88141738e-03 8.86288330e+00] [ 5.12764904e-02 -3.74646516e-06 9.98684495e-01 2.48850655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784391418 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:72.32, Y:8.86, Z:2.49 [[ 9.93797091e-01 -9.83322670e-02 -5.19433068e-02 7.23216622e+01] [ 9.82068291e-02 9.95153626e-01 -4.96793398e-03 8.86259034e+00] [ 5.21800783e-02 -1.64069110e-04 9.98637678e-01 2.48697121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:72.35, Y:8.86, Z:2.49 [[ 9.93244828e-01 -1.06338937e-01 -4.64407479e-02 7.23501358e+01] [ 1.06247333e-01 9.94329804e-01 -4.44351048e-03 8.86107563e+00] [ 4.66499380e-02 -5.20711814e-04 9.98911163e-01 2.48833989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.844391418 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:72.38, Y:8.87, Z:2.49 [[ 9.92937923e-01 -1.10636506e-01 -4.28234053e-02 7.23813171e+01] [ 1.10562521e-01 9.93860716e-01 -4.09955997e-03 8.86525117e+00] [ 4.30140612e-02 -6.64055069e-04 9.99074246e-01 2.49347479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87439141799999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:72.41, Y:8.87, Z:2.50 [[ 9.92647759e-01 -1.14029690e-01 -4.05913334e-02 7.24133983e+01] [ 1.13966116e-01 9.93477044e-01 -3.88433228e-03 8.86995382e+00] [ 4.07694871e-02 -7.70262855e-04 9.99168282e-01 2.49785482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90439141799999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:72.45, Y:8.87, Z:2.50 [[ 9.92290516e-01 -1.16905526e-01 -4.11415890e-02 7.24454984e+01] [ 1.16842822e-01 9.93142629e-01 -3.93366279e-03 8.87368349e+00] [ 4.13193328e-02 -9.03763098e-04 9.99145583e-01 2.50004719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93439141799999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:72.48, Y:8.87, Z:2.50 [[ 9.91257734e-01 -1.22592295e-01 -4.87773841e-02 7.24773372e+01] [ 1.22511235e-01 9.92456189e-01 -4.65939981e-03 8.87313799e+00] [ 4.89806233e-02 -1.35711146e-03 9.98798807e-01 2.49526497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96439141799999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:72.51, Y:8.87, Z:2.49 [[ 9.90623454e-01 -1.26693041e-01 -5.11277301e-02 7.25085141e+01] [ 1.26609582e-01 9.91940618e-01 -4.88096357e-03 8.87399052e+00] [ 5.13340563e-02 -1.63806353e-03 9.98680195e-01 2.49498190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99439141799999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:72.54, Y:8.87, Z:2.49 [[ 9.90132093e-01 -1.30103646e-01 -5.20718618e-02 7.25388335e+01] [ 1.30021878e-01 9.91498673e-01 -4.96924319e-03 8.87416977e+00] [ 5.22756985e-02 -1.85027413e-03 9.98630977e-01 2.49351101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:72.57, Y:8.87, Z:2.50 [[ 9.89620187e-01 -1.34949509e-01 -4.94015654e-02 7.25700224e+01] [ 1.34881987e-01 9.90850460e-01 -4.71331661e-03 8.87492413e+00] [ 4.95856236e-02 -1.99898804e-03 9.98767876e-01 2.49531691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054391418 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:72.60, Y:8.88, Z:2.50 [[ 9.89573082e-01 -1.35725624e-01 -4.82044706e-02 7.26016628e+01] [ 1.35662356e-01 9.90744464e-01 -4.59696931e-03 8.87919459e+00] [ 4.83822389e-02 -1.99049497e-03 9.98826910e-01 2.49862165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084391418 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:72.63, Y:8.88, Z:2.50 [[ 9.89618668e-01 -1.35507454e-01 -4.78813373e-02 7.26330567e+01] [ 1.35444958e-01 9.90774368e-01 -4.56237992e-03 8.88466553e+00] [ 4.80578382e-02 -1.97026940e-03 9.98842611e-01 2.50092792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:72.66, Y:8.89, Z:2.50 [[ 9.89870601e-01 -1.33165344e-01 -4.92258522e-02 7.26640031e+01] [ 1.33096590e-01 9.91091990e-01 -4.68664540e-03 8.89044921e+00] [ 4.94114466e-02 -1.91262058e-03 9.98776677e-01 2.50129324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:72.70, Y:8.89, Z:2.50 [[ 9.90103256e-01 -1.31496802e-01 -4.90319582e-02 7.26962960e+01] [ 1.31426698e-01 9.91314915e-01 -4.66510972e-03 8.89290656e+00] [ 4.92195585e-02 -1.82516804e-03 9.98786315e-01 2.50172197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:72.73, Y:8.90, Z:2.50 [[ 9.90445129e-01 -1.29397446e-01 -4.76943220e-02 7.27285454e+01] [ 1.29328859e-01 9.91591391e-01 -4.53418710e-03 8.89519941e+00] [ 4.78799913e-02 -1.67738872e-03 9.98851687e-01 2.50276126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:72.76, Y:8.92, Z:2.51 [[ 9.92109297e-01 -1.21378203e-01 -3.14081906e-02 7.27636801e+01] [ 1.19791589e-01 9.91625927e-01 -4.82493129e-02 8.91707912e+00] [ 3.70015910e-02 4.41061548e-02 9.98341389e-01 2.50880490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.234391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:72.79, Y:8.88, Z:2.50 [[ 9.92040798e-01 -1.17012211e-01 -4.65101983e-02 7.27927196e+01] [ 1.18972523e-01 9.92013905e-01 4.18801928e-02 8.88345556e+00] [ 4.12382695e-02 -4.70802955e-02 9.98039504e-01 2.49773000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26439141799999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:72.82, Y:8.91, Z:2.52 [[ 9.92570223e-01 -1.14030105e-01 -4.24439294e-02 7.28212465e+01] [ 1.13961772e-01 9.93476946e-01 -4.03399943e-03 8.91192469e+00] [ 4.26270627e-02 -8.32957676e-04 9.99090706e-01 2.51511542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29439141799999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:72.85, Y:8.92, Z:2.52 [[ 9.93252987e-01 -1.05868882e-01 -4.73316334e-02 7.28523039e+01] [ 1.05774836e-01 9.94379950e-01 -4.49428192e-03 8.92175587e+00] [ 4.75414318e-02 -5.42536835e-04 9.98869120e-01 2.51781842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32439141799999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:72.88, Y:8.93, Z:2.52 [[ 9.93396383e-01 -1.03233305e-01 -5.00650767e-02 7.28830085e+01] [ 1.03124937e-01 9.94657070e-01 -4.74976367e-03 8.92510447e+00] [ 5.02879163e-02 -4.44559810e-04 9.98734663e-01 2.51720802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35439141799999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:72.91, Y:8.93, Z:2.52 [[ 9.93500402e-01 -1.01133227e-01 -5.22400404e-02 7.29141295e+01] [ 1.01012491e-01 9.94872828e-01 -4.95308225e-03 8.92649287e+00] [ 5.24731179e-02 -3.56007420e-04 9.98622274e-01 2.51632151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38439141799999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:72.94, Y:8.93, Z:2.52 [[ 9.93562744e-01 -1.00186898e-01 -5.28739975e-02 7.29429989e+01] [ 1.00061922e-01 9.94968587e-01 -5.01228326e-03 8.92776755e+00] [ 5.31101317e-02 -3.10655887e-04 9.98588613e-01 2.51505504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:72.97, Y:8.93, Z:2.51 [[ 9.93666193e-01 -9.97674528e-02 -5.17102658e-02 7.29711224e+01] [ 9.96471961e-02 9.95010742e-01 -4.90496865e-03 8.93032203e+00] [ 5.19416261e-02 -2.78881464e-04 9.98650084e-01 2.51499421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:73.00, Y:8.93, Z:2.52 [[ 9.93706910e-01 -1.00026092e-01 -5.04118891e-02 7.30007449e+01] [ 9.99119974e-02 9.94984774e-01 -4.78451198e-03 8.93386409e+00] [ 5.06376381e-02 -2.82349913e-04 9.98717052e-01 2.51627066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.474391418 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:73.03, Y:8.94, Z:2.52 [[ 9.93761367e-01 -1.00007211e-01 -4.93650070e-02 7.30296205e+01] [ 9.98976920e-02 9.94986675e-01 -4.68703592e-03 8.93751331e+00] [ 4.95862615e-02 -2.73655037e-04 9.98769807e-01 2.51895213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:73.06, Y:8.94, Z:2.52 [[ 9.93722219e-01 -1.00511066e-01 -4.91291936e-02 7.30591200e+01] [ 1.00403129e-01 9.94935897e-01 -4.66620738e-03 8.94350194e+00] [ 4.93494038e-02 -2.95810816e-04 9.98781532e-01 2.52303150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:73.09, Y:8.95, Z:2.53 [[ 9.93658290e-01 -1.00844226e-01 -4.97357453e-02 7.30898487e+01] [ 1.00734042e-01 9.94902177e-01 -4.72343931e-03 8.94659236e+00] [ 4.99585328e-02 -3.16598037e-04 9.98751243e-01 2.52504121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:73.12, Y:8.95, Z:2.53 [[ 9.93321510e-01 -1.03462009e-01 -5.10684934e-02 7.31206926e+01] [ 1.03349393e-01 9.94633299e-01 -4.84808162e-03 8.94681118e+00] [ 5.12960163e-02 -4.62194019e-04 9.98683386e-01 2.52561418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.594391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:73.15, Y:8.95, Z:2.53 [[ 9.93319570e-01 -1.03480604e-01 -5.10685526e-02 7.31506892e+01] [ 1.03368044e-01 9.94631364e-01 -4.84745727e-03 8.94969503e+00] [ 5.12960019e-02 -4.63782245e-04 9.98683386e-01 2.52684314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62439141799999 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:73.18, Y:8.95, Z:2.53 [[ 9.93003125e-01 -1.05864128e-01 -5.23218903e-02 7.31807991e+01] [ 1.05749237e-01 9.94380423e-01 -4.96721167e-03 8.95101985e+00] [ 5.25537129e-02 -6.00543260e-04 9.98617918e-01 2.52681705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65439141799999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:73.21, Y:8.95, Z:2.53 [[ 9.92643928e-01 -1.08400357e-01 -5.39202662e-02 7.32102753e+01] [ 1.08282058e-01 9.94107031e-01 -5.11922181e-03 8.95236953e+00] [ 5.41574412e-02 -7.57032941e-04 9.98532122e-01 2.52688260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68439141799999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:73.24, Y:8.95, Z:2.53 [[ 9.92346152e-01 -1.11244282e-01 -5.36080562e-02 7.32400118e+01] [ 1.11131422e-01 9.93792679e-01 -5.09090941e-03 8.95383893e+00] [ 5.38416284e-02 -9.05595149e-04 9.98549077e-01 2.52754362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71439141799999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:73.27, Y:8.95, Z:2.53 [[ 9.92308251e-01 -1.13486657e-01 -4.94480841e-02 7.32705056e+01] [ 1.13393346e-01 9.93539070e-01 -4.69735239e-03 8.95452133e+00] [ 4.96616903e-02 -9.45862148e-04 9.98765649e-01 2.53084335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74439141799999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:73.30, Y:8.96, Z:2.54 [[ 9.92458523e-01 -1.13087452e-01 -4.73001950e-02 7.33014763e+01] [ 1.13001634e-01 9.93584643e-01 -4.49303658e-03 8.95910542e+00] [ 4.75048535e-02 -8.85846859e-04 9.98870614e-01 2.53645046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:73.33, Y:8.96, Z:2.54 [[ 9.92974048e-01 -1.06941035e-01 -5.06572225e-02 7.33325369e+01] [ 1.06834724e-01 9.94265161e-01 -4.80952095e-03 8.96444591e+00] [ 5.08810467e-02 -6.36220919e-04 9.98704518e-01 2.53857917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:73.36, Y:8.97, Z:2.54 [[ 9.93297061e-01 -1.03417094e-01 -5.16319011e-02 7.33640513e+01] [ 1.03302047e-01 9.94637967e-01 -4.89907997e-03 8.96708561e+00] [ 5.18616977e-02 -4.67439328e-04 9.98654167e-01 2.53865230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:73.39, Y:8.97, Z:2.54 [[ 9.93639807e-01 -1.00205691e-01 -5.13688086e-02 7.33942168e+01] [ 1.00087607e-01 9.94966698e-01 -4.87249397e-03 8.96871424e+00] [ 5.15985055e-02 -2.99877187e-04 9.98667865e-01 2.53896009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864391418 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:73.42, Y:8.97, Z:2.54 [[ 9.93968379e-01 -9.69690556e-02 -5.12236629e-02 7.34234890e+01] [ 9.68473207e-02 9.95287388e-01 -4.85915497e-03 8.96988586e+00] [ 5.14534533e-02 -1.31028120e-04 9.98675385e-01 2.53843312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:73.45, Y:8.97, Z:2.54 [[ 9.94532355e-01 -9.21922382e-02 -4.90508481e-02 7.34525032e+01] [ 9.20747067e-02 9.95741221e-01 -4.65510725e-03 8.97177892e+00] [ 4.92711161e-02 1.13312322e-04 9.98785435e-01 2.54021282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:73.48, Y:8.97, Z:2.54 [[ 9.94815637e-01 -8.97719675e-02 -4.77791011e-02 7.34819408e+01] [ 8.96575379e-02 9.95962319e-01 -4.53705345e-03 8.97426086e+00] [ 4.79934846e-02 2.29775143e-04 9.98847622e-01 2.54120262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:73.51, Y:8.98, Z:2.55 [[ 9.95031657e-01 -8.88390470e-02 -4.49402468e-02 7.35109650e+01] [ 8.87367924e-02 9.96045961e-01 -4.26914269e-03 8.97794006e+00] [ 4.51418178e-02 2.60078780e-04 9.98980555e-01 2.54630687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.984391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:73.54, Y:8.98, Z:2.55 [[ 9.94857820e-01 -8.88325400e-02 -4.86487102e-02 7.35403094e+01] [ 8.87126023e-02 9.96046535e-01 -4.62329926e-03 8.97981467e+00] [ 4.88670787e-02 2.83771739e-04 9.98805250e-01 2.54687277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01439141799999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:73.57, Y:8.98, Z:2.54 [[ 9.94576628e-01 -9.02278633e-02 -5.17326219e-02 7.35704958e+01] [ 9.00940458e-02 9.95921121e-01 -4.91764100e-03 8.97983904e+00] [ 5.19653190e-02 2.30169597e-04 9.98648864e-01 2.54465610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04439141799999 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:73.60, Y:8.98, Z:2.54 [[ 9.94236187e-01 -9.26310190e-02 -5.39805380e-02 7.35997996e+01] [ 9.24885508e-02 9.95700498e-01 -5.13680765e-03 8.97907533e+00] [ 5.42242763e-02 1.14618320e-04 9.98528775e-01 2.54336743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07439141799999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:73.63, Y:8.98, Z:2.54 [[ 9.93845424e-01 -9.74481357e-02 -5.26795422e-02 7.36271949e+01] [ 9.73185228e-02 9.95240596e-01 -5.02609054e-03 8.97613559e+00] [ 5.29186021e-02 -1.31538146e-04 9.98598820e-01 2.54299795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10439141799999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:73.65, Y:8.98, Z:2.55 [[ 9.93739407e-01 -9.79898524e-02 -5.36654439e-02 7.36534258e+01] [ 9.72694756e-02 9.95131369e-01 -1.58810753e-02 8.98294790e+00] [ 5.49603509e-02 1.05616407e-02 9.98432678e-01 2.54865932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13439141799999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:73.69, Y:8.98, Z:2.55 [[ 9.93566840e-01 -1.00363712e-01 -5.24600700e-02 7.36851498e+01] [ 1.00751221e-01 9.94900127e-01 4.78845657e-03 8.97691154e+00] [ 5.17119430e-02 -1.00430678e-02 9.98611542e-01 2.54506944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164391418 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:73.71, Y:8.98, Z:2.55 [[ 9.93094753e-01 -1.04541677e-01 -5.32339068e-02 7.37145620e+01] [ 1.04419804e-01 9.94520370e-01 -5.07324238e-03 8.98495178e+00] [ 5.34725699e-02 -5.20463708e-04 9.98569183e-01 2.55073532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:73.74, Y:8.99, Z:2.55 [[ 9.92711725e-01 -1.07285608e-01 -5.48928880e-02 7.37428909e+01] [ 1.07160159e-01 9.94228004e-01 -5.23217486e-03 8.98672707e+00] [ 5.51373836e-02 -6.88289286e-04 9.98478540e-01 2.55137250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.224391418 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:73.77, Y:8.99, Z:2.55 [[ 9.92382000e-01 -1.10308780e-01 -5.48629154e-02 7.37729016e+01] [ 1.10187914e-01 9.93897000e-01 -5.23236722e-03 8.98722513e+00] [ 5.51052631e-02 -8.52723182e-04 9.98480187e-01 2.55168226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:73.80, Y:8.98, Z:2.55 [[ 9.91970280e-01 -1.16448374e-01 -4.93430891e-02 7.38025707e+01] [ 1.16358106e-01 9.93196168e-01 -4.70777456e-03 8.98427875e+00] [ 4.95555797e-02 -1.07149595e-03 9.98770793e-01 2.55382640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:73.83, Y:8.99, Z:2.56 [[ 9.91842507e-01 -1.18880863e-01 -4.59976218e-02 7.38334192e+01] [ 1.18804972e-01 9.92907905e-01 -4.38996221e-03 8.98661480e+00] [ 4.61932848e-02 -1.11059503e-03 9.98931903e-01 2.55804874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:73.87, Y:8.99, Z:2.56 [[ 9.91731727e-01 -1.20428192e-01 -4.43309418e-02 7.38654677e+01] [ 1.20359329e-01 9.92721385e-01 -4.22902560e-03 8.99072927e+00] [ 4.45175678e-02 -1.14158354e-03 9.99007949e-01 2.56198596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.344391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:73.90, Y:9.00, Z:2.56 [[ 9.91344885e-01 -1.22611937e-01 -4.69215552e-02 7.38965278e+01] [ 1.22537415e-01 9.92453818e-01 -4.47226325e-03 8.99614689e+00] [ 4.71158295e-02 -1.31609080e-03 9.98888566e-01 2.56410812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37439141799999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:73.93, Y:9.00, Z:2.56 [[ 9.91125842e-01 -1.23377780e-01 -4.94720972e-02 7.39289921e+01] [ 1.23296053e-01 9.92358746e-01 -4.71204159e-03 8.99764413e+00] [ 4.96754296e-02 -1.42948812e-03 9.98764391e-01 2.56326704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40439141799999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:73.96, Y:9.00, Z:2.56 [[ 9.90812035e-01 -1.25131181e-01 -5.13195811e-02 7.39591002e+01] [ 1.25045777e-01 9.92138951e-01 -4.88425302e-03 8.99880973e+00] [ 5.15273277e-02 -1.57792025e-03 9.98670338e-01 2.56381498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43439141799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:73.99, Y:9.00, Z:2.56 [[ 9.90643104e-01 -1.26733211e-01 -5.06451758e-02 7.39905183e+01] [ 1.26652188e-01 9.91935483e-01 -4.81885365e-03 8.99987566e+00] [ 5.08474557e-02 -1.64055821e-03 9.98705084e-01 2.56493717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46439141799999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:74.02, Y:9.00, Z:2.57 [[ 9.90788305e-01 -1.26084698e-01 -4.94083373e-02 7.40221489e+01] [ 1.26006876e-01 9.92018238e-01 -4.69921708e-03 9.00308763e+00] [ 4.96064711e-02 -1.56986091e-03 9.98767607e-01 2.56643067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49439141799999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:74.05, Y:9.01, Z:2.57 [[ 9.91107295e-01 -1.23803064e-01 -4.87763406e-02 7.40538323e+01] [ 1.23724573e-01 9.92305764e-01 -4.63682971e-03 9.01000380e+00] [ 4.89750976e-02 -1.43923616e-03 9.98798963e-01 2.57032370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:74.08, Y:9.02, Z:2.57 [[ 9.91150803e-01 -1.22702743e-01 -5.06371738e-02 7.40847457e+01] [ 1.22616923e-01 9.92442420e-01 -4.80963314e-03 9.01503671e+00] [ 5.08446345e-02 -1.44190267e-03 9.98705534e-01 2.57085452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:74.12, Y:9.02, Z:2.57 [[ 9.91128976e-01 -1.22312418e-01 -5.19906193e-02 7.41160158e+01] [ 1.22221569e-01 9.92490570e-01 -4.93517618e-03 9.01854126e+00] [ 5.22038327e-02 -1.46297895e-03 9.98635379e-01 2.57007140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:74.15, Y:9.02, Z:2.57 [[ 9.91106901e-01 -1.22534932e-01 -5.18873863e-02 7.41466765e+01] [ 1.22444832e-01 9.92463107e-01 -4.92376631e-03 9.01986958e+00] [ 5.20996501e-02 -1.47336352e-03 9.98640804e-01 2.56939221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:74.18, Y:9.02, Z:2.57 [[ 9.91084820e-01 -1.24104060e-01 -4.84671221e-02 7.41760255e+01] [ 1.24027314e-01 9.92268145e-01 -4.59935250e-03 9.01930289e+00] [ 4.86631797e-02 -1.45289853e-03 9.98814189e-01 2.57055470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:74.21, Y:9.02, Z:2.57 [[ 9.91085114e-01 -1.24289395e-01 -4.79837725e-02 7.42068067e+01] [ 1.24214363e-01 9.92244956e-01 -4.55402860e-03 9.02324561e+00] [ 4.81776737e-02 -1.44684375e-03 9.98837734e-01 2.57297702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:74.24, Y:9.03, Z:2.58 [[ 9.91097459e-01 -1.23876001e-01 -4.87910164e-02 7.42369523e+01] [ 1.23798056e-01 9.92296641e-01 -4.62790835e-03 9.02921990e+00] [ 4.89884484e-02 -1.45352479e-03 9.98798288e-01 2.57713894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:74.27, Y:9.04, Z:2.58 [[ 9.91211795e-01 -1.20948123e-01 -5.35791764e-02 7.42677438e+01] [ 1.20850226e-01 9.92657778e-01 -5.07520418e-03 9.03827625e+00] [ 5.37996227e-02 -1.44445336e-03 9.98550707e-01 2.58031870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.734391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:74.30, Y:9.04, Z:2.58 [[ 9.91228319e-01 -1.19064881e-01 -5.73582864e-02 7.42978561e+01] [ 1.18949685e-01 9.92885432e-01 -5.43058513e-03 9.04327135e+00] [ 5.75967990e-02 -1.43980033e-03 9.98338888e-01 2.58015171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76439141799999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:74.33, Y:9.05, Z:2.58 [[ 9.91200769e-01 -1.17930812e-01 -6.01112267e-02 7.43259832e+01] [ 1.17802142e-01 9.93020772e-01 -5.69232132e-03 9.04664359e+00] [ 6.03629968e-02 -1.43899799e-03 9.98175454e-01 2.57838688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79439141799999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:74.35, Y:9.05, Z:2.58 [[ 9.91433763e-01 -1.17890812e-01 -5.62214387e-02 7.43534384e+01] [ 1.17777988e-01 9.93025660e-01 -5.32762714e-03 9.04757270e+00] [ 5.64574096e-02 -1.33965853e-03 9.98404110e-01 2.57737158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82439141799999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:74.38, Y:9.05, Z:2.58 [[ 9.91717747e-01 -1.17793198e-01 -5.11925053e-02 7.43832750e+01] [ 1.17699326e-01 9.93037410e-01 -4.85505231e-03 9.05031144e+00] [ 5.14079650e-02 -1.21048183e-03 9.98677003e-01 2.58013340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85439141799999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:74.41, Y:9.06, Z:2.59 [[ 9.91946179e-01 -1.17800969e-01 -4.65371921e-02 7.44137272e+01] [ 1.17723344e-01 9.93036617e-01 -4.41483639e-03 9.05637037e+00] [ 4.67332078e-02 -1.09923379e-03 9.98906802e-01 2.58658536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88439141799999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:74.45, Y:9.07, Z:2.59 [[ 9.92047886e-01 -1.16799662e-01 -4.68916979e-02 7.44450359e+01] [ 1.16719835e-01 9.93154928e-01 -4.44630089e-03 9.06645537e+00] [ 4.70900472e-02 -1.06224782e-03 9.98890084e-01 2.59181477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:74.48, Y:9.07, Z:2.59 [[ 9.91943113e-01 -1.16647711e-01 -4.94183355e-02 7.44765575e+01] [ 1.16559070e-01 9.93172727e-01 -4.68162651e-03 9.07080895e+00] [ 4.96270441e-02 -1.11624807e-03 9.98767195e-01 2.59245970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944391418 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:74.51, Y:9.07, Z:2.59 [[ 9.91808499e-01 -1.17187822e-01 -5.08223926e-02 7.45087080e+01] [ 1.17094998e-01 9.93109068e-01 -4.81036275e-03 9.07364313e+00] [ 5.10358949e-02 -1.18008931e-03 9.98696122e-01 2.59181698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.974391418 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:74.54, Y:9.08, Z:2.59 [[ 9.91482879e-01 -1.21098775e-01 -4.79248200e-02 7.45396352e+01] [ 1.21020993e-01 9.92639602e-01 -4.53203988e-03 9.07516752e+00] [ 4.81208987e-02 -1.30646935e-03 9.98840664e-01 2.59324645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:74.57, Y:9.08, Z:2.59 [[ 9.91293078e-01 -1.23061797e-01 -4.68383159e-02 7.45720004e+01] [ 1.22989956e-01 9.92398056e-01 -4.42365169e-03 9.07658203e+00] [ 4.70266361e-02 -1.37550712e-03 9.98892689e-01 2.59460409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:74.60, Y:9.08, Z:2.60 [[ 9.91119884e-01 -1.24414024e-01 -4.69310846e-02 7.46036345e+01] [ 1.24343591e-01 9.92229338e-01 -4.42859990e-03 9.07891635e+00] [ 4.71173790e-02 -1.44630619e-03 9.98888312e-01 2.59671758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:74.63, Y:9.08, Z:2.60 [[ 9.90878625e-01 -1.25172081e-01 -4.99149362e-02 7.46340127e+01] [ 1.25093606e-01 9.92133786e-01 -4.70539589e-03 9.08456630e+00] [ 5.01112788e-02 -1.58156317e-03 9.98742388e-01 2.59822427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.094391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:74.66, Y:9.09, Z:2.60 [[ 9.90784367e-01 -1.24960460e-01 -5.22610850e-02 7.46646806e+01] [ 1.24874472e-01 9.92160349e-01 -4.92027889e-03 9.08862280e+00] [ 5.24662166e-02 -1.65113998e-03 9.98621335e-01 2.59828320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12439141799999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:74.70, Y:9.09, Z:2.60 [[ 9.90777667e-01 -1.24287689e-01 -5.39646707e-02 7.46957450e+01] [ 1.24195174e-01 9.92244817e-01 -5.07759292e-03 9.09195419e+00] [ 5.41772471e-02 -1.67138601e-03 9.98529936e-01 2.59765443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15439141799999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:74.73, Y:9.10, Z:2.60 [[ 9.90945823e-01 -1.23326510e-01 -5.30749327e-02 7.47279037e+01] [ 1.23235781e-01 9.92364867e-01 -4.99131238e-03 9.09598384e+00] [ 5.32852597e-02 -1.59461064e-03 9.98578058e-01 2.59902748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18439141799999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:74.76, Y:9.10, Z:2.60 [[ 9.91163265e-01 -1.21794023e-01 -5.25509078e-02 7.47586202e+01] [ 1.21703140e-01 9.92554262e-01 -4.93797660e-03 9.10071788e+00] [ 5.27610435e-02 -1.50126949e-03 9.98606038e-01 2.60114100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21439141799999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:74.79, Y:9.11, Z:2.60 [[ 9.91704109e-01 -1.17725114e-01 -5.16115954e-02 7.47905993e+01] [ 1.17632119e-01 9.93045415e-01 -4.84638181e-03 9.10791615e+00] [ 5.18231991e-02 -1.26500458e-03 9.98655474e-01 2.60289057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24439141799999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:74.82, Y:9.11, Z:2.60 [[ 9.91876790e-01 -1.16417379e-01 -5.12584284e-02 7.48228944e+01] [ 1.16324123e-01 9.93199664e-01 -4.80903871e-03 9.11169299e+00] [ 5.14697096e-02 -1.19261784e-03 9.98673844e-01 2.60324783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:74.85, Y:9.11, Z:2.60 [[ 9.91904141e-01 -1.16259239e-01 -5.10878132e-02 7.48549650e+01] [ 1.16166610e-01 9.93218197e-01 -4.78881317e-03 9.11426815e+00] [ 5.12980894e-02 -1.18465447e-03 9.98682684e-01 2.60389207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:74.89, Y:9.12, Z:2.60 [[ 9.91867867e-01 -1.16894944e-01 -5.03359289e-02 7.48858351e+01] [ 1.16806038e-01 9.93143556e-01 -4.71441417e-03 9.11604244e+00] [ 5.05418947e-02 -1.20346452e-03 9.98721217e-01 2.60435279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:74.92, Y:9.12, Z:2.61 [[ 9.91637880e-01 -1.19190607e-01 -4.94764005e-02 7.49173696e+01] [ 1.19107723e-01 9.92870539e-01 -4.63074665e-03 9.11903728e+00] [ 4.96756019e-02 -1.30099760e-03 9.98764558e-01 2.60795173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:74.95, Y:9.12, Z:2.61 [[ 9.91676387e-01 -1.19129136e-01 -4.88486774e-02 7.49488031e+01] [ 1.19048460e-01 9.92877937e-01 -4.56808118e-03 9.12355157e+00] [ 4.90449656e-02 -1.28530157e-03 9.98795745e-01 2.61166241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:74.98, Y:9.13, Z:2.62 [[ 9.91730986e-01 -1.18556503e-01 -4.91325466e-02 7.49791120e+01] [ 1.18474374e-01 9.92946498e-01 -4.59078481e-03 9.12929899e+00] [ 4.93302575e-02 -1.26812415e-03 9.98781717e-01 2.61531401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:75.01, Y:9.14, Z:2.62 [[ 9.91709000e-01 -1.16633088e-01 -5.39442540e-02 7.50107233e+01] [ 1.16531444e-01 9.93174232e-01 -5.03660026e-03 9.13694826e+00] [ 5.41634773e-02 -1.29136003e-03 9.98531246e-01 2.61618242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:75.04, Y:9.14, Z:2.61 [[ 9.91618068e-01 -1.16391703e-01 -5.60943807e-02 7.50423906e+01] [ 1.16281656e-01 9.93202493e-01 -5.23294262e-03 9.13963114e+00] [ 5.63221498e-02 -1.33366701e-03 9.98411757e-01 2.61432867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.484391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:75.07, Y:9.14, Z:2.62 [[ 9.91624898e-01 -1.16333347e-01 -5.60946939e-02 7.50740847e+01] [ 1.16223397e-01 9.93209330e-01 -5.22958350e-03 9.14254234e+00] [ 5.63221483e-02 -1.33373065e-03 9.98411757e-01 2.61564585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51439141799999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:75.11, Y:9.14, Z:2.61 [[ 9.91545817e-01 -1.16776797e-01 -5.65691850e-02 7.51058031e+01] [ 1.16665873e-01 9.93157235e-01 -5.27075422e-03 9.14337721e+00] [ 5.67975972e-02 -1.37349907e-03 9.98384769e-01 2.61362624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54439141799999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:75.14, Y:9.14, Z:2.61 [[ 9.91644443e-01 -1.18393979e-01 -5.12266075e-02 7.51371290e+01] [ 1.18305252e-01 9.92965810e-01 -4.77150372e-03 9.14167216e+00] [ 5.14311871e-02 -1.32874154e-03 9.98675657e-01 2.61227254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57439141799999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:75.17, Y:9.15, Z:2.62 [[ 9.91820298e-01 -1.18490954e-01 -4.74593621e-02 7.51687214e+01] [ 1.18414933e-01 9.92954363e-01 -4.42011030e-03 9.14510027e+00] [ 4.76487238e-02 -1.23594208e-03 9.98863390e-01 2.61709608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60439141799999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:75.20, Y:9.15, Z:2.62 [[ 9.92042718e-01 -1.17292681e-01 -4.57566748e-02 7.52001551e+01] [ 1.17220905e-01 9.93096737e-01 -4.25802382e-03 9.15038200e+00] [ 4.59402395e-02 -1.13949732e-03 9.98943540e-01 2.62200108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63439141799999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:75.23, Y:9.16, Z:2.63 [[ 9.92488039e-01 -1.12437883e-01 -4.82204847e-02 7.52316394e+01] [ 1.12352646e-01 9.93658284e-01 -4.48310197e-03 9.15970847e+00] [ 4.84187546e-02 -9.68273943e-04 9.98826655e-01 2.62763734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:75.26, Y:9.16, Z:2.63 [[ 9.92569299e-01 -1.10318516e-01 -5.13420953e-02 7.52636507e+01] [ 1.10219280e-01 9.93895854e-01 -4.76882879e-03 9.16424570e+00] [ 5.15547858e-02 -9.25495757e-04 9.98669739e-01 2.62856254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:75.29, Y:9.17, Z:2.63 [[ 9.92553540e-01 -1.09117420e-01 -5.41374004e-02 7.52943507e+01] [ 1.09005535e-01 9.94028446e-01 -5.02406949e-03 9.16694667e+00] [ 5.43623295e-02 -9.14618308e-04 9.98520856e-01 2.62743226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.724391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:75.32, Y:9.17, Z:2.63 [[ 9.92547093e-01 -1.07900137e-01 -5.66377030e-02 7.53235179e+01] [ 1.07205563e-01 9.94121127e-01 -1.51707362e-02 9.16950535e+00] [ 5.79416617e-02 8.98579321e-03 9.98279530e-01 2.62682503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:75.36, Y:9.16, Z:2.62 [[ 9.92687732e-01 -1.08227689e-01 -5.34587093e-02 7.53551774e+01] [ 1.08612245e-01 9.94074749e-01 4.33287802e-03 9.16220592e+00] [ 5.26730156e-02 -1.01074653e-02 9.98560660e-01 2.62145172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784391418 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:75.39, Y:9.17, Z:2.63 [[ 9.92861627e-01 -1.08434242e-01 -4.96770021e-02 7.53859498e+01] [ 1.08339221e-01 9.94103298e-01 -4.60941766e-03 9.17014406e+00] [ 4.98838903e-02 -8.05453798e-04 9.98754699e-01 2.62754507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:75.42, Y:9.18, Z:2.63 [[ 9.93158157e-01 -1.06089936e-01 -4.88036961e-02 7.54160184e+01] [ 1.05995570e-01 9.94356307e-01 -4.52489759e-03 9.17669697e+00] [ 4.90083091e-02 -6.79036642e-04 9.98798140e-01 2.63262803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.844391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:75.45, Y:9.18, Z:2.63 [[ 9.93238375e-01 -1.04832646e-01 -4.98763191e-02 7.54475465e+01] [ 1.04732822e-01 9.94489673e-01 -4.61795365e-03 9.18006945e+00] [ 5.00855966e-02 -6.36958846e-04 9.98744726e-01 2.63393337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87439141799999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:75.48, Y:9.18, Z:2.63 [[ 9.93074801e-01 -1.04859433e-01 -5.29805553e-02 7.54792570e+01] [ 1.04747041e-01 9.94486819e-01 -4.90137895e-03 9.18150936e+00] [ 5.32024198e-02 -6.82120471e-04 9.98583515e-01 2.63293476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90439141799999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:75.51, Y:9.18, Z:2.63 [[ 9.93015450e-01 -1.05313774e-01 -5.31914054e-02 7.55108324e+01] [ 1.05201250e-01 9.94438788e-01 -4.91874932e-03 9.18277534e+00] [ 5.34136088e-02 -7.11408255e-04 9.98572221e-01 2.63283640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93439141799999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:75.54, Y:9.18, Z:2.63 [[ 9.92957410e-01 -1.06589008e-01 -5.17142743e-02 7.55410454e+01] [ 1.06484471e-01 9.94302874e-01 -4.78034598e-03 9.18478464e+00] [ 5.19291839e-02 -7.60087204e-04 9.98650480e-01 2.63472356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96439141799999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:75.57, Y:9.19, Z:2.64 [[ 9.92590976e-01 -1.10376285e-01 -5.07959698e-02 7.55716929e+01] [ 1.10280442e-01 9.93889424e-01 -4.69427798e-03 9.18876100e+00] [ 5.10037141e-02 -9.42304052e-04 9.98698019e-01 2.63810390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99439141799999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:75.60, Y:9.19, Z:2.64 [[ 9.92232894e-01 -1.13264758e-01 -5.14293562e-02 7.56023786e+01] [ 1.13170502e-01 9.93564225e-01 -4.75052996e-03 9.19238246e+00] [ 5.16364361e-02 -1.10665398e-03 9.98665336e-01 2.63888803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:75.63, Y:9.19, Z:2.64 [[ 9.91754967e-01 -1.16782531e-01 -5.27629290e-02 7.56332831e+01] [ 1.16688463e-01 9.93156625e-01 -4.87049308e-03 9.19409702e+00] [ 5.29706410e-02 -1.32648937e-03 9.98595189e-01 2.63875473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:75.67, Y:9.19, Z:2.64 [[ 9.90643647e-01 -1.26081416e-01 -5.22363985e-02 7.56656230e+01] [ 1.26002258e-01 9.92018250e-01 -4.81902991e-03 9.19132548e+00] [ 5.24270508e-02 -1.80796281e-03 9.98623120e-01 2.63662506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:75.70, Y:9.19, Z:2.64 [[ 9.90087245e-01 -1.31190495e-01 -5.01627418e-02 7.56973121e+01] [ 1.31124150e-01 9.91355165e-01 -4.62547396e-03 9.19275544e+00] [ 5.03359114e-02 -1.99792412e-03 9.98730346e-01 2.63803401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:75.73, Y:9.20, Z:2.64 [[ 9.89103834e-01 -1.39717499e-01 -4.63963966e-02 7.57274224e+01] [ 1.39670242e-01 9.90188845e-01 -4.27483546e-03 9.19867430e+00] [ 4.65384637e-02 -2.25193982e-03 9.98913960e-01 2.64434818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:75.76, Y:9.20, Z:2.65 [[ 9.88677998e-01 -1.42812248e-01 -4.60486494e-02 7.57601875e+01] [ 1.42769179e-01 9.89746930e-01 -4.23980250e-03 9.20370546e+00] [ 4.61820051e-02 -2.38252844e-03 9.98930201e-01 2.64758394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:75.79, Y:9.21, Z:2.65 [[ 9.88216933e-01 -1.45528389e-01 -4.74213238e-02 7.57926582e+01] [ 1.45486108e-01 9.89350686e-01 -4.36039879e-03 9.20704663e+00] [ 4.75508810e-02 -2.59012394e-03 9.98865459e-01 2.64829329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:75.83, Y:9.21, Z:2.65 [[ 9.87727377e-01 -1.48254411e-01 -4.91452715e-02 7.58262498e+01] [ 1.48212666e-01 9.88945216e-01 -4.51280030e-03 9.20863127e+00] [ 4.92710237e-02 -2.82653531e-03 9.98781446e-01 2.64716288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.234391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:75.86, Y:9.21, Z:2.64 [[ 9.86815342e-01 -1.54047852e-01 -4.96461576e-02 7.58582364e+01] [ 1.54012841e-01 9.88058357e-01 -4.55288729e-03 9.20704411e+00] [ 4.97546634e-02 -3.15328672e-03 9.98756492e-01 2.64419475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26439141799999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:75.89, Y:9.21, Z:2.65 [[ 9.86575069e-01 -1.56093454e-01 -4.80048618e-02 7.58912550e+01] [ 1.56063355e-01 9.87737258e-01 -4.39756614e-03 9.20959585e+00] [ 4.81026219e-02 -3.15327069e-03 9.98837422e-01 2.64643956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29439141799999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:75.92, Y:9.21, Z:2.65 [[ 9.86528558e-01 -1.57035318e-01 -4.58400906e-02 7.59236169e+01] [ 1.57009118e-01 9.87588248e-01 -4.19406740e-03 9.21394159e+00] [ 4.59297514e-02 -3.05974491e-03 9.98939986e-01 2.64950370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32439141799999 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:75.96, Y:9.22, Z:2.65 [[ 9.86781193e-01 -1.55119621e-01 -4.69124661e-02 7.59562115e+01] [ 1.55090295e-01 9.87890999e-01 -4.28653408e-03 9.22332437e+00] [ 4.70093285e-02 -3.04579697e-03 9.98889807e-01 2.65411459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35439141799999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:75.99, Y:9.23, Z:2.66 [[ 9.87015020e-01 -1.52899346e-01 -4.92254119e-02 7.59877103e+01] [ 1.52864619e-01 9.88236932e-01 -4.49169778e-03 9.22893909e+00] [ 4.93331476e-02 -3.09145065e-03 9.98777595e-01 2.65543943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38439141799999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:76.02, Y:9.23, Z:2.65 [[ 9.87715329e-01 -1.47681478e-01 -5.10745609e-02 7.60189865e+01] [ 1.47637401e-01 9.89030598e-01 -4.65547802e-03 9.23473377e+00] [ 5.12018314e-02 -2.94222841e-03 9.98683992e-01 2.65289030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:76.05, Y:9.24, Z:2.65 [[ 9.88038180e-01 -1.45981270e-01 -4.96993376e-02 7.60514138e+01] [ 1.45937534e-01 9.89283448e-01 -4.52719923e-03 9.23841159e+00] [ 4.98276183e-02 -2.77995307e-03 9.98753964e-01 2.65402147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:76.08, Y:9.24, Z:2.65 [[ 9.88483495e-01 -1.43656377e-01 -4.75733727e-02 7.60840379e+01] [ 1.43613795e-01 9.89624338e-01 -4.32977109e-03 9.24127075e+00] [ 4.77017667e-02 -2.55228532e-03 9.98858362e-01 2.65315729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:76.11, Y:9.25, Z:2.66 [[ 9.89115888e-01 -1.40682979e-01 -4.31052119e-02 7.61149344e+01] [ 1.40645420e-01 9.90052279e-01 -3.91796705e-03 9.24907347e+00] [ 4.32276045e-02 -2.18722716e-03 9.99062856e-01 2.65969109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:76.15, Y:9.26, Z:2.66 [[ 9.89396516e-01 -1.38714935e-01 -4.30430169e-02 7.61469997e+01] [ 1.38676010e-01 9.90330110e-01 -3.90342611e-03 9.25551522e+00] [ 4.31682592e-02 -2.10699765e-03 9.99065594e-01 2.66376762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:76.18, Y:9.26, Z:2.67 [[ 9.89520701e-01 -1.37260599e-01 -4.48141815e-02 7.61796744e+01] [ 1.37217177e-01 9.90532673e-01 -4.05832294e-03 9.26189096e+00] [ 4.49469588e-02 -2.13348093e-03 9.98987097e-01 2.66606263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:76.21, Y:9.27, Z:2.66 [[ 9.89714354e-01 -1.33861184e-01 -5.04646526e-02 7.62112684e+01] [ 1.33802065e-01 9.90997570e-01 -4.56326681e-03 9.26675387e+00] [ 5.06211924e-02 -2.23594406e-03 9.98715423e-01 2.66469994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.594391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:76.24, Y:9.27, Z:2.66 [[ 9.89817795e-01 -1.32152044e-01 -5.28826128e-02 7.62442346e+01] [ 1.32085006e-01 9.91226886e-01 -4.77605213e-03 9.27037012e+00] [ 5.30498327e-02 -2.25757885e-03 9.98589314e-01 2.66368965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62439141799999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:76.28, Y:9.28, Z:2.67 [[ 9.90438855e-01 -1.27329900e-01 -5.30845662e-02 7.62761971e+01] [ 1.27255776e-01 9.91858379e-01 -4.78787572e-03 9.27894504e+00] [ 5.32620115e-02 -2.01321955e-03 9.98578542e-01 2.66623607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65439141799999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:76.31, Y:9.29, Z:2.67 [[ 9.90948102e-01 -1.23838115e-01 -5.18264437e-02 7.63087518e+01] [ 1.23763017e-01 9.92300823e-01 -4.66821345e-03 9.28546122e+00] [ 5.20055255e-02 -1.78823977e-03 9.98645196e-01 2.66797737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68439141799999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:76.34, Y:9.29, Z:2.67 [[ 9.91512826e-01 -1.20078777e-01 -4.98337596e-02 7.63415316e+01] [ 1.20004894e-01 9.92763179e-01 -4.48285854e-03 9.29105044e+00] [ 5.00114178e-02 -1.53548328e-03 9.98747466e-01 2.66983114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71439141799999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:76.37, Y:9.30, Z:2.67 [[ 9.91977728e-01 -1.17035350e-01 -4.77798505e-02 7.63740228e+01] [ 1.16964172e-01 9.93126858e-01 -4.29251176e-03 9.29584123e+00] [ 4.79538284e-02 -1.33045460e-03 9.98848667e-01 2.67092303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74439141799999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:76.41, Y:9.30, Z:2.67 [[ 9.92630805e-01 -1.12530208e-01 -4.49559531e-02 7.64054287e+01] [ 1.12462812e-01 9.93647747e-01 -4.03364988e-03 9.30037538e+00] [ 4.51242890e-02 -1.05194777e-03 9.98980827e-01 2.67211993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:76.44, Y:9.30, Z:2.67 [[ 9.92804358e-01 -1.10924661e-01 -4.51134777e-02 7.64387395e+01] [ 1.10855347e-01 9.93828328e-01 -4.04310835e-03 9.30386214e+00] [ 4.52835325e-02 -9.87054620e-04 9.98973687e-01 2.67385355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:76.47, Y:9.31, Z:2.68 [[ 9.92970973e-01 -1.09041050e-01 -4.60292921e-02 7.64710797e+01] [ 1.08967127e-01 9.94036817e-01 -4.11965990e-03 9.30750469e+00] [ 4.62040230e-02 -9.24976988e-04 9.98931596e-01 2.67501140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:76.50, Y:9.32, Z:2.68 [[ 9.93284443e-01 -1.04786820e-01 -4.90483137e-02 7.65034636e+01] [ 1.04697994e-01 9.94494400e-01 -4.38377738e-03 9.31506479e+00] [ 4.92376354e-02 -7.80922197e-04 9.98786787e-01 2.67925769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:76.53, Y:9.32, Z:2.68 [[ 9.93424406e-01 -1.02433539e-01 -5.11401977e-02 7.65341370e+01] [ 1.02334151e-01 9.94739605e-01 -4.56501340e-03 9.32051785e+00] [ 5.13387906e-02 -6.98392974e-04 9.98681051e-01 2.68071016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894391418 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:76.57, Y:9.32, Z:2.68 [[ 9.93576073e-01 -1.00422273e-01 -5.21723565e-02 7.65657168e+01] [ 1.00316234e-01 9.94944720e-01 -4.65380849e-03 9.32478076e+00] [ 5.23759566e-02 -6.09821575e-04 9.98627251e-01 2.68139884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.60, Y:9.33, Z:2.68 [[ 9.93817968e-01 -9.85415761e-02 -5.11410319e-02 7.65968591e+01] [ 9.84373954e-02 9.95132807e-01 -4.55804347e-03 9.32631597e+00] [ 5.13412754e-02 -5.04324470e-04 9.98681040e-01 2.68081385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:76.63, Y:9.33, Z:2.68 [[ 9.93932339e-01 -9.83480607e-02 -4.92561064e-02 7.66293516e+01] [ 9.82513302e-02 9.95151963e-01 -4.38709586e-03 9.32806014e+00] [ 4.94487734e-02 -4.79001522e-04 9.98776546e-01 2.68172996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.984391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:76.66, Y:9.33, Z:2.68 [[ 9.94053621e-01 -9.80718351e-02 -4.73213873e-02 7.66611542e+01] [ 9.79824136e-02 9.95179236e-01 -4.21122329e-03 9.33050387e+00] [ 4.75062644e-02 -4.50481985e-04 9.98870838e-01 2.68355716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01439141799999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.69, Y:9.33, Z:2.69 [[ 9.94144227e-01 -9.77808619e-02 -4.60017321e-02 7.66933359e+01] [ 9.76962120e-02 9.95207878e-01 -4.09025721e-03 9.33488824e+00] [ 4.61812350e-02 -4.27889379e-04 9.98932986e-01 2.68660652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04439141799999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:76.73, Y:9.34, Z:2.69 [[ 9.94069692e-01 -9.80661877e-02 -4.69943680e-02 7.67256223e+01] [ 9.79783443e-02 9.95179791e-01 -4.17466265e-03 9.33880410e+00] [ 4.71772386e-02 -4.54524757e-04 9.98886431e-01 2.68792161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07439141799999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:76.76, Y:9.34, Z:2.69 [[ 9.93885841e-01 -9.94920808e-02 -4.78775630e-02 7.67564360e+01] [ 9.94027400e-02 9.95038210e-01 -4.24930009e-03 9.34217170e+00] [ 4.80627763e-02 -5.35841754e-04 9.98844173e-01 2.68990516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10439141799999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:76.79, Y:9.35, Z:2.69 [[ 9.93338715e-01 -1.03990705e-01 -4.96400163e-02 7.67893933e+01] [ 1.03699887e-01 9.94573115e-01 -8.40545592e-03 9.34518712e+00] [ 5.02447149e-02 3.20180073e-03 9.98731804e-01 2.69146133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13439141799999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:76.82, Y:9.34, Z:2.69 [[ 9.93099721e-01 -1.06160641e-01 -4.98283247e-02 7.68207494e+01] [ 1.06274412e-01 9.94336771e-01 -3.68047247e-04 9.34259752e+00] [ 4.95852076e-02 -4.92996831e-03 9.98757730e-01 2.68872366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:76.85, Y:9.34, Z:2.69 [[ 9.92832015e-01 -1.08584826e-01 -4.99392142e-02 7.68532047e+01] [ 1.08499770e-01 9.94086652e-01 -4.41898665e-03 9.34478891e+00] [ 5.01237411e-02 -1.03108185e-03 9.98742483e-01 2.68846070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:76.89, Y:9.34, Z:2.69 [[ 9.92126238e-01 -1.14943238e-01 -4.97350885e-02 7.68853602e+01] [ 1.14867043e-01 9.93371143e-01 -4.39706824e-03 9.34382510e+00] [ 4.99108150e-02 -1.35047576e-03 9.98752766e-01 2.68916994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:76.92, Y:9.35, Z:2.69 [[ 9.91870473e-01 -1.17519724e-01 -4.88065422e-02 7.69181760e+01] [ 1.17449659e-01 9.93069481e-01 -4.31095478e-03 9.34612368e+00] [ 4.89749097e-02 -1.45640298e-03 9.98798947e-01 2.69152326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:76.95, Y:9.35, Z:2.70 [[ 9.91739024e-01 -1.19139154e-01 -4.75349365e-02 7.69500765e+01] [ 1.19074805e-01 9.92876431e-01 -4.19326211e-03 9.34956158e+00] [ 4.76958998e-02 -1.50159164e-03 9.98860774e-01 2.69511238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:76.98, Y:9.36, Z:2.70 [[ 9.91680197e-01 -1.19682311e-01 -4.73975838e-02 7.69821527e+01] [ 1.19619181e-01 9.92811064e-01 -4.17638136e-03 9.35611849e+00] [ 4.75566846e-02 -1.52802545e-03 9.98867372e-01 2.70100106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:77.01, Y:9.36, Z:2.70 [[ 9.91731622e-01 -1.18771335e-01 -4.85979328e-02 7.70144897e+01] [ 1.18704165e-01 9.92920458e-01 -4.27619720e-03 9.36061153e+00] [ 4.87617713e-02 -1.52793703e-03 9.98809269e-01 2.70298129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.344391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:77.05, Y:9.36, Z:2.70 [[ 9.91788087e-01 -1.17601816e-01 -5.02613523e-02 7.70465646e+01] [ 1.17528820e-01 9.93059655e-01 -4.41562653e-03 9.36371878e+00] [ 5.04318069e-02 -1.52779166e-03 9.98726338e-01 2.70275075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37439141799999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:77.08, Y:9.36, Z:2.70 [[ 9.91701351e-01 -1.17595189e-01 -5.19596182e-02 7.70797856e+01] [ 1.17517679e-01 9.93060344e-01 -4.55504759e-03 9.36313779e+00] [ 5.21346880e-02 -1.58892687e-03 9.98638798e-01 2.69904006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40439141799999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:77.11, Y:9.37, Z:2.70 [[ 9.91717903e-01 -1.17455268e-01 -5.19601872e-02 7.71131980e+01] [ 1.17377906e-01 9.93076904e-01 -4.54854925e-03 9.36594273e+00] [ 5.21347129e-02 -1.58810025e-03 9.98638798e-01 2.70043374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43439141799999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:77.14, Y:9.37, Z:2.70 [[ 9.91620789e-01 -1.17725261e-01 -5.31880955e-02 7.71431341e+01] [ 1.17112552e-01 9.93012731e-01 -1.45040343e-02 9.37014931e+00] [ 5.45239472e-02 8.15350838e-03 9.98479173e-01 2.70357444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46439141799999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:77.18, Y:9.36, Z:2.70 [[ 9.91698658e-01 -1.18325081e-01 -5.03283904e-02 7.71772512e+01] [ 1.18736948e-01 9.92911795e-01 5.26350593e-03 9.36338057e+00] [ 4.93488477e-02 -1.11956513e-02 9.98718854e-01 2.69828131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49439141799999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:77.21, Y:9.37, Z:2.71 [[ 9.91805421e-01 -1.18418238e-01 -4.79492188e-02 7.72097242e+01] [ 1.18354209e-01 9.92962632e-01 -4.18232247e-03 9.37284833e+00] [ 4.81070458e-02 -1.52694175e-03 9.98841019e-01 2.70651460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:77.24, Y:9.38, Z:2.71 [[ 9.91987790e-01 -1.16517956e-01 -4.88240742e-02 7.72414615e+01] [ 1.16449556e-01 9.93187502e-01 -4.25282285e-03 9.37765645e+00] [ 4.89869905e-02 -1.46679342e-03 9.98798340e-01 2.70961387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:77.27, Y:9.38, Z:2.71 [[ 9.92427236e-01 -1.11441253e-01 -5.16626433e-02 7.72741274e+01] [ 1.11358084e-01 9.93770183e-01 -4.49452120e-03 9.38259619e+00] [ 5.18416696e-02 -1.29256773e-03 9.98654480e-01 2.71143074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:77.31, Y:9.39, Z:2.71 [[ 9.92599659e-01 -1.09176211e-01 -5.31645660e-02 7.73065660e+01] [ 1.09085205e-01 9.94021670e-01 -4.61928130e-03 9.38531684e+00] [ 5.33510463e-02 -1.21437053e-03 9.98575080e-01 2.71104402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:77.34, Y:9.39, Z:2.71 [[ 9.92760475e-01 -1.07268349e-01 -5.40383177e-02 7.73380117e+01] [ 1.07171722e-01 9.94229458e-01 -4.69117546e-03 9.38707225e+00] [ 5.42297020e-02 -1.13416599e-03 9.98527843e-01 2.71060312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:77.37, Y:9.39, Z:2.71 [[ 9.93050710e-01 -1.05570157e-01 -5.20118144e-02 7.73706304e+01] [ 1.05478480e-01 9.94411349e-01 -4.51208882e-03 9.38748953e+00] [ 5.21974805e-02 -1.00539414e-03 9.98636276e-01 2.71055128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:77.40, Y:9.39, Z:2.71 [[ 9.93218416e-01 -1.05051797e-01 -4.98126227e-02 7.74026231e+01] [ 1.04967253e-01 9.94466307e-01 -4.31744483e-03 9.38969260e+00] [ 4.99905302e-02 -9.40528465e-04 9.98749249e-01 2.71299042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:77.43, Y:9.39, Z:2.72 [[ 9.93356906e-01 -1.03968996e-01 -4.93204382e-02 7.74337172e+01] [ 1.03884972e-01 9.94580148e-01 -4.27093864e-03 9.39455214e+00] [ 4.94971739e-02 -8.81085967e-04 9.98773875e-01 2.71951473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.734391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:77.47, Y:9.40, Z:2.72 [[ 9.93354203e-01 -1.03229266e-01 -5.09033023e-02 7.74650871e+01] [ 1.03138963e-01 9.94657204e-01 -4.40463275e-03 9.39887973e+00] [ 5.10860234e-02 -8.74753358e-04 9.98693874e-01 2.72238990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76439141799999 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:77.50, Y:9.40, Z:2.72 [[ 9.93324985e-01 -1.02610564e-01 -5.26929404e-02 7.74971736e+01] [ 1.02513160e-01 9.94721219e-01 -4.55512079e-03 9.40228122e+00] [ 5.28821894e-02 -8.77004517e-04 9.98600373e-01 2.72458621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79439141799999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:77.53, Y:9.40, Z:2.73 [[ 9.93301114e-01 -1.02166708e-01 -5.39894591e-02 7.75296018e+01] [ 1.02064034e-01 9.94766903e-01 -4.66276932e-03 9.40478123e+00] [ 5.41833068e-02 -8.78848045e-04 9.98530619e-01 2.72553732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82439141799999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:77.56, Y:9.41, Z:2.72 [[ 9.93250300e-01 -1.01537989e-01 -5.60703073e-02 7.75609481e+01] [ 1.01426489e-01 9.94831272e-01 -4.83814034e-03 9.40500256e+00] [ 5.62717502e-02 -8.81530062e-04 9.98415101e-01 2.72307431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85439141799999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:77.59, Y:9.41, Z:2.72 [[ 9.93264360e-01 -1.01206999e-01 -5.64185669e-02 7.75935897e+01] [ 1.01093786e-01 9.94865008e-01 -4.86448082e-03 9.40632774e+00] [ 5.66211775e-02 -8.71851080e-04 9.98395354e-01 2.72254805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88439141799999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:77.63, Y:9.41, Z:2.72 [[ 9.93348557e-01 -1.01053349e-01 -5.51984200e-02 7.76252523e+01] [ 1.00944973e-01 9.94880647e-01 -4.75516421e-03 9.40793754e+00] [ 5.53963651e-02 -8.48467520e-04 9.98464082e-01 2.72298422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:77.66, Y:9.41, Z:2.73 [[ 9.93647221e-01 -1.01110178e-01 -4.94159151e-02 7.76572175e+01] [ 1.01023539e-01 9.94874940e-01 -4.25415069e-03 9.41174053e+00] [ 4.95927935e-02 -7.65045627e-04 9.98769227e-01 2.72790745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:77.69, Y:9.42, Z:2.73 [[ 9.93747295e-01 -1.01451612e-01 -4.66249270e-02 7.76884946e+01] [ 1.01375028e-01 9.94840199e-01 -4.01034756e-03 9.41610365e+00] [ 4.67912079e-02 -7.41331252e-04 9.98904416e-01 2.73263230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:77.72, Y:9.42, Z:2.74 [[ 9.93610044e-01 -1.02873763e-01 -4.64334888e-02 7.77208406e+01] [ 1.02799545e-01 9.94694091e-01 -3.98989079e-03 9.41946766e+00] [ 4.65975720e-02 -8.08945938e-04 9.98913416e-01 2.73673318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:77.75, Y:9.42, Z:2.74 [[ 9.93349804e-01 -1.04102656e-01 -4.91813338e-02 7.77533685e+01] [ 1.04021205e-01 9.94566128e-01 -4.21973948e-03 9.41986905e+00] [ 4.93533748e-02 -9.24224204e-04 9.98780952e-01 2.73571419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:77.79, Y:9.42, Z:2.73 [[ 9.93013469e-01 -1.05837997e-01 -5.21782450e-02 7.77863339e+01] [ 1.05748990e-01 9.94382802e-01 -4.47145997e-03 9.41902403e+00] [ 5.23583998e-02 -1.07757674e-03 9.98627777e-01 2.73296827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:77.82, Y:9.42, Z:2.73 [[ 9.92437466e-01 -1.10193012e-01 -5.40867420e-02 7.78189895e+01] [ 1.10104077e-01 9.93909277e-01 -4.63044518e-03 9.41650155e+00] [ 5.42675573e-02 -1.35974351e-03 9.98525505e-01 2.72952611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.094391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:77.85, Y:9.42, Z:2.73 [[ 9.92315264e-01 -1.11930370e-01 -5.27447630e-02 7.78505230e+01] [ 1.11848457e-01 9.93715034e-01 -4.51153849e-03 9.41892051e+00] [ 5.29182421e-02 -1.42255187e-03 9.98597835e-01 2.73168808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12439141799999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:77.88, Y:9.42, Z:2.73 [[ 9.92388372e-01 -1.12217150e-01 -5.07210945e-02 7.78825646e+01] [ 1.12141940e-01 9.93682742e-01 -4.33523199e-03 9.42191461e+00] [ 5.08871636e-02 -1.38572812e-03 9.98703448e-01 2.73491864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15439141799999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:77.91, Y:9.43, Z:2.74 [[ 9.92605352e-01 -1.11297387e-01 -4.84510761e-02 7.79143702e+01] [ 1.11227859e-01 9.93786319e-01 -4.13721290e-03 9.42519457e+00] [ 4.86104776e-02 -1.28248978e-03 9.98816989e-01 2.73850000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18439141799999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:77.95, Y:9.43, Z:2.74 [[ 9.93156069e-01 -1.06584268e-01 -4.77578990e-02 7.79468226e+01] [ 1.06511508e-01 9.94303127e-01 -4.07304735e-03 9.43007155e+00] [ 4.79199511e-02 -1.04159417e-03 9.98850636e-01 2.74292001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21439141799999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:77.98, Y:9.43, Z:2.74 [[ 9.93410549e-01 -1.03452766e-01 -4.93255212e-02 7.79783409e+01] [ 1.03371629e-01 9.94633936e-01 -4.19997374e-03 9.43332540e+00] [ 4.94953362e-02 -9.26561234e-04 9.98773925e-01 2.74379167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24439141799999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:78.01, Y:9.44, Z:2.75 [[ 9.93481680e-01 -1.02807598e-01 -4.92417459e-02 7.80102442e+01] [ 1.02726384e-01 9.94700852e-01 -4.18394811e-03 9.43658461e+00] [ 4.94109482e-02 -9.01750716e-04 9.98778126e-01 2.74595850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:78.04, Y:9.44, Z:2.75 [[ 9.93286552e-01 -1.05162821e-01 -4.81934314e-02 7.80411605e+01] [ 1.05087974e-01 9.94454514e-01 -4.09123530e-03 9.43601605e+00] [ 4.83564212e-02 -1.00078108e-03 9.98829643e-01 2.74641430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:78.07, Y:9.44, Z:2.75 [[ 9.93099717e-01 -1.06923769e-01 -4.81690797e-02 7.80735503e+01] [ 1.06851211e-01 9.94266625e-01 -4.08617366e-03 9.43504511e+00] [ 4.83298174e-02 -1.08894662e-03 9.98830838e-01 2.74595109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334391418 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:78.11, Y:9.43, Z:2.75 [[ 9.92896047e-01 -1.08384608e-01 -4.90939589e-02 7.81059410e+01] [ 1.08311216e-01 9.94108329e-01 -4.16066128e-03 9.43454925e+00] [ 4.92556651e-02 -1.18632223e-03 9.98785499e-01 2.74606510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364391418 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:78.14, Y:9.44, Z:2.75 [[ 9.92805956e-01 -1.08333701e-01 -5.09915931e-02 7.81367591e+01] [ 1.08254667e-01 9.94113820e-01 -4.31740262e-03 9.43631790e+00] [ 5.11591677e-02 -1.23373490e-03 9.98689750e-01 2.74774398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394391418 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:78.17, Y:9.44, Z:2.75 [[ 9.92921191e-01 -1.06877364e-01 -5.18144539e-02 7.81682767e+01] [ 1.06793954e-01 9.94271510e-01 -4.38369230e-03 9.44060903e+00] [ 5.19861528e-02 -1.18080940e-03 9.98647108e-01 2.75035765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:78.20, Y:9.45, Z:2.75 [[ 9.93159844e-01 -1.04486404e-01 -5.21163722e-02 7.82005119e+01] [ 1.04398949e-01 9.94525744e-01 -4.40502724e-03 9.44650599e+00] [ 5.22913392e-02 -1.06599833e-03 9.98631303e-01 2.75269899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:78.23, Y:9.45, Z:2.75 [[ 9.93218522e-01 -1.03920739e-01 -5.21291497e-02 7.82316426e+01] [ 1.03832674e-01 9.94585038e-01 -4.40207358e-03 9.44898208e+00] [ 5.23043391e-02 -1.04048801e-03 9.98630649e-01 2.75349925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.484391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:78.26, Y:9.45, Z:2.75 [[ 9.93314660e-01 -1.03525816e-01 -5.10724188e-02 7.82624290e+01] [ 1.03440922e-01 9.94626262e-01 -4.30979604e-03 9.44969921e+00] [ 5.12441441e-02 -1.00199448e-03 9.98685653e-01 2.75365041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51439141799999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:78.29, Y:9.45, Z:2.75 [[ 9.93407285e-01 -1.03520266e-01 -4.92495673e-02 7.82948479e+01] [ 1.03441468e-01 9.94626873e-01 -4.15294434e-03 9.44960507e+00] [ 4.94148570e-02 -9.68882376e-04 9.98777870e-01 2.75381315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54439141799999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:78.33, Y:9.45, Z:2.75 [[ 9.93392145e-01 -1.04767228e-01 -4.68601556e-02 7.83269959e+01] [ 1.04697451e-01 9.94496284e-01 -3.94778089e-03 9.44900881e+00] [ 4.70158486e-02 -9.84444328e-04 9.98893658e-01 2.75478813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57439141799999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:78.36, Y:9.45, Z:2.76 [[ 9.93383295e-01 -1.05200926e-01 -4.60694462e-02 7.83577333e+01] [ 1.05134118e-01 9.94450492e-01 -3.87754025e-03 9.45220470e+00] [ 4.62217043e-02 -9.91586876e-04 9.98930714e-01 2.75684031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60439141799999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:78.39, Y:9.46, Z:2.76 [[ 9.93378966e-01 -1.05450269e-01 -4.55902590e-02 7.83891553e+01] [ 1.05385236e-01 9.94424079e-01 -3.83436772e-03 9.45621913e+00] [ 4.57403864e-02 -9.95559952e-04 9.98952865e-01 2.75974990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63439141799999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:78.42, Y:9.46, Z:2.76 [[ 9.93321421e-01 -1.06010440e-01 -4.55449363e-02 7.84214300e+01] [ 1.05946293e-01 9.94364490e-01 -3.82688083e-03 9.46094705e+00] [ 4.56939567e-02 -1.02399445e-03 9.98954961e-01 2.76336748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:78.45, Y:9.46, Z:2.76 [[ 9.93262749e-01 -1.05981138e-01 -4.68733423e-02 7.84544506e+01] [ 1.05913353e-01 9.94367579e-01 -3.93441737e-03 9.46302754e+00] [ 4.70263059e-02 -1.05660266e-03 9.98893092e-01 2.76377230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:78.49, Y:9.46, Z:2.76 [[ 9.93063287e-01 -1.05373280e-01 -5.21706859e-02 7.84872554e+01] [ 1.05288809e-01 9.94432073e-01 -4.37255342e-03 9.46246535e+00] [ 5.23409536e-02 -1.15076709e-03 9.98628610e-01 2.76063763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:78.52, Y:9.46, Z:2.76 [[ 9.93015750e-01 -1.05247938e-01 -5.33159530e-02 7.85195717e+01] [ 1.05159772e-01 9.94445320e-01 -4.46414657e-03 9.46448972e+00] [ 5.34896421e-02 -1.17372558e-03 9.98567715e-01 2.76002529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:78.55, Y:9.47, Z:2.76 [[ 9.93055801e-01 -1.04968729e-01 -5.31200718e-02 7.85503438e+01] [ 1.04881027e-01 9.94474848e-01 -4.44366858e-03 9.46712182e+00] [ 5.32930216e-02 -1.15847684e-03 9.98578245e-01 2.76086537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:78.58, Y:9.47, Z:2.76 [[ 9.93442966e-01 -1.03429243e-01 -4.87182272e-02 7.85817722e+01] [ 1.03353768e-01 9.94636322e-01 -4.07255440e-03 9.47236276e+00] [ 4.88781395e-02 -9.89361832e-04 9.98804259e-01 2.76396269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:78.61, Y:9.48, Z:2.77 [[ 9.93718575e-01 -1.01748714e-01 -4.65896314e-02 7.86126878e+01] [ 1.01678024e-01 9.94809751e-01 -3.89081428e-03 9.47670990e+00] [ 4.67437050e-02 -8.70767239e-04 9.98906536e-01 2.76629538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.844391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:78.64, Y:9.48, Z:2.77 [[ 9.93943653e-01 -9.99259263e-02 -4.57255174e-02 7.86446788e+01] [ 9.98561587e-02 9.94994576e-01 -3.81317727e-03 9.48041142e+00] [ 4.58776771e-02 -7.75891183e-04 9.98946764e-01 2.76811779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87439141799999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:78.68, Y:9.48, Z:2.77 [[ 9.93982386e-01 -9.93588499e-02 -4.61176237e-02 7.86755779e+01] [ 9.92874364e-02 9.95051376e-01 -3.84229261e-03 9.48113948e+00] [ 4.62711707e-02 -7.59729454e-04 9.98928627e-01 2.76720148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90439141799999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:78.71, Y:9.48, Z:2.77 [[ 9.93861035e-01 -1.00339940e-01 -4.66062085e-02 7.87080054e+01] [ 1.00268217e-01 9.94952878e-01 -3.88013117e-03 9.48178892e+00] [ 4.67603134e-02 -8.16810252e-04 9.98905804e-01 2.76730659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93439141799999 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:78.74, Y:9.48, Z:2.77 [[ 9.93721459e-01 -1.01864718e-01 -4.62735536e-02 7.87397592e+01] [ 1.01795834e-01 9.94797866e-01 -3.84885491e-03 9.48313531e+00] [ 4.64248949e-02 -8.85765246e-04 9.98921391e-01 2.76859774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96439141799999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:78.77, Y:9.49, Z:2.77 [[ 9.93463598e-01 -1.04618608e-01 -4.56620856e-02 7.87714565e+01] [ 1.04554598e-01 9.94511909e-01 -3.79448334e-03 9.48716729e+00] [ 4.58084615e-02 -1.00449995e-03 9.98949736e-01 2.77367152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99439141799999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:78.80, Y:9.49, Z:2.78 [[ 9.93363457e-01 -1.04734808e-01 -4.75359048e-02 7.88037462e+01] [ 1.04665760e-01 9.94499626e-01 -3.94621085e-03 9.49183058e+00] [ 4.76877452e-02 -1.05535994e-03 9.98861735e-01 2.77547279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:78.84, Y:9.50, Z:2.78 [[ 9.93182932e-01 -1.05611589e-01 -4.93341177e-02 7.88358671e+01] [ 1.05538500e-01 9.94406801e-01 -4.09140084e-03 9.49668425e+00] [ 4.94902815e-02 -1.14313928e-03 9.98773951e-01 2.77803357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:78.87, Y:9.50, Z:2.78 [[ 9.93036016e-01 -1.05067872e-01 -5.32936492e-02 7.88668621e+01] [ 1.04982027e-01 9.94464317e-01 -4.41546427e-03 9.49850699e+00] [ 5.34625558e-02 -1.21016027e-03 9.98569122e-01 2.77569143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:78.90, Y:9.50, Z:2.78 [[ 9.93159624e-01 -1.03907501e-01 -5.32653066e-02 7.88994189e+01] [ 1.03820263e-01 9.94586300e-01 -4.40969201e-03 9.49970976e+00] [ 5.34351443e-02 -1.15049008e-03 9.98570659e-01 2.77520403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:78.93, Y:9.50, Z:2.78 [[ 9.93415097e-01 -1.01976383e-01 -5.22232001e-02 7.89317118e+01] [ 1.01890076e-01 9.94786287e-01 -4.31930003e-03 9.50211460e+00] [ 5.23913899e-02 -1.03016799e-03 9.98626097e-01 2.77537056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:78.96, Y:9.51, Z:2.78 [[ 9.94137742e-01 -9.57461986e-02 -5.02276444e-02 7.89630943e+01] [ 9.56586110e-02 9.95405548e-01 -4.15033830e-03 9.50859712e+00] [ 5.03942550e-02 -6.78698753e-04 9.98729172e-01 2.77706064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:79.00, Y:9.51, Z:2.78 [[ 9.94526273e-01 -9.22453387e-02 -4.90743306e-02 7.89950561e+01] [ 9.21576613e-02 9.95736187e-01 -4.05112859e-03 9.51374150e+00] [ 4.92387846e-02 -4.93621726e-04 9.98786913e-01 2.77902087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:79.03, Y:9.52, Z:2.78 [[ 9.94917753e-01 -8.89013796e-02 -4.72780036e-02 7.90263789e+01] [ 8.88164054e-02 9.96040382e-01 -3.89918187e-03 9.51838598e+00] [ 4.74374434e-02 -3.19697072e-04 9.98874160e-01 2.78149955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.234391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:79.06, Y:9.52, Z:2.79 [[ 9.95606450e-01 -8.34975821e-02 -4.23786448e-02 7.90585289e+01] [ 8.34245181e-02 9.96507978e-01 -3.49275757e-03 9.52270572e+00] [ 4.25222945e-02 -5.80060587e-05 9.99095517e-01 2.78614676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26439141799999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:79.09, Y:9.53, Z:2.79 [[ 9.95770874e-01 -8.20597680e-02 -4.13105442e-02 7.90893296e+01] [ 8.19892409e-02 9.96627410e-01 -3.40145574e-03 9.52515321e+00] [ 4.14503433e-02 5.03980246e-08 9.99140565e-01 2.78792517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29439141799999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:79.12, Y:9.53, Z:2.79 [[ 9.95780023e-01 -8.19484382e-02 -4.13110010e-02 7.91219105e+01] [ 8.18780459e-02 9.96636570e-01 -3.39589880e-03 9.52774786e+00] [ 4.14503429e-02 -8.95844882e-07 9.99140565e-01 2.78928574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32439141799999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:79.15, Y:9.53, Z:2.79 [[ 9.95766281e-01 -8.12221044e-02 -4.30404765e-02 7.91539491e+01] [ 8.11452293e-02 9.96696026e-01 -3.53308014e-03 9.52954432e+00] [ 4.31852362e-02 2.55927373e-05 9.99067082e-01 2.79046926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35439141799999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:79.19, Y:9.53, Z:2.79 [[ 9.95282139e-01 -8.33772961e-02 -4.96154322e-02 7.91856978e+01] [ 8.32780193e-02 9.96518048e-01 -4.06839487e-03 9.52989424e+00] [ 4.97818854e-02 -8.26741741e-05 9.98760110e-01 2.78735259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38439141799999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:79.22, Y:9.53, Z:2.79 [[ 9.94918109e-01 -8.59431464e-02 -5.24569628e-02 7.92168261e+01] [ 8.58358915e-02 9.96300017e-01 -4.29829309e-03 9.53154771e+00] [ 5.26322817e-02 -2.26240534e-04 9.98613935e-01 2.78604326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:79.25, Y:9.53, Z:2.79 [[ 9.94346898e-01 -9.18234731e-02 -5.33169329e-02 7.92473055e+01] [ 9.17212019e-02 9.95775150e-01 -4.36709586e-03 9.53411208e+00] [ 5.34926788e-02 -5.47884943e-04 9.98568091e-01 2.78578061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444391418 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:79.28, Y:9.54, Z:2.79 [[ 9.94267484e-01 -9.37744421e-02 -5.13665662e-02 7.92784202e+01] [ 9.36821410e-02 9.95593269e-01 -4.20695319e-03 9.53706542e+00] [ 5.15347123e-02 -6.29293132e-04 9.98671006e-01 2.78836218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:79.31, Y:9.54, Z:2.79 [[ 9.94248903e-01 -9.51260531e-02 -4.91950593e-02 7.93094125e+01] [ 9.50431734e-02 9.95465008e-01 -4.02655008e-03 9.54015101e+00] [ 4.93549899e-02 -6.72261555e-04 9.98781074e-01 2.79095231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:79.34, Y:9.54, Z:2.79 [[ 9.94243645e-01 -9.60523759e-02 -4.74711990e-02 7.93415044e+01] [ 9.59765244e-02 9.95376036e-01 -3.87990439e-03 9.54311755e+00] [ 4.76243679e-02 -6.98550402e-04 9.98865072e-01 2.79361080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:79.37, Y:9.55, Z:2.79 [[ 9.93925309e-01 -9.92265090e-02 -4.76086034e-02 7.93732860e+01] [ 9.91540328e-02 9.95064503e-01 -3.88740973e-03 9.54639698e+00] [ 4.77593654e-02 -8.56790104e-04 9.98858503e-01 2.79496496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:79.40, Y:9.55, Z:2.80 [[ 9.93611230e-01 -1.02241979e-01 -4.77839039e-02 7.94043511e+01] [ 1.02172629e-01 9.94759046e-01 -3.89800985e-03 9.54904793e+00] [ 4.79320109e-02 -1.00910072e-03 9.98850091e-01 2.79535291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.594391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:79.44, Y:9.55, Z:2.80 [[ 9.93313233e-01 -1.05222402e-01 -4.75085943e-02 7.94363127e+01] [ 1.05157393e-01 9.94448051e-01 -3.87261179e-03 9.55077307e+00] [ 4.76523145e-02 -1.14916340e-03 9.98863322e-01 2.79556915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62439141799999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:79.47, Y:9.55, Z:2.80 [[ 9.92923193e-01 -1.09371663e-01 -4.62749637e-02 7.94675023e+01] [ 1.09314647e-01 9.94000053e-01 -3.76857056e-03 9.55304469e+00] [ 4.64094912e-02 -1.31663024e-03 9.98921631e-01 2.79809375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65439141799999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:79.50, Y:9.56, Z:2.80 [[ 9.92389032e-01 -1.15149790e-01 -4.36409792e-02 7.95004106e+01] [ 1.15104767e-01 9.93347009e-01 -3.55150816e-03 9.55654393e+00] [ 4.37595915e-02 -1.49880698e-03 9.99040966e-01 2.80198466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68439141799999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:79.53, Y:9.56, Z:2.80 [[ 9.92314047e-01 -1.15840348e-01 -4.35183493e-02 7.95332807e+01] [ 1.15796462e-01 9.93266668e-01 -3.53644699e-03 9.55996612e+00] [ 4.36349890e-02 -1.53000488e-03 9.99046369e-01 2.80465285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71439141799999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:79.57, Y:9.56, Z:2.81 [[ 9.92306528e-01 -1.14863330e-01 -4.61970698e-02 7.95653775e+01] [ 1.14813081e-01 9.93380041e-01 -3.74850411e-03 9.56431084e+00] [ 4.63218128e-02 -1.58436282e-03 9.98925312e-01 2.80554329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74439141799999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:79.60, Y:9.57, Z:2.80 [[ 9.92281912e-01 -1.14038826e-01 -4.87006586e-02 7.95988029e+01] [ 1.13982242e-01 9.93474948e-01 -3.94656627e-03 9.56706971e+00] [ 4.88329461e-02 -1.63490393e-03 9.98805622e-01 2.80483983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:79.63, Y:9.57, Z:2.80 [[ 9.92280445e-01 -1.13469548e-01 -5.00417862e-02 7.96321915e+01] [ 1.13409380e-01 9.93540093e-01 -4.04932049e-03 9.57004040e+00] [ 5.01779955e-02 -1.65714639e-03 9.98738916e-01 2.80408872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:79.66, Y:9.58, Z:2.81 [[ 9.92763394e-01 -1.10617331e-01 -4.67402433e-02 7.96624738e+01] [ 1.10561905e-01 9.93862061e-01 -3.77739933e-03 9.57525432e+00] [ 4.68712004e-02 -1.41762656e-03 9.98899935e-01 2.80716754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:9.58, Z:2.81 [[ 9.93211372e-01 -1.07762895e-01 -4.37987241e-02 7.96942906e+01] [ 1.07711560e-01 9.94175894e-01 -3.53724348e-03 9.58000145e+00] [ 4.39248193e-02 -1.20439843e-03 9.99034113e-01 2.81102783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864391418 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:79.73, Y:9.59, Z:2.81 [[ 9.93954150e-01 -1.00741570e-01 -4.36610042e-02 7.97270388e+01] [ 1.00683966e-01 9.94912225e-01 -3.52198574e-03 9.58590671e+00] [ 4.37936772e-02 -8.95270742e-04 9.99040196e-01 2.81292728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:79.76, Y:9.59, Z:2.81 [[ 9.94158935e-01 -9.77792124e-02 -4.56862908e-02 7.97604388e+01] [ 9.77132566e-02 9.95207806e-01 -3.68006081e-03 9.58909193e+00] [ 4.58271867e-02 -8.05590918e-04 9.98949058e-01 2.81213773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:79.79, Y:9.59, Z:2.81 [[ 9.94240637e-01 -9.61180692e-02 -4.74011945e-02 7.97930051e+01] [ 9.60454279e-02 9.95369648e-01 -3.81301177e-03 9.59151225e+00] [ 4.75482096e-02 -7.61616756e-04 9.98868654e-01 2.81046855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:79.83, Y:9.59, Z:2.81 [[ 9.94220111e-01 -9.59284866e-02 -4.82088909e-02 7.98250126e+01] [ 9.58532980e-02 9.95387931e-01 -3.87441533e-03 9.59374161e+00] [ 4.83582149e-02 -7.68959542e-04 9.98829761e-01 2.80983580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.984391418 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:79.86, Y:9.60, Z:2.81 [[ 9.94016066e-01 -9.82751454e-02 -4.76870661e-02 7.98564422e+01] [ 9.82044495e-02 9.95158895e-01 -3.82880555e-03 9.59709695e+00] [ 4.78324844e-02 -8.77187844e-04 9.98854986e-01 2.81243026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01439141799999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:79.89, Y:9.60, Z:2.82 [[ 9.93920232e-01 -9.90982833e-02 -4.79802363e-02 7.98883199e+01] [ 9.90279220e-02 9.95077218e-01 -3.84718462e-03 9.60109209e+00] [ 4.81252895e-02 -9.27588471e-04 9.98840876e-01 2.81571121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04439141799999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:79.92, Y:9.61, Z:2.82 [[ 9.93868257e-01 -9.81649178e-02 -5.08874907e-02 7.99193718e+01] [ 9.80847333e-02 9.95169717e-01 -4.07665056e-03 9.60568128e+00] [ 5.10418738e-02 -9.39632363e-04 9.98696072e-01 2.81894150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07439141799999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:79.95, Y:9.61, Z:2.82 [[ 9.93915059e-01 -9.66828483e-02 -5.27757729e-02 7.99516364e+01] [ 9.65946767e-02 9.95314834e-01 -4.22484281e-03 9.60808597e+00] [ 5.29369794e-02 -8.98723831e-04 9.98597451e-01 2.81861052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10439141799999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:79.98, Y:9.61, Z:2.82 [[ 9.93996281e-01 -9.49594041e-02 -5.43516763e-02 7.99841235e+01] [ 9.48635326e-02 9.95480795e-01 -4.34696035e-03 9.61016621e+00] [ 5.45188348e-02 -8.35129598e-04 9.98512393e-01 2.81788633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13439141799999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:80.02, Y:9.61, Z:2.82 [[ 9.94100328e-01 -9.35307088e-02 -5.49230807e-02 8.00155086e+01] [ 9.34308642e-02 9.95616098e-01 -4.38843983e-03 9.61343313e+00] [ 5.50927572e-02 -7.68961421e-04 9.98480945e-01 2.81739685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.05, Y:9.62, Z:2.82 [[ 9.94157991e-01 -9.35066348e-02 -5.39110180e-02 8.00479831e+01] [ 9.34105894e-02 9.95618369e-01 -4.30411780e-03 9.61633206e+00] [ 5.40772634e-02 -7.56886860e-04 9.98536467e-01 2.81921812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194391418 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:80.08, Y:9.62, Z:2.82 [[ 9.94212275e-01 -9.39879876e-02 -5.20404654e-02 8.00793218e+01] [ 9.38993905e-02 9.95573041e-01 -4.15023177e-03 9.61874281e+00] [ 5.22001563e-02 -7.60356609e-04 9.98636353e-01 2.82155055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:80.11, Y:9.62, Z:2.83 [[ 9.94651701e-01 -9.21007253e-02 -4.67487989e-02 8.01115969e+01] [ 9.20273939e-02 9.95749515e-01 -3.72306374e-03 9.62047016e+00] [ 4.68929907e-02 -5.99018445e-04 9.98899739e-01 2.82640146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:9.62, Z:2.83 [[ 9.94988832e-01 -8.93363982e-02 -4.49024807e-02 8.01435265e+01] [ 8.92660865e-02 9.96001407e-01 -3.57261233e-03 9.62334486e+00] [ 4.50420982e-02 -4.53559357e-04 9.98984987e-01 2.82962595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284391418 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:80.18, Y:9.63, Z:2.83 [[ 9.95382956e-01 -8.47633186e-02 -4.50327822e-02 8.01753327e+01] [ 8.46880825e-02 9.96401082e-01 -3.57936126e-03 9.62805372e+00] [ 4.51741114e-02 -2.50904781e-04 9.98979097e-01 2.83266045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314391418 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:80.21, Y:9.63, Z:2.83 [[ 9.95362585e-01 -8.45813028e-02 -4.58184246e-02 8.02060628e+01] [ 8.45033977e-02 9.96416550e-01 -3.63804496e-03 9.63064345e+00] [ 4.59619472e-02 -2.50638728e-04 9.98943160e-01 2.83379652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.344391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.24, Y:9.63, Z:2.83 [[ 9.95235976e-01 -8.59903259e-02 -4.59457915e-02 8.02373903e+01] [ 8.59136181e-02 9.96295921e-01 -3.64532629e-03 9.63205434e+00] [ 4.60890675e-02 -3.19409324e-04 9.98937283e-01 2.83479493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37439141799999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.27, Y:9.63, Z:2.84 [[ 9.95055224e-01 -8.82774885e-02 -4.55212753e-02 8.02683267e+01] [ 8.82047089e-02 9.96095831e-01 -3.60890416e-03 9.63254653e+00] [ 4.56621376e-02 -4.24131902e-04 9.98956851e-01 2.83552504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40439141799999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:80.30, Y:9.63, Z:2.83 [[ 9.94717635e-01 -9.08826706e-02 -4.77196760e-02 8.03004609e+01] [ 9.08058328e-02 9.95861442e-01 -3.78007876e-03 9.63081441e+00] [ 4.78657290e-02 -5.73113914e-04 9.98853615e-01 2.83461931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43439141799999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:80.33, Y:9.63, Z:2.83 [[ 9.94646033e-01 -9.04152909e-02 -5.00434293e-02 8.03327497e+01] [ 9.03304044e-02 9.95903980e-01 -3.95995524e-03 9.63199791e+00] [ 5.01964909e-02 -5.81689439e-04 9.98739192e-01 2.83380582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46439141799999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:80.36, Y:9.63, Z:2.83 [[ 9.94625107e-01 -8.93125567e-02 -5.23847722e-02 8.03639946e+01] [ 8.92182285e-02 9.96003494e-01 -4.14105989e-03 9.63403934e+00] [ 5.25452648e-02 -5.54874445e-04 9.98618389e-01 2.83316601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49439141799999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.40, Y:9.64, Z:2.83 [[ 9.94732631e-01 -8.85341932e-02 -5.16593619e-02 8.03962964e+01] [ 8.84415813e-02 9.96073008e-01 -4.08044686e-03 9.63853245e+00] [ 5.18177551e-02 -5.09882013e-04 9.98656428e-01 2.83439610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.43, Y:9.64, Z:2.84 [[ 9.94764111e-01 -8.96478095e-02 -4.90676362e-02 8.04277890e+01] [ 8.95657984e-02 9.95973381e-01 -3.87200260e-03 9.64195038e+00] [ 4.92171761e-02 -5.43052782e-04 9.98787953e-01 2.83717079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.46, Y:9.64, Z:2.84 [[ 9.94570398e-01 -9.40453219e-02 -4.45555856e-02 8.04596983e+01] [ 9.39822610e-02 9.95567675e-01 -3.51263931e-03 9.64227028e+00] [ 4.46884481e-02 -6.93867599e-04 9.99000731e-01 2.84076035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:80.49, Y:9.64, Z:2.84 [[ 9.94375653e-01 -9.64842418e-02 -4.36789569e-02 8.04908754e+01] [ 9.64261392e-02 9.95334198e-01 -3.44010587e-03 9.64192693e+00] [ 4.38070755e-02 -7.91035658e-04 9.99039696e-01 2.84186119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:80.52, Y:9.64, Z:2.84 [[ 9.94143039e-01 -9.86822153e-02 -4.40617461e-02 8.05219906e+01] [ 9.86253643e-02 9.95118593e-01 -3.46758359e-03 9.64108233e+00] [ 4.41888516e-02 -8.98331673e-04 9.99022792e-01 2.84196889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:80.55, Y:9.64, Z:2.84 [[ 9.93365232e-01 -1.04353876e-01 -4.83299445e-02 8.05547119e+01] [ 1.04292329e-01 9.94539425e-01 -3.80034548e-03 9.63976684e+00] [ 4.84626160e-02 -1.26531141e-03 9.98824196e-01 2.84052676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:80.59, Y:9.64, Z:2.84 [[ 9.92915955e-01 -1.07561745e-01 -5.04814520e-02 8.05854585e+01] [ 1.07498936e-01 9.94197291e-01 -3.96553991e-03 9.64205073e+00] [ 5.06150632e-02 -1.48925454e-03 9.98717126e-01 2.84202709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:80.62, Y:9.64, Z:2.84 [[ 9.92570730e-01 -1.10256162e-01 -5.14482788e-02 8.06177179e+01] [ 1.10194709e-01 9.93901816e-01 -4.03816883e-03 9.64480750e+00] [ 5.15797707e-02 -1.66115994e-03 9.98667496e-01 2.84427718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.734391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:80.65, Y:9.65, Z:2.85 [[ 9.92147119e-01 -1.14059110e-01 -5.13284949e-02 8.06497294e+01] [ 1.14003236e-01 9.93472227e-01 -4.02457876e-03 9.64703202e+00] [ 5.14524740e-02 -1.85864031e-03 9.98673715e-01 2.84708199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76439141799999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:80.68, Y:9.65, Z:2.85 [[ 9.92072243e-01 -1.14482919e-01 -5.18297701e-02 8.06816407e+01] [ 1.14426750e-01 9.93423393e-01 -4.05958629e-03 9.64841367e+00] [ 5.19536594e-02 -1.90330927e-03 9.98647683e-01 2.84810746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79439141799999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:80.71, Y:9.65, Z:2.85 [[ 9.91891206e-01 -1.14720195e-01 -5.46910636e-02 8.07135857e+01] [ 1.14658258e-01 9.93395778e-01 -4.27929861e-03 9.64790508e+00] [ 5.48207936e-02 -2.02618342e-03 9.98494154e-01 2.84539460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82439141799999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:80.75, Y:9.65, Z:2.85 [[ 9.91822639e-01 -1.15482279e-01 -5.43295187e-02 8.07458590e+01] [ 1.15422490e-01 9.93307408e-01 -4.24750083e-03 9.64881224e+00] [ 5.44564245e-02 -2.05808087e-03 9.98514027e-01 2.84537602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85439141799999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:80.78, Y:9.65, Z:2.85 [[ 9.91831873e-01 -1.16419063e-01 -5.21165796e-02 8.07777303e+01] [ 1.16365539e-01 9.93198113e-01 -4.07056210e-03 9.65013601e+00] [ 5.22359795e-02 -2.02726063e-03 9.98632712e-01 2.84638328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88439141799999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:80.81, Y:9.65, Z:2.85 [[ 9.92016761e-01 -1.17482997e-01 -4.58311079e-02 8.08086419e+01] [ 1.17442879e-01 9.93073199e-01 -3.57642881e-03 9.65346473e+00] [ 4.59338146e-02 -1.83465993e-03 9.98942801e-01 2.85157381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:80.84, Y:9.66, Z:2.86 [[ 9.92152997e-01 -1.16738754e-01 -4.47715721e-02 8.08414959e+01] [ 1.16699838e-01 9.93161095e-01 -3.49092152e-03 9.65756028e+00] [ 4.48729095e-02 -1.76130698e-03 9.98991151e-01 2.85522371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:80.87, Y:9.66, Z:2.86 [[ 9.92296534e-01 -1.15478145e-01 -4.48596410e-02 8.08742826e+01] [ 1.15438034e-01 9.93308544e-01 -3.49239177e-03 9.66139051e+00] [ 4.49627596e-02 -1.71302052e-03 9.98987195e-01 2.85787676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:80.91, Y:9.66, Z:2.86 [[ 9.92459603e-01 -1.13768553e-01 -4.56141708e-02 8.09076120e+01] [ 1.13725534e-01 9.93505879e-01 -3.54555854e-03 9.66418174e+00] [ 4.57213199e-02 -1.66867230e-03 9.98952840e-01 2.85925303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:80.94, Y:9.67, Z:2.86 [[ 9.92728914e-01 -1.10457229e-01 -4.78383096e-02 8.09391955e+01] [ 1.10406394e-01 9.93879596e-01 -3.71179356e-03 9.66629110e+00] [ 4.79555143e-02 -1.59685049e-03 9.98848196e-01 2.85991624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:80.97, Y:9.67, Z:2.86 [[ 9.92868017e-01 -1.08249443e-01 -4.99515625e-02 8.09725504e+01] [ 1.08191719e-01 9.94122531e-01 -3.86598041e-03 9.66893252e+00] [ 5.00764639e-02 -1.56593713e-03 9.98744159e-01 2.85992242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:81.00, Y:9.68, Z:2.86 [[ 9.92795260e-01 -1.07983983e-01 -5.19329485e-02 8.10020437e+01] [ 1.07469221e-01 9.94128406e-01 -1.26126299e-02 9.67632718e+00] [ 5.29899814e-02 6.94056567e-03 9.98570924e-01 2.86495051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.094391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:81.04, Y:9.67, Z:2.86 [[ 9.92979442e-01 -1.06730391e-01 -5.09946140e-02 8.10359002e+01] [ 1.07083758e-01 9.94240960e-01 4.24051759e-03 9.67143713e+00] [ 5.02483419e-02 -9.67144171e-03 9.98689926e-01 2.85913662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12439141799999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:81.07, Y:9.68, Z:2.86 [[ 9.93124082e-01 -1.05829721e-01 -5.00462509e-02 8.10665204e+01] [ 1.05769753e-01 9.94383184e-01 -3.85253934e-03 9.67742341e+00] [ 5.01728635e-02 -1.46733002e-03 9.98739471e-01 2.86342426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15439141799999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:81.10, Y:9.68, Z:2.87 [[ 9.93466590e-01 -1.02299532e-01 -5.05859611e-02 8.10981185e+01] [ 1.02233860e-01 9.94752783e-01 -3.89080596e-03 9.68233082e+00] [ 5.07185532e-02 -1.30621234e-03 9.98712132e-01 2.86556977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18439141799999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:81.13, Y:9.69, Z:2.87 [[ 9.93714868e-01 -9.99331820e-02 -5.04392709e-02 8.11300347e+01] [ 9.98650474e-02 9.94993444e-01 -3.87552124e-03 9.68666264e+00] [ 5.05740370e-02 -1.18595710e-03 9.98719610e-01 2.86710867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21439141799999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:81.16, Y:9.69, Z:2.87 [[ 9.93724662e-01 -9.98355902e-02 -5.04395881e-02 8.11626238e+01] [ 9.97675397e-02 9.95003241e-01 -3.87138953e-03 9.68908129e+00] [ 5.05740561e-02 -1.18513835e-03 9.98719610e-01 2.86847955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24439141799999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:81.19, Y:9.69, Z:2.87 [[ 9.94012365e-01 -9.74110457e-02 -4.95025883e-02 8.11944036e+01] [ 9.73427283e-02 9.95243685e-01 -3.79480230e-03 9.69296685e+00] [ 4.96367940e-02 -1.04663659e-03 9.98766786e-01 2.87000276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274391418 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:81.23, Y:9.70, Z:2.87 [[ 9.94388684e-01 -9.50226731e-02 -4.64955571e-02 8.12251473e+01] [ 9.49599563e-02 9.95474724e-01 -3.56084269e-03 9.69645139e+00] [ 4.66235127e-02 -8.74354392e-04 9.98912150e-01 2.87145773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:81.26, Y:9.70, Z:2.87 [[ 9.94377699e-01 -9.54595053e-02 -4.58309439e-02 8.12574161e+01] [ 9.53991604e-02 9.95432921e-01 -3.50716312e-03 9.69880768e+00] [ 4.59564224e-02 -8.84788778e-04 9.98943054e-01 2.87267710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334391418 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:81.29, Y:9.70, Z:2.87 [[ 9.94319482e-01 -9.60948404e-02 -4.57662379e-02 8.12892796e+01] [ 9.60355011e-02 9.95371761e-01 -3.49866471e-03 9.70074268e+00] [ 4.58906244e-02 -9.16393102e-04 9.98946050e-01 2.87394959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:81.32, Y:9.70, Z:2.88 [[ 9.94031560e-01 -9.83265403e-02 -4.72562147e-02 8.13216895e+01] [ 9.82659734e-02 9.95153644e-01 -3.60875510e-03 9.70289275e+00] [ 4.73820307e-02 -1.05646148e-03 9.98876282e-01 2.87584325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:81.35, Y:9.70, Z:2.88 [[ 9.93926144e-01 -9.90179917e-02 -4.80235048e-02 8.13526003e+01] [ 9.89564251e-02 9.95085023e-01 -3.66367527e-03 9.70489983e+00] [ 4.81502401e-02 -1.11081172e-03 9.98839487e-01 2.87666155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:81.39, Y:9.71, Z:2.88 [[ 9.93780278e-01 -9.92011788e-02 -5.05953075e-02 8.13850803e+01] [ 9.91332435e-02 9.95066695e-01 -3.85661742e-03 9.70755330e+00] [ 5.07282864e-02 -1.18304661e-03 9.98711791e-01 2.87676995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:81.42, Y:9.71, Z:2.88 [[ 9.93878292e-01 -9.82757908e-02 -5.04758351e-02 8.14169294e+01] [ 9.82071878e-02 9.95158568e-01 -3.84348699e-03 9.71028494e+00] [ 5.06091815e-02 -1.13713153e-03 9.98717887e-01 2.87703798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.484391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:81.45, Y:9.72, Z:2.88 [[ 9.93917785e-01 -9.82717976e-02 -4.96999967e-02 8.14471816e+01] [ 9.81873556e-02 9.95159321e-01 -4.14358943e-03 9.71536133e+00] [ 4.98666129e-02 -7.61524020e-04 9.98755596e-01 2.87854592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51439141799999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:81.48, Y:9.72, Z:2.88 [[ 9.94674545e-01 -9.22310837e-02 -4.59997536e-02 8.14801198e+01] [ 9.21703322e-02 9.95737297e-01 -3.44451469e-03 9.71604619e+00] [ 4.61213617e-02 -8.13641496e-04 9.98935512e-01 2.88134958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54439141799999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:81.51, Y:9.72, Z:2.88 [[ 9.94994224e-01 -8.96004974e-02 -4.42520708e-02 8.15125994e+01] [ 8.95399491e-02 9.95977589e-01 -3.35250560e-03 9.71881355e+00] [ 4.43744570e-02 -6.26604462e-04 9.99014772e-01 2.88377149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57439141799999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:81.54, Y:9.72, Z:2.88 [[ 9.95253041e-01 -8.70310127e-02 -4.35544252e-02 8.15440402e+01] [ 8.69700491e-02 9.96205474e-01 -3.29623117e-03 9.72082582e+00] [ 4.36760311e-02 -5.07346403e-04 9.99045618e-01 2.88487043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60439141799999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:81.58, Y:9.72, Z:2.88 [[ 9.95464446e-01 -8.30989440e-02 -4.63152527e-02 8.15766795e+01] [ 8.30258900e-02 9.96541237e-01 -3.50214810e-03 9.72120629e+00] [ 4.64460840e-02 -3.59101158e-04 9.98920734e-01 2.88456545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63439141799999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:81.61, Y:9.72, Z:2.88 [[ 9.95524937e-01 -8.17539154e-02 -4.73961678e-02 8.16093606e+01] [ 8.16760713e-02 9.96652499e-01 -3.58000208e-03 9.72291050e+00] [ 4.75301883e-02 -3.07151433e-04 9.98869755e-01 2.88471199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:81.64, Y:9.72, Z:2.89 [[ 9.95665543e-01 -7.96652330e-02 -4.79955923e-02 8.16407445e+01] [ 7.95831662e-02 9.96821651e-01 -3.62143279e-03 9.72453591e+00] [ 4.81315479e-02 -2.13905354e-04 9.98840983e-01 2.88596292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:81.67, Y:9.73, Z:2.89 [[ 9.95746677e-01 -7.91430426e-02 -4.71692049e-02 8.16722130e+01] [ 7.90633221e-02 9.96863252e-01 -3.55635676e-03 9.72735807e+00] [ 4.73027078e-02 -1.88123614e-04 9.98880583e-01 2.88825845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:81.70, Y:9.73, Z:2.89 [[ 9.95771064e-01 -7.85332738e-02 -4.76708830e-02 8.17035569e+01] [ 7.83477726e-02 9.96909505e-01 -5.75030640e-03 9.73113892e+00] [ 4.79751467e-02 1.99108123e-03 9.98846545e-01 2.89182127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754391418 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:81.73, Y:9.73, Z:2.89 [[ 9.95855648e-01 -7.76499164e-02 -4.73499646e-02 8.17344220e+01] [ 7.76755432e-02 9.96977842e-01 -1.30132530e-03 9.73178667e+00] [ 4.73079133e-02 -2.38200207e-03 9.98877514e-01 2.89176451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:81.77, Y:9.73, Z:2.89 [[ 9.95739597e-01 -7.88706530e-02 -4.77710647e-02 8.17654846e+01] [ 7.87888071e-02 9.96884841e-01 -3.59680820e-03 9.73330116e+00] [ 4.79059328e-02 -1.82340854e-04 9.98851835e-01 2.89228366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:81.80, Y:9.73, Z:2.89 [[ 9.95598083e-01 -8.04470177e-02 -4.80909080e-02 8.17966954e+01] [ 8.03660011e-02 9.96758852e-01 -3.61898626e-03 9.73332930e+00] [ 4.82261749e-02 -2.61818183e-04 9.98836407e-01 2.89150059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.844391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:81.83, Y:9.73, Z:2.89 [[ 9.95422305e-01 -8.25415461e-02 -4.81801646e-02 8.18276857e+01] [ 8.24627655e-02 9.96587557e-01 -3.62393264e-03 9.73252945e+00] [ 4.83148775e-02 -3.65726235e-04 9.98832087e-01 2.89045567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87439141799999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:81.86, Y:9.73, Z:2.89 [[ 9.95218923e-01 -8.52661206e-02 -4.76338485e-02 8.18583237e+01] [ 8.51922792e-02 9.96358091e-01 -3.58192421e-03 9.73175088e+00] [ 4.77657871e-02 -4.93237365e-04 9.98858442e-01 2.89015509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90439141799999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:81.89, Y:9.73, Z:2.89 [[ 9.94725249e-01 -9.15736615e-02 -4.62162704e-02 8.18894242e+01] [ 9.15109944e-02 9.95798005e-01 -3.47437713e-03 9.73094928e+00] [ 4.63402313e-02 -7.73246202e-04 9.98925415e-01 2.89210305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93439141799999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:81.92, Y:9.73, Z:2.90 [[ 9.94480998e-01 -9.40064415e-02 -4.65868429e-02 8.19212700e+01] [ 9.39455258e-02 9.95571186e-01 -3.50022120e-03 9.73387680e+00] [ 4.67095618e-02 -8.95721976e-04 9.98908111e-01 2.89577978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96439141799999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:81.95, Y:9.74, Z:2.90 [[ 9.94035551e-01 -9.72473139e-02 -4.93587238e-02 8.19520065e+01] [ 9.71831251e-02 9.95259623e-01 -3.70438436e-03 9.73858242e+00] [ 4.94849863e-02 -1.11454528e-03 9.98774246e-01 2.90042668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99439141799999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:81.98, Y:9.74, Z:2.90 [[ 9.93887198e-01 -9.80119591e-02 -5.08123410e-02 8.19842924e+01] [ 9.79451033e-02 9.95184525e-01 -3.81011188e-03 9.74054127e+00] [ 5.09410920e-02 -1.18999857e-03 9.98700951e-01 2.90052632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:82.02, Y:9.74, Z:2.90 [[ 9.93592107e-01 -9.94973082e-02 -5.36191343e-02 8.20156568e+01] [ 9.94252557e-02 9.95036928e-01 -4.01622877e-03 9.73863206e+00] [ 5.37526226e-02 -1.34060293e-03 9.98553383e-01 2.89709469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:82.05, Y:9.74, Z:2.90 [[ 9.93592025e-01 -1.00037000e-01 -5.26069100e-02 8.20473272e+01] [ 9.99685648e-02 9.94982806e-01 -3.93725327e-03 9.73806426e+00] [ 5.27368419e-02 -1.34701384e-03 9.98607536e-01 2.89565949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:82.08, Y:9.75, Z:2.90 [[ 9.93928289e-01 -1.00392027e-01 -4.50332971e-02 8.20802973e+01] [ 9.94267800e-02 9.94774603e-01 -2.31906127e-02 9.74718667e+00] [ 4.71261328e-02 1.85722903e-02 9.98716275e-01 2.89813484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114391418 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:82.11, Y:9.73, Z:2.89 [[ 9.94000758e-01 -9.80074120e-02 -4.85493547e-02 8.21117064e+01] [ 9.89225711e-02 9.94953062e-01 1.68145595e-02 9.72963618e+00] [ 4.66563776e-02 -2.15163119e-02 9.98679243e-01 2.89242712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:82.14, Y:9.75, Z:2.91 [[ 9.94688362e-01 -9.33893866e-02 -4.32837734e-02 8.21421405e+01] [ 9.33371651e-02 9.95629318e-01 -3.23029528e-03 9.74631831e+00] [ 4.33962691e-02 -8.26847590e-04 9.99057596e-01 2.90797871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:82.17, Y:9.75, Z:2.91 [[ 9.95076012e-01 -8.89733612e-02 -4.36745968e-02 8.21735093e+01] [ 8.89160981e-02 9.96033798e-01 -3.25586317e-03 9.75204163e+00] [ 4.37910596e-02 -6.43543392e-04 9.99040504e-01 2.91219271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:82.20, Y:9.76, Z:2.92 [[ 9.95341410e-01 -8.49948181e-02 -4.55121765e-02 8.22046474e+01] [ 8.49286496e-02 9.96381272e-01 -3.38905308e-03 9.75673389e+00] [ 4.56355323e-02 -4.92022823e-04 9.98958035e-01 2.91509287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.234391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:82.23, Y:9.76, Z:2.92 [[ 9.95659126e-01 -7.74392397e-02 -5.16339940e-02 8.22339205e+01] [ 7.70622969e-02 9.96983327e-01 -9.25459598e-03 9.76025360e+00] [ 5.21949000e-02 5.23538877e-03 9.98623194e-01 2.91580023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26439141799999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:82.27, Y:9.76, Z:2.91 [[ 9.95577488e-01 -7.80976637e-02 -5.22132238e-02 8.22651902e+01] [ 7.82604964e-02 9.96932361e-01 1.07827267e-03 9.75640096e+00] [ 5.19688419e-02 -5.15973681e-03 9.98635377e-01 2.91155043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29439141799999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:82.30, Y:9.76, Z:2.91 [[ 9.95674136e-01 -7.75245872e-02 -5.12147845e-02 8.22952779e+01] [ 7.74310876e-02 9.96990426e-01 -3.81022607e-03 9.75707169e+00] [ 5.13560360e-02 -1.71872918e-04 9.98680393e-01 2.91113686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32439141799999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:82.33, Y:9.76, Z:2.91 [[ 9.95701112e-01 -7.77611913e-02 -5.03238855e-02 8.23257911e+01] [ 7.76711352e-02 9.96971998e-01 -3.74562831e-03 9.75910190e+00] [ 5.04627692e-02 -1.79187050e-04 9.98725927e-01 2.91269483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35439141799999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:82.36, Y:9.76, Z:2.92 [[ 9.95759183e-01 -7.75125398e-02 -4.95525512e-02 8.23557089e+01] [ 7.74249170e-02 9.96991364e-01 -3.68821756e-03 9.76236036e+00] [ 4.96893487e-02 -1.64025657e-04 9.98764708e-01 2.91514913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38439141799999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:82.38, Y:9.77, Z:2.92 [[ 9.95734120e-01 -7.72192176e-02 -5.05050000e-02 8.23843939e+01] [ 7.68821239e-02 9.97003216e-01 -8.58636491e-03 9.76931368e+00] [ 5.10166798e-02 4.66680485e-03 9.98686898e-01 2.92170366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:82.41, Y:9.77, Z:2.92 [[ 9.95612133e-01 -7.85661106e-02 -5.08315583e-02 8.24146141e+01] [ 7.87078020e-02 9.96897417e-01 7.88682196e-04 9.76708919e+00] [ 5.06118855e-02 -4.78606179e-03 9.98706929e-01 2.91951234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:82.44, Y:9.77, Z:2.92 [[ 9.95200570e-01 -8.28309855e-02 -5.21042570e-02 8.24445513e+01] [ 8.27407057e-02 9.96563513e-01 -3.89105290e-03 9.76832112e+00] [ 5.22475012e-02 -4.38764934e-04 9.98634070e-01 2.92315132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:82.47, Y:9.77, Z:2.92 [[ 9.94999367e-01 -8.43099678e-02 -5.35545491e-02 8.24714500e+01] [ 8.40207593e-02 9.96434769e-01 -7.63298346e-03 9.76984986e+00] [ 5.40071514e-02 3.09511983e-03 9.98535752e-01 2.92492341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:82.50, Y:9.77, Z:2.92 [[ 9.94591473e-01 -8.93710383e-02 -5.29208803e-02 8.25024269e+01] [ 8.94573019e-02 9.95990382e-01 -7.41200586e-04 9.76762861e+00] [ 5.27749296e-02 -3.99696738e-03 9.98598433e-01 2.92267830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:82.53, Y:9.77, Z:2.92 [[ 9.94237247e-01 -9.32749813e-02 -5.28400779e-02 8.25322333e+01] [ 9.31964489e-02 9.95639890e-01 -3.95365322e-03 9.76978715e+00] [ 5.29784663e-02 -9.93638327e-04 9.98595161e-01 2.92488281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:82.56, Y:9.77, Z:2.93 [[ 9.93507856e-01 -1.01617351e-01 -5.11473738e-02 8.25631881e+01] [ 1.01554862e-01 9.94822584e-01 -3.82584043e-03 9.77000076e+00] [ 5.12713344e-02 -1.39326199e-03 9.98683788e-01 2.92614614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.594391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:82.60, Y:9.77, Z:2.93 [[ 9.93225311e-01 -1.04822450e-01 -5.01571091e-02 8.25952188e+01] [ 1.04766551e-01 9.94489774e-01 -3.74950760e-03 9.77177684e+00] [ 5.02737647e-02 -1.53068148e-03 9.98734302e-01 2.92801506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62439141799999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:82.63, Y:9.77, Z:2.93 [[ 9.93032768e-01 -1.06908860e-01 -4.95622488e-02 8.26275270e+01] [ 1.06857065e-01 9.94267504e-01 -3.70115628e-03 9.77380886e+00] [ 4.96738198e-02 -1.62070699e-03 9.98764179e-01 2.92955427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65439141799999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:82.66, Y:9.78, Z:2.93 [[ 9.92746365e-01 -1.09060650e-01 -5.06006864e-02 8.26586496e+01] [ 1.09009654e-01 9.94033524e-01 -3.77475443e-03 9.77685633e+00] [ 5.07104558e-02 -1.76858957e-03 9.98711831e-01 2.93103136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68439141799999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:82.69, Y:9.78, Z:2.93 [[ 9.92681920e-01 -1.09635660e-01 -5.06224022e-02 8.26900404e+01] [ 1.09585518e-01 9.93970209e-01 -3.77336710e-03 9.78002961e+00] [ 5.07308552e-02 -1.80172889e-03 9.98710736e-01 2.93273131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71439141799999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:82.72, Y:9.78, Z:2.93 [[ 9.92660045e-01 -1.10214279e-01 -4.97880214e-02 8.27218966e+01] [ 1.10166654e-01 9.93906212e-01 -3.70815104e-03 9.78252509e+00] [ 4.98933150e-02 -1.80404634e-03 9.98752924e-01 2.93430646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74439141799999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:82.75, Y:9.78, Z:2.93 [[ 9.92593932e-01 -1.12298155e-01 -4.63293804e-02 8.27535196e+01] [ 1.12259332e-01 9.93672964e-01 -3.44724314e-03 9.78182103e+00] [ 4.64233718e-02 -1.77919269e-03 9.98920270e-01 2.93473795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:82.79, Y:9.78, Z:2.94 [[ 9.92454983e-01 -1.13765771e-01 -4.57215092e-02 8.27857899e+01] [ 1.13729637e-01 9.93505921e-01 -3.39931279e-03 9.78235814e+00] [ 4.58113155e-02 -1.82622573e-03 9.98948441e-01 2.93563532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:82.82, Y:9.78, Z:2.94 [[ 9.92201339e-01 -1.15583590e-01 -4.66576618e-02 8.28182232e+01] [ 1.15548139e-01 9.93295837e-01 -3.46523550e-03 9.78451501e+00] [ 4.67453856e-02 -1.95299470e-03 9.98904928e-01 2.93782646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:82.85, Y:9.79, Z:2.94 [[ 9.92163316e-01 -1.15324263e-01 -4.80860477e-02 8.28501613e+01] [ 1.15286493e-01 9.93325877e-01 -3.56748499e-03 9.78766684e+00] [ 4.81765331e-02 -2.00414405e-03 9.98836826e-01 2.94029010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864391418 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:82.88, Y:9.79, Z:2.94 [[ 9.92210270e-01 -1.14059011e-01 -5.00931430e-02 8.28821053e+01] [ 1.14016617e-01 9.93471907e-01 -3.71236932e-03 9.79064528e+00] [ 5.01895595e-02 -2.02799974e-03 9.98737651e-01 2.94134081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:82.91, Y:9.79, Z:2.94 [[ 9.92398230e-01 -1.10128704e-01 -5.49310632e-02 8.29139083e+01] [ 1.10071977e-01 9.93915301e-01 -4.06635160e-03 9.79375923e+00] [ 5.50446462e-02 -2.01093060e-03 9.98481869e-01 2.94051180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:82.94, Y:9.80, Z:2.94 [[ 9.92615812e-01 -1.07361339e-01 -5.64570061e-02 8.29447380e+01] [ 1.07297242e-01 9.94218225e-01 -4.17415760e-03 9.79563898e+00] [ 5.65787275e-02 -1.91434624e-03 9.98396306e-01 2.93987042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:82.98, Y:9.80, Z:2.94 [[ 9.92912397e-01 -1.04705300e-01 -5.62296373e-02 8.29755561e+01] [ 1.04637801e-01 9.94501733e-01 -4.15141677e-03 9.79802393e+00] [ 5.63551471e-02 -1.76175244e-03 9.98409232e-01 2.93972162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.984391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:83.01, Y:9.80, Z:2.94 [[ 9.93741368e-01 -9.84851314e-02 -5.27140711e-02 8.30066898e+01] [ 9.84171687e-02 9.95137644e-01 -3.88984928e-03 9.80135356e+00] [ 5.28408488e-02 -1.32246548e-03 9.98602071e-01 2.94134934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01439141799999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:83.04, Y:9.81, Z:2.94 [[ 9.94078012e-01 -9.59524126e-02 -5.10102057e-02 8.30367083e+01] [ 9.58855345e-02 9.95385257e-01 -3.76229248e-03 9.80540602e+00] [ 5.11358078e-02 -1.15112862e-03 9.98691045e-01 2.94444609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04439141799999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:83.07, Y:9.81, Z:2.95 [[ 9.94468548e-01 -9.20702880e-02 -5.05506668e-02 8.30676608e+01] [ 9.19996570e-02 9.95752063e-01 -3.72722858e-03 9.80981355e+00] [ 5.06790978e-02 -9.44032420e-04 9.98714543e-01 2.94785211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07439141799999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:83.10, Y:9.81, Z:2.95 [[ 9.94553867e-01 -9.07781859e-02 -5.12047566e-02 8.30991726e+01] [ 9.07041103e-02 9.95870738e-01 -3.77338669e-03 9.81169093e+00] [ 5.13358599e-02 -8.91645565e-04 9.98681047e-01 2.94913237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10439141799999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:83.13, Y:9.81, Z:2.95 [[ 9.94559284e-01 -9.07187245e-02 -5.12049201e-02 8.31309179e+01] [ 9.06446844e-02 9.95876157e-01 -3.77116662e-03 9.81398738e+00] [ 5.13358745e-02 -8.90805050e-04 9.98681047e-01 2.95047981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13439141799999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:83.16, Y:9.82, Z:2.95 [[ 9.94548181e-01 -9.04075919e-02 -5.19652083e-02 8.31610078e+01] [ 9.03310563e-02 9.95904450e-01 -3.82439431e-03 9.81633414e+00] [ 5.20981365e-02 -8.90527747e-04 9.98641573e-01 2.95171275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:83.19, Y:9.82, Z:2.96 [[ 9.94501192e-01 -9.04909138e-02 -5.27140768e-02 8.31912981e+01] [ 9.04123400e-02 9.95896866e-01 -3.87823461e-03 9.82319323e+00] [ 5.28487289e-02 -9.09094087e-04 9.98602116e-01 2.95617574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:83.22, Y:9.83, Z:2.96 [[ 9.94458599e-01 -9.05329322e-02 -5.34404692e-02 8.32222360e+01] [ 9.04523665e-02 9.95893031e-01 -3.92928108e-03 9.82759074e+00] [ 5.35767202e-02 -9.26309552e-04 9.98563306e-01 2.95884079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:83.25, Y:9.83, Z:2.96 [[ 9.94387840e-01 -9.07682560e-02 -5.43502298e-02 8.32529370e+01] [ 9.06854150e-02 9.95871581e-01 -3.99359331e-03 9.83005844e+00] [ 5.44883408e-02 -9.57592522e-04 9.98513948e-01 2.95917431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:83.28, Y:9.83, Z:2.96 [[ 9.94337385e-01 -9.15439029e-02 -5.39710885e-02 8.32839684e+01] [ 9.14633553e-02 9.95800546e-01 -3.96573444e-03 9.83119431e+00] [ 5.41074782e-02 -9.93098836e-04 9.98534624e-01 2.95880394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:83.31, Y:9.83, Z:2.96 [[ 9.94266688e-01 -9.24959116e-02 -5.36494087e-02 8.33139775e+01] [ 9.24176937e-02 9.95712523e-01 -3.94232153e-03 9.82957425e+00] [ 5.37840367e-02 -1.03843565e-03 9.98552051e-01 2.95581544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:83.34, Y:9.83, Z:2.96 [[ 9.94264500e-01 -9.30838017e-02 -5.26641229e-02 8.33445967e+01] [ 9.30092119e-02 9.95657724e-01 -3.87072923e-03 9.83157874e+00] [ 5.27957430e-02 -1.04971991e-03 9.98604780e-01 2.95601806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.344391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:83.38, Y:9.84, Z:2.96 [[ 9.94276013e-01 -9.40330869e-02 -5.07246272e-02 8.33755108e+01] [ 9.39651417e-02 9.95568509e-01 -3.72784538e-03 9.83621885e+00] [ 5.08503823e-02 -1.05983954e-03 9.98705720e-01 2.95946246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37439141799999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:83.41, Y:9.84, Z:2.96 [[ 9.94328669e-01 -9.41000711e-02 -4.95547544e-02 8.34070905e+01] [ 9.40354163e-02 9.95562200e-01 -3.63967989e-03 9.84022907e+00] [ 4.96773345e-02 -1.04086390e-03 9.98764777e-01 2.96220037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40439141799999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:83.44, Y:9.84, Z:2.96 [[ 9.94387759e-01 -9.38624479e-02 -4.88141908e-02 8.34392968e+01] [ 9.37996094e-02 9.95584655e-01 -3.58152810e-03 9.84327234e+00] [ 4.89348303e-02 -1.01732433e-03 9.98801455e-01 2.96468308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43439141799999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:83.47, Y:9.84, Z:2.97 [[ 9.94319442e-01 -9.43212658e-02 -4.93188243e-02 8.34719430e+01] [ 9.42578768e-02 9.95541253e-01 -3.61467929e-03 9.84414599e+00] [ 4.94398653e-02 -1.05454177e-03 9.98776545e-01 2.96537777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46439141799999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:83.50, Y:9.85, Z:2.97 [[ 9.94213638e-01 -9.51470670e-02 -4.98625803e-02 8.35041449e+01] [ 9.50835084e-02 9.95462606e-01 -3.65056075e-03 9.84510196e+00] [ 4.99836743e-02 -1.11167179e-03 9.98749416e-01 2.96610744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49439141799999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:83.53, Y:9.85, Z:2.97 [[ 9.94089474e-01 -9.65456660e-02 -4.96492915e-02 8.35348759e+01] [ 9.64845817e-02 9.95327856e-01 -3.63114257e-03 9.84643837e+00] [ 4.97678940e-02 -1.18071052e-03 9.98760113e-01 2.96737354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:83.57, Y:9.85, Z:2.97 [[ 9.93802047e-01 -9.98290952e-02 -4.89044273e-02 8.35673912e+01] [ 9.97739464e-02 9.95003713e-01 -3.57366740e-03 9.84869275e+00] [ 4.90168427e-02 -1.32786974e-03 9.98797069e-01 2.96941251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:83.60, Y:9.85, Z:2.97 [[ 9.93621841e-01 -1.01121826e-01 -4.99000280e-02 8.35984556e+01] [ 1.01066228e-01 9.94873032e-01 -3.64260051e-03 9.85088709e+00] [ 5.00125385e-02 -1.42384017e-03 9.98747575e-01 2.97069456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:83.63, Y:9.85, Z:2.97 [[ 9.93445602e-01 -1.02103300e-01 -5.13882437e-02 8.36304721e+01] [ 1.02045816e-01 9.94772639e-01 -3.74797154e-03 9.85259903e+00] [ 5.15022991e-02 -1.52054943e-03 9.98671718e-01 2.97092218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.614391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:83.66, Y:9.85, Z:2.97 [[ 9.93275953e-01 -1.02909264e-01 -5.30336225e-02 8.36623792e+01] [ 1.02849419e-01 9.94689434e-01 -3.86363973e-03 9.85416914e+00] [ 5.31495882e-02 -1.61681684e-03 9.98585253e-01 2.97088536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:83.69, Y:9.86, Z:2.97 [[ 9.93036497e-01 -1.03966700e-01 -5.54025327e-02 8.36934248e+01] [ 1.03903275e-01 9.94579234e-01 -4.03189004e-03 9.85821911e+00] [ 5.55213908e-02 -1.75269060e-03 9.98455960e-01 2.97205553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:83.72, Y:9.86, Z:2.97 [[ 9.93079004e-01 -1.03733845e-01 -5.50761349e-02 8.37244102e+01] [ 1.03670974e-01 9.94603583e-01 -4.00511045e-03 9.86278078e+00] [ 5.51943866e-02 -1.73240547e-03 9.98474125e-01 2.97454717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:83.76, Y:9.87, Z:2.98 [[ 9.93310805e-01 -1.02328928e-01 -5.35017384e-02 8.37564026e+01] [ 1.02267701e-01 9.94749315e-01 -3.88807231e-03 9.86815241e+00] [ 5.36186799e-02 -1.60943556e-03 9.98560187e-01 2.97657317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.734391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:83.79, Y:9.87, Z:2.98 [[ 9.93374884e-01 -1.01809453e-01 -5.33026829e-02 8.37888385e+01] [ 1.01748162e-01 9.94802664e-01 -3.86934556e-03 9.87067789e+00] [ 5.34195869e-02 -1.57973933e-03 9.98570905e-01 2.97675101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76439141799999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:83.82, Y:9.87, Z:2.98 [[ 9.93316968e-01 -1.02093017e-01 -5.38369457e-02 8.38203569e+01] [ 1.02031128e-01 9.94773546e-01 -3.90403570e-03 9.87253578e+00] [ 5.39541441e-02 -1.61509941e-03 9.98542108e-01 2.97633185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79439141799999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:83.85, Y:9.87, Z:2.98 [[ 9.92883794e-01 -1.06626503e-01 -5.30335755e-02 8.38514094e+01] [ 1.06573065e-01 9.94297448e-01 -3.84267409e-03 9.87480684e+00] [ 5.31408797e-02 -1.83662183e-03 9.98585336e-01 2.97582731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82439141799999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:83.88, Y:9.88, Z:2.98 [[ 9.92608503e-01 -1.09712743e-01 -5.18794074e-02 8.38832785e+01] [ 1.09665976e-01 9.93961401e-01 -3.75586812e-03 9.87768329e+00] [ 5.19781951e-02 -1.96129919e-03 9.98646294e-01 2.97781873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85439141799999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:83.92, Y:9.88, Z:2.98 [[ 9.92296355e-01 -1.12954639e-01 -5.08841099e-02 8.39152399e+01] [ 1.12914096e-01 9.93597939e-01 -3.67992672e-03 9.88074861e+00] [ 5.09740115e-02 -2.09395542e-03 9.98697785e-01 2.97997910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88439141799999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:83.95, Y:9.88, Z:2.98 [[ 9.91582381e-01 -1.18810597e-01 -5.14628382e-02 8.39463577e+01] [ 1.18777186e-01 9.92913973e-01 -3.71795025e-03 9.88368753e+00] [ 5.15399030e-02 -2.42595717e-03 9.98667989e-01 2.98148861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:83.98, Y:9.89, Z:2.98 [[ 9.91182744e-01 -1.21435503e-01 -5.30112002e-02 8.39788295e+01] [ 1.21403975e-01 9.92595805e-01 -3.82648439e-03 9.88559240e+00] [ 5.30833660e-02 -2.64302511e-03 9.98586586e-01 2.98154419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:84.01, Y:9.89, Z:2.98 [[ 9.90779306e-01 -1.23880422e-01 -5.48635415e-02 8.40097118e+01] [ 1.23850616e-01 9.92292988e-01 -3.95612647e-03 9.88715924e+00] [ 5.49307942e-02 -2.87523517e-03 9.98486024e-01 2.98159019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:84.04, Y:9.89, Z:2.98 [[ 9.90191256e-01 -1.27902789e-01 -5.62330319e-02 8.40409621e+01] [ 1.27878123e-01 9.91781614e-01 -4.05162161e-03 9.89102031e+00] [ 5.62891008e-02 -3.17909430e-03 9.98409450e-01 2.98196962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:84.07, Y:9.90, Z:2.98 [[ 9.90082971e-01 -1.28718922e-01 -5.62774339e-02 8.40724675e+01] [ 1.28695724e-01 9.91675853e-01 -4.05138960e-03 9.89554994e+00] [ 5.63304627e-02 -3.23145326e-03 9.98406949e-01 2.98398568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.10, Y:9.90, Z:2.99 [[ 9.90171094e-01 -1.28217229e-01 -5.58707998e-02 8.41042712e+01] [ 1.28193801e-01 9.91740997e-01 -4.01796873e-03 9.90010162e+00] [ 5.59245355e-02 -3.18381367e-03 9.98429922e-01 2.98565223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:84.14, Y:9.90, Z:2.99 [[ 9.90403319e-01 -1.26611246e-01 -5.54153291e-02 8.41364904e+01] [ 1.26585918e-01 9.91947658e-01 -3.98111786e-03 9.90465667e+00] [ 5.54731602e-02 -3.07188798e-03 9.98455453e-01 2.98676581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.094391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:84.17, Y:9.91, Z:2.98 [[ 9.91415123e-01 -1.19593356e-01 -5.28534204e-02 8.41675719e+01] [ 1.19871150e-01 9.92787224e-01 2.10609901e-03 9.90789940e+00] [ 5.22203251e-02 -8.42361868e-03 9.98600060e-01 2.98487955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12439141799999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:84.20, Y:9.92, Z:2.99 [[ 9.91627231e-01 -1.17946338e-01 -5.25746630e-02 8.41984993e+01] [ 1.17588734e-01 9.93013481e-01 -9.85479679e-03 9.91757634e+00] [ 5.33696863e-02 3.59009678e-03 9.98568369e-01 2.99076846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15439141799999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:84.23, Y:9.92, Z:2.99 [[ 9.91919871e-01 -1.15739029e-01 -5.19561910e-02 8.42308900e+01] [ 1.15702388e-01 9.93276950e-01 -3.72259770e-03 9.91901181e+00] [ 5.20377368e-02 -2.31893673e-03 9.98642427e-01 2.98977244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18439141799999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:84.26, Y:9.92, Z:2.99 [[ 9.92245851e-01 -1.13707568e-01 -5.01872562e-02 8.42625667e+01] [ 1.13670965e-01 9.93511956e-01 -3.59225323e-03 9.92460639e+00] [ 5.02701055e-02 -2.14043546e-03 9.98733365e-01 2.99282148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21439141799999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:84.29, Y:9.93, Z:3.00 [[ 9.92440183e-01 -1.12317986e-01 -4.94687108e-02 8.42945289e+01] [ 1.12280884e-01 9.93670213e-01 -3.53710255e-03 9.92856142e+00] [ 4.95528646e-02 -2.04402787e-03 9.98769411e-01 2.99544188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24439141799999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:84.33, Y:9.93, Z:3.00 [[ 9.92717383e-01 -1.10157941e-01 -4.87588408e-02 8.43274773e+01] [ 1.10119520e-01 9.93912254e-01 -3.48175438e-03 9.93320160e+00] [ 4.88455523e-02 -1.91290202e-03 9.98804512e-01 2.99744075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274391418 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:84.36, Y:9.94, Z:3.00 [[ 9.93583129e-01 -1.01772934e-01 -4.93440636e-02 8.43588154e+01] [ 1.01723575e-01 9.94806486e-01 -3.51708974e-03 9.94090861e+00] [ 4.94457391e-02 -1.52493351e-03 9.98775647e-01 2.99992967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:84.39, Y:9.95, Z:3.00 [[ 9.94093446e-01 -9.66266336e-02 -4.94116736e-02 8.43909672e+01] [ 9.65712105e-02 9.95319877e-01 -3.51337136e-03 9.94601097e+00] [ 4.95199062e-02 -1.27912569e-03 9.98772318e-01 3.00120509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:84.42, Y:9.95, Z:3.00 [[ 9.94578849e-01 -9.15777117e-02 -4.92588661e-02 8.44223725e+01] [ 9.15166105e-02 9.95797402e-01 -3.49911195e-03 9.95091041e+00] [ 4.93722915e-02 -1.02786173e-03 9.98779916e-01 3.00226262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.364391418 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:84.45, Y:9.96, Z:3.00 [[ 9.95314177e-01 -8.32716317e-02 -4.91479800e-02 8.44544008e+01] [ 8.32008181e-02 9.96526695e-01 -3.48844924e-03 9.95579739e+00] [ 4.92677629e-02 -6.17049159e-04 9.98785416e-01 3.00078743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394391418 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:84.49, Y:9.96, Z:3.00 [[ 9.95590242e-01 -7.97655155e-02 -4.93713803e-02 8.44855277e+01] [ 7.96899309e-02 9.96813554e-01 -3.50059844e-03 9.95696869e+00] [ 4.94932880e-02 -4.49240234e-04 9.98774355e-01 2.99900959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:84.52, Y:9.96, Z:3.00 [[ 9.95732403e-01 -7.77585390e-02 -4.97050466e-02 8.45172716e+01] [ 7.76795803e-02 9.96972158e-01 -3.52123688e-03 9.95817550e+00] [ 4.98283538e-02 -3.54857498e-04 9.98757733e-01 2.99873526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454391418 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:84.55, Y:9.96, Z:3.00 [[ 9.96145909e-01 -7.30944221e-02 -4.84823037e-02 8.45490288e+01] [ 7.30139556e-02 9.97325018e-01 -3.43099681e-03 9.96157529e+00] [ 4.86034011e-02 -1.22111336e-04 9.98818149e-01 3.00003917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48439141799999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:84.58, Y:9.97, Z:3.01 [[ 9.96374216e-01 -7.08066533e-02 -4.71682051e-02 8.45785158e+01] [ 7.07280918e-02 9.97490059e-01 -3.33457225e-03 9.96687482e+00] [ 4.72859256e-02 -1.36353316e-05 9.98881395e-01 3.00527130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51439141799999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:84.61, Y:9.97, Z:3.01 [[ 9.96627604e-01 -6.79731959e-02 -4.59680810e-02 8.46098476e+01] [ 6.78956153e-02 9.97687141e-01 -3.24875653e-03 9.97238096e+00] [ 4.60825916e-02 1.16769291e-04 9.98937626e-01 3.00889286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54439141799999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:84.64, Y:9.98, Z:3.01 [[ 9.96757898e-01 -6.53038959e-02 -4.70010049e-02 8.46395786e+01] [ 6.52199172e-02 9.97865393e-01 -3.31972051e-03 9.97683670e+00] [ 4.71174669e-02 2.43555990e-04 9.98889326e-01 3.01133362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57439141799999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:84.67, Y:9.98, Z:3.01 [[ 9.96716669e-01 -6.42154927e-02 -4.93178625e-02 8.46709372e+01] [ 6.41218474e-02 9.97936008e-01 -3.48024516e-03 9.97543425e+00] [ 4.94395565e-02 3.06465909e-04 9.98777070e-01 3.00647969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60439141799999 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:84.70, Y:9.97, Z:3.00 [[ 9.96579416e-01 -6.67446197e-02 -4.87301092e-02 8.47001850e+01] [ 6.66562093e-02 9.97770076e-01 -3.43890302e-03 9.97251480e+00] [ 4.88509730e-02 1.78975611e-04 9.98806062e-01 3.00408806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63439141799999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:84.73, Y:9.97, Z:3.00 [[ 9.96452987e-01 -6.98120142e-02 -4.69864655e-02 8.47301942e+01] [ 6.97326948e-02 9.97560164e-01 -3.32717865e-03 9.97023727e+00] [ 4.71041033e-02 3.88842381e-05 9.98889985e-01 3.00337095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:84.76, Y:9.97, Z:3.01 [[ 9.96134820e-01 -7.66338021e-02 -4.29264531e-02 8.47609440e+01] [ 7.65738672e-02 9.97059273e-01 -3.04119269e-03 9.96897168e+00] [ 4.30332763e-02 -2.57606585e-04 9.99073606e-01 3.00578543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694391418 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:84.79, Y:9.97, Z:3.01 [[ 9.95913394e-01 -8.00274273e-02 -4.18583694e-02 8.47921417e+01] [ 7.99735482e-02 9.96792583e-01 -2.96280477e-03 9.97152348e+00] [ 4.19612178e-02 -3.96865367e-04 9.99119161e-01 3.01059346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:84.82, Y:9.97, Z:3.01 [[ 9.95686171e-01 -8.23306027e-02 -4.27869143e-02 8.48246105e+01] [ 8.22765401e-02 9.96604944e-01 -3.02598360e-03 9.97425335e+00] [ 4.28907814e-02 -5.07429246e-04 9.99079638e-01 3.01381767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754391418 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:84.86, Y:9.98, Z:3.02 [[ 9.95145879e-01 -8.66779750e-02 -4.66005199e-02 8.48564784e+01] [ 8.66187985e-02 9.96236091e-01 -3.29152214e-03 9.97567550e+00] [ 4.67104223e-02 -7.60936356e-04 9.98908183e-01 3.01754975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784391418 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:84.89, Y:9.98, Z:3.02 [[ 9.94895949e-01 -8.91001401e-02 -4.73625955e-02 8.48888475e+01] [ 8.90419782e-02 9.96022272e-01 -3.34062108e-03 9.97569399e+00] [ 4.74718498e-02 -8.93688819e-04 9.98872176e-01 3.01846925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814391418 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:84.92, Y:9.97, Z:3.02 [[ 9.94713360e-01 -9.11546334e-02 -4.72880883e-02 8.49202964e+01] [ 9.10991414e-02 9.95836254e-01 -3.33182310e-03 9.97384378e+00] [ 4.73949039e-02 -9.93695294e-04 9.98875736e-01 3.01813232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.844391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:84.95, Y:9.97, Z:3.02 [[ 9.94486396e-01 -9.47917016e-02 -4.48479759e-02 8.49534667e+01] [ 9.47455949e-02 9.95496511e-01 -3.15740031e-03 9.96790210e+00] [ 4.49452989e-02 -1.10915651e-03 9.98988834e-01 3.01695194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87439141799999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:84.99, Y:9.97, Z:3.02 [[ 9.94442954e-01 -9.55976815e-02 -4.40941607e-02 8.49853091e+01] [ 9.55540476e-02 9.95419413e-01 -3.10106176e-03 9.96766085e+00] [ 4.41886379e-02 -1.12954651e-03 9.99022567e-01 3.01702934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90439141799999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:85.02, Y:9.97, Z:3.02 [[ 9.94383072e-01 -9.60543398e-02 -4.44507477e-02 8.50173273e+01] [ 9.60106035e-02 9.95375413e-01 -3.12276429e-03 9.96864917e+00] [ 4.45451364e-02 -1.16251916e-03 9.99006696e-01 3.01737502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93439141799999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.05, Y:9.97, Z:3.02 [[ 9.94327575e-01 -9.56574975e-02 -4.65007233e-02 8.50486802e+01] [ 9.56093787e-02 9.95413582e-01 -3.26297223e-03 9.96885574e+00] [ 4.65995793e-02 -1.20144200e-03 9.98912927e-01 3.01747603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96439141799999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:85.08, Y:9.97, Z:3.02 [[ 9.94334379e-01 -9.50715265e-02 -4.75452159e-02 8.50803548e+01] [ 9.50206967e-02 9.95469717e-01 -3.33325073e-03 9.97011527e+00] [ 4.76467199e-02 -1.20341375e-03 9.98863525e-01 3.01888521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99439141799999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:85.11, Y:9.97, Z:3.02 [[ 9.94379554e-01 -9.42222153e-02 -4.82853584e-02 8.51127191e+01] [ 9.41689812e-02 9.95550486e-01 -3.38120296e-03 9.97209537e+00] [ 4.83890965e-02 -1.18478392e-03 9.98827859e-01 3.02134104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:85.15, Y:9.97, Z:3.02 [[ 9.94388938e-01 -9.41229901e-02 -4.82856368e-02 8.51453236e+01] [ 9.40698324e-02 9.95559873e-01 -3.37722265e-03 9.97429424e+00] [ 4.83891168e-02 -1.18394892e-03 9.98827859e-01 3.02272551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:85.18, Y:9.98, Z:3.03 [[ 9.94581861e-01 -9.14252252e-02 -4.94808031e-02 8.51763043e+01] [ 9.13663048e-02 9.95811355e-01 -3.45604522e-03 9.97757053e+00] [ 4.95895153e-02 -1.08355825e-03 9.98769095e-01 3.02698983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:85.21, Y:9.98, Z:3.03 [[ 9.94689597e-01 -8.96864652e-02 -5.04870570e-02 8.52084937e+01] [ 8.96230495e-02 9.95969526e-01 -3.52310422e-03 9.98058175e+00] [ 5.05995450e-02 -1.02040889e-03 9.98718501e-01 3.02885886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.114391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:85.24, Y:9.98, Z:3.03 [[ 9.94812781e-01 -8.76316517e-02 -5.16548534e-02 8.52394124e+01] [ 8.75627053e-02 9.96152502e-01 -3.60064285e-03 9.98231620e+00] [ 5.17716417e-02 -9.41073182e-04 9.98658506e-01 3.02941674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:85.27, Y:9.98, Z:3.03 [[ 9.94943513e-01 -8.56465290e-02 -5.24602609e-02 8.52704383e+01] [ 8.55728114e-02 9.96325220e-01 -3.65387564e-03 9.98272723e+00] [ 5.25804228e-02 -8.53772146e-04 9.98616328e-01 3.02862626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:85.30, Y:9.98, Z:3.03 [[ 9.95227182e-01 -8.21281919e-02 -5.27049907e-02 8.53011336e+01] [ 8.20489407e-02 9.96621547e-01 -3.66928286e-03 9.97941333e+00] [ 5.28282809e-02 -6.72618613e-04 9.98603385e-01 3.02563806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:85.33, Y:9.98, Z:3.03 [[ 9.95416945e-01 -8.04092196e-02 -5.17635333e-02 8.53313926e+01] [ 8.03304529e-02 9.96761773e-01 -3.60373929e-03 9.97977130e+00] [ 5.18856851e-02 -5.70964921e-04 9.98652867e-01 3.02615418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23439141799999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:85.36, Y:9.98, Z:3.03 [[ 9.95599417e-01 -7.85772457e-02 -5.10628859e-02 8.53605390e+01] [ 7.84981805e-02 9.96907918e-01 -3.55514015e-03 9.98151383e+00] [ 5.11843484e-02 -4.68848179e-04 9.98689112e-01 3.02874425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26439141799999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:85.39, Y:9.98, Z:3.03 [[ 9.96000366e-01 -7.47799128e-02 -4.89002696e-02 8.53907088e+01] [ 7.47027901e-02 9.97200028e-01 -3.40539791e-03 9.98443813e+00] [ 4.90180056e-02 -2.61209011e-04 9.98797861e-01 3.03454981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29439141799999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:85.42, Y:9.99, Z:3.04 [[ 9.96057911e-01 -7.37497075e-02 -4.92911556e-02 8.54197432e+01] [ 7.36700787e-02 9.97276760e-01 -3.43275975e-03 9.98592031e+00] [ 4.94100889e-02 -2.12055805e-04 9.98778553e-01 3.03714634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32439141799999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:85.45, Y:9.99, Z:3.04 [[ 9.96033398e-01 -7.35518484e-02 -5.00759063e-02 8.54494908e+01] [ 7.34693535e-02 9.97291374e-01 -3.48858531e-03 9.98629392e+00] [ 5.01968613e-02 -2.04296986e-04 9.98739322e-01 3.03849443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35439141799999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:85.48, Y:9.98, Z:3.04 [[ 9.95820246e-01 -7.53468911e-02 -5.16225082e-02 8.54780431e+01] [ 7.52615089e-02 9.97157337e-01 -3.59864245e-03 9.98448318e+00] [ 5.17469093e-02 -3.01586848e-04 9.98660186e-01 3.03942185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38439141799999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:85.51, Y:9.99, Z:3.04 [[ 9.95702967e-01 -7.71234256e-02 -5.12599182e-02 8.55065777e+01] [ 7.70413353e-02 9.97021478e-01 -3.57834518e-03 9.98567456e+00] [ 5.13832137e-02 -3.86163636e-04 9.98678936e-01 3.04112951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:85.54, Y:9.99, Z:3.04 [[ 9.95640844e-01 -7.83581978e-02 -5.05895494e-02 8.55364901e+01] [ 7.82792361e-02 9.96925176e-01 -3.54333006e-03 9.98714097e+00] [ 5.07116444e-02 -4.32227150e-04 9.98713243e-01 3.04284310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:85.57, Y:9.99, Z:3.04 [[ 9.95557020e-01 -7.94294775e-02 -5.05685460e-02 8.55657140e+01] [ 7.93518676e-02 9.96840370e-01 -3.54372152e-03 9.98781590e+00] [ 5.06902441e-02 -4.84731728e-04 9.98714306e-01 3.04432202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:85.60, Y:9.99, Z:3.04 [[ 9.95489868e-01 -8.02241992e-02 -5.06359691e-02 8.55952180e+01] [ 8.01473503e-02 9.96776706e-01 -3.54961097e-03 9.98708400e+00] [ 5.07575192e-02 -5.24737001e-04 9.98710869e-01 3.04401929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:85.63, Y:9.98, Z:3.04 [[ 9.95356742e-01 -8.16744049e-02 -5.09337554e-02 8.56259886e+01] [ 8.15984451e-02 9.96658884e-01 -3.57245869e-03 9.98076273e+00] [ 5.10553583e-02 -6.00244399e-04 9.98695644e-01 3.04151719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:85.65, Y:9.98, Z:3.04 [[ 9.95209808e-01 -8.36052037e-02 -5.06715675e-02 8.56548970e+01] [ 8.35324161e-02 9.96498715e-01 -3.55620119e-03 9.98039809e+00] [ 5.07914689e-02 -6.93552158e-04 9.98709040e-01 3.04293600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:85.69, Y:9.98, Z:3.05 [[ 9.94847619e-01 -8.84621703e-02 -4.95243311e-02 8.56854501e+01] [ 8.83985331e-02 9.96079114e-01 -3.47808877e-03 9.98272873e+00] [ 4.96378311e-02 -9.17709887e-04 9.98766861e-01 3.04761290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.594391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:85.72, Y:9.99, Z:3.05 [[ 9.94624337e-01 -9.10553907e-02 -4.93086672e-02 8.57165960e+01] [ 9.09955037e-02 9.95845283e-01 -3.46265490e-03 9.98561607e+00] [ 4.94190970e-02 -1.04282617e-03 9.98777586e-01 3.05089790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62439141799999 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:85.75, Y:9.99, Z:3.05 [[ 9.94419539e-01 -9.32805252e-02 -4.92800587e-02 8.57464586e+01] [ 9.32235286e-02 9.95639197e-01 -3.45877884e-03 9.98693270e+00] [ 4.93877948e-02 -1.15458370e-03 9.98779011e-01 3.05325867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65439141799999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:85.78, Y:9.98, Z:3.05 [[ 9.94069786e-01 -9.71911284e-02 -4.87764769e-02 8.57780113e+01] [ 9.71400451e-02 9.95264839e-01 -3.42232244e-03 9.98150553e+00] [ 4.88781318e-02 -1.33612184e-03 9.98803856e-01 3.05251263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68439141799999 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:85.81, Y:9.98, Z:3.05 [[ 9.94012740e-01 -9.81512925e-02 -4.80103700e-02 8.58096648e+01] [ 9.81030122e-02 9.95170571e-01 -3.36664353e-03 9.97823775e+00] [ 4.81089477e-02 -1.36347536e-03 9.98841164e-01 3.05209312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71439141799999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:85.84, Y:9.98, Z:3.05 [[ 9.93913146e-01 -9.93918872e-02 -4.75174711e-02 8.58424673e+01] [ 9.93461104e-02 9.95047367e-01 -3.32994285e-03 9.97541878e+00] [ 4.76131038e-02 -1.41100196e-03 9.98864856e-01 3.05233745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74439141799999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:85.87, Y:9.98, Z:3.05 [[ 9.93892091e-01 -9.90003338e-02 -4.87590499e-02 8.58737944e+01] [ 9.89518576e-02 9.95086369e-01 -3.41298591e-03 9.97743855e+00] [ 4.88573526e-02 -1.43265885e-03 9.98804739e-01 3.05331045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774391418 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:85.91, Y:9.98, Z:3.06 [[ 9.93842599e-01 -9.97327149e-02 -4.82729143e-02 8.59052896e+01] [ 9.96861989e-02 9.95013198e-01 -3.37614900e-03 9.97994841e+00] [ 4.83688993e-02 -1.45678264e-03 9.98828477e-01 3.05657733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:85.94, Y:9.98, Z:3.06 [[ 9.93848213e-01 -9.97844156e-02 -4.80499694e-02 8.59361495e+01] [ 9.97384829e-02 9.95008017e-01 -3.35859798e-03 9.98059859e+00] [ 4.81452406e-02 -1.45449446e-03 9.98839287e-01 3.05809845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:85.97, Y:9.98, Z:3.06 [[ 9.93782219e-01 -1.00571351e-01 -4.77734774e-02 8.59682678e+01] [ 1.00526945e-01 9.94928739e-01 -3.33734323e-03 9.97627280e+00] [ 4.78668467e-02 -1.48592940e-03 9.98852620e-01 3.05917875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864391418 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:86.00, Y:9.98, Z:3.06 [[ 9.93745998e-01 -1.00588003e-01 -4.84865447e-02 8.59982954e+01] [ 1.00542373e-01 9.94927018e-01 -3.38530338e-03 9.97549521e+00] [ 4.85810942e-02 -1.51082055e-03 9.98818099e-01 3.06101225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:86.03, Y:9.98, Z:3.06 [[ 9.93717051e-01 -1.00065767e-01 -5.01324796e-02 8.60286287e+01] [ 1.00016367e-01 9.94979638e-01 -3.49934769e-03 9.97589849e+00] [ 5.02309614e-02 -1.53670704e-03 9.98736446e-01 3.06314069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:86.06, Y:9.98, Z:3.06 [[ 9.93681665e-01 -9.97113878e-02 -5.15207435e-02 8.60587913e+01] [ 9.96587399e-02 9.95015177e-01 -3.59625129e-03 9.97810621e+00] [ 5.16225089e-02 -1.56096340e-03 9.98665449e-01 3.06435486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:86.09, Y:9.98, Z:3.06 [[ 9.93647674e-01 -9.95292569e-02 -5.25188230e-02 8.60888275e+01] [ 9.94742746e-02 9.95033380e-01 -3.66632959e-03 9.97912750e+00] [ 5.26228890e-02 -1.58123195e-03 9.98613204e-01 3.06442352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98439141799999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:86.12, Y:9.98, Z:3.06 [[ 9.93442121e-01 -1.00659959e-01 -5.42247639e-02 8.61182202e+01] [ 1.00602895e-01 9.94919449e-01 -3.78787811e-03 9.97533058e+00] [ 5.43305599e-02 -1.69213060e-03 9.98521571e-01 3.06163026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01439141799999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:86.15, Y:9.97, Z:3.06 [[ 9.93423170e-01 -1.01152959e-01 -5.36515021e-02 8.61461943e+01] [ 1.01097490e-01 9.94869442e-01 -3.75383520e-03 9.97420838e+00] [ 5.37559515e-02 -1.69488536e-03 9.98552665e-01 3.06140778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04439141799999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:86.17, Y:9.97, Z:3.06 [[ 9.93530697e-01 -1.00763057e-01 -5.23789986e-02 8.61744594e+01] [ 1.00708825e-01 9.94909135e-01 -3.68041898e-03 9.97463451e+00] [ 5.24831945e-02 -1.61841817e-03 9.98620496e-01 3.06320384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07439141799999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:86.20, Y:9.98, Z:3.07 [[ 9.93774485e-01 -9.93899434e-02 -5.03379715e-02 8.62036947e+01] [ 9.93374941e-02 9.95047470e-01 -3.54890425e-03 9.97719963e+00] [ 5.04413966e-02 -1.47363745e-03 9.98725935e-01 3.06643596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10439141799999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:86.23, Y:9.98, Z:3.07 [[ 9.94307563e-01 -9.52489522e-02 -4.77504685e-02 8.62322856e+01] [ 9.51968962e-02 9.95452764e-01 -3.36831959e-03 9.98360682e+00] [ 4.78541647e-02 -1.19655075e-03 9.98853616e-01 3.07300887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13439141799999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:86.26, Y:9.99, Z:3.08 [[ 9.94426856e-01 -9.36387250e-02 -4.84460142e-02 8.62610780e+01] [ 9.35831430e-02 9.95605597e-01 -3.41922801e-03 9.98673447e+00] [ 4.85532950e-02 -1.13355812e-03 9.98819950e-01 3.07546018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:86.29, Y:9.99, Z:3.08 [[ 9.94518821e-01 -9.21501026e-02 -4.94031793e-02 8.62915466e+01] [ 9.20904252e-02 9.95744541e-01 -3.48763948e-03 9.98781809e+00] [ 4.95143324e-02 -1.08103669e-03 9.98772828e-01 3.07597220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:86.32, Y:9.98, Z:3.07 [[ 9.94418419e-01 -9.21175186e-02 -5.14428821e-02 8.63209022e+01] [ 9.20527394e-02 9.95747508e-01 -3.63218278e-03 9.98354780e+00] [ 5.15587093e-02 -1.12354876e-03 9.98669333e-01 3.07174114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:86.35, Y:9.98, Z:3.07 [[ 9.94345983e-01 -9.26715554e-02 -5.18464070e-02 8.63494551e+01] [ 9.26062189e-02 9.95696062e-01 -3.66623156e-03 9.98232430e+00] [ 5.19630186e-02 -1.15579710e-03 9.98648341e-01 3.07073037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:86.38, Y:9.98, Z:3.07 [[ 9.94288974e-01 -9.41147977e-02 -5.03174050e-02 8.63765418e+01] [ 9.40543988e-02 9.95560651e-01 -3.57207549e-03 9.98304228e+00] [ 5.04302136e-02 -1.18089800e-03 9.98726889e-01 3.07220609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284391418 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:86.41, Y:9.98, Z:3.07 [[ 9.94284915e-01 -9.43010265e-02 -5.00482281e-02 8.64054538e+01] [ 9.42411149e-02 9.95543034e-01 -3.56078852e-03 9.98470575e+00] [ 5.01609509e-02 -1.17616251e-03 9.98740455e-01 3.07410583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:86.43, Y:9.99, Z:3.08 [[ 9.94566982e-01 -9.21590260e-02 -4.84069389e-02 8.64346793e+01] [ 9.20998938e-02 9.95743777e-01 -3.45535676e-03 9.98908355e+00] [ 4.85193505e-02 -1.02169018e-03 9.98821720e-01 3.07927311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.344391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:86.46, Y:9.99, Z:3.08 [[ 9.94776488e-01 -8.92081761e-02 -4.96149149e-02 8.64634713e+01] [ 8.91422778e-02 9.96012598e-01 -3.54379715e-03 9.99181744e+00] [ 4.97332160e-02 -8.97500446e-04 9.98762135e-01 3.08121514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37439141799999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:86.49, Y:9.99, Z:3.08 [[ 9.94934480e-01 -8.64185530e-02 -5.13538141e-02 8.64920988e+01] [ 8.63439742e-02 9.96258614e-01 -3.67316019e-03 9.99419383e+00] [ 5.14791089e-02 -7.79538675e-04 9.98673767e-01 3.08179007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40439141799999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:86.52, Y:9.99, Z:3.08 [[ 9.95410037e-01 -8.03182193e-02 -5.20369254e-02 8.65189948e+01] [ 8.02326231e-02 9.96769168e-01 -3.73516171e-03 9.99364346e+00] [ 5.21688044e-02 -4.57041568e-04 9.98638176e-01 3.08073561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43439141799999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:86.55, Y:9.99, Z:3.08 [[ 9.95645361e-01 -7.78358115e-02 -5.13020667e-02 8.65469076e+01] [ 7.77488802e-02 9.96966142e-01 -3.69101725e-03 9.99399049e+00] [ 5.14337169e-02 -3.13734033e-04 9.98676361e-01 3.08100973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46439141799999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:86.57, Y:9.99, Z:3.08 [[ 9.95858328e-01 -7.56837809e-02 -5.03801231e-02 8.65749533e+01] [ 7.55963854e-02 9.97131853e-01 -3.64069711e-03 9.99493405e+00] [ 5.05111672e-02 -1.82936669e-04 9.98723480e-01 3.08180248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49439141799999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:86.60, Y:10.00, Z:3.08 [[ 9.96036243e-01 -7.39364073e-02 -4.94490722e-02 8.66029096e+01] [ 7.38492711e-02 9.97262955e-01 -3.58933899e-03 9.99662076e+00] [ 4.95791108e-02 -7.66662200e-05 9.98770197e-01 3.08306610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524391418 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:86.63, Y:10.00, Z:3.09 [[ 9.96249486e-01 -7.20182777e-02 -4.79617523e-02 8.66297749e+01] [ 7.19333992e-02 9.97403312e-01 -3.49563452e-03 9.99883052e+00] [ 4.80889602e-02 3.24722210e-05 9.98843056e-01 3.08619923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:86.66, Y:10.00, Z:3.09 [[ 9.96226293e-01 -7.23433680e-02 -4.79542445e-02 8.66577681e+01] [ 7.22585150e-02 9.97379785e-01 -3.50292721e-03 1.00011402e+01] [ 4.80820077e-02 2.46056932e-05 9.98843391e-01 3.08914055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:86.69, Y:10.00, Z:3.09 [[ 9.96124961e-01 -7.31630761e-02 -4.88080523e-02 8.66854243e+01] [ 7.30753677e-02 9.97319991e-01 -3.58138737e-03 1.00028947e+01] [ 4.89392716e-02 8.42983485e-07 9.98801756e-01 3.09100412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.614391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:86.71, Y:10.00, Z:3.09 [[ 9.95749722e-01 -7.59648833e-02 -5.20752141e-02 8.67130481e+01] [ 7.58680112e-02 9.97110485e-01 -3.83734395e-03 1.00005826e+01] [ 5.22162454e-02 -1.29808757e-04 9.98635793e-01 3.09071852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:86.74, Y:10.00, Z:3.09 [[ 9.95572144e-01 -7.80246983e-02 -5.24237732e-02 8.67407038e+01] [ 7.79289833e-02 9.96951399e-01 -3.87051763e-03 9.99904400e+00] [ 5.25659500e-02 -2.31951804e-04 9.98617428e-01 3.09019979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:86.77, Y:10.00, Z:3.09 [[ 9.95421405e-01 -8.03470868e-02 -5.17742355e-02 8.67687462e+01] [ 8.02564036e-02 9.96766888e-01 -3.83151342e-03 9.99791529e+00] [ 5.19146945e-02 -3.41243470e-04 9.98651465e-01 3.09059207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:86.80, Y:10.00, Z:3.09 [[ 9.95097155e-01 -8.55663332e-02 -4.95989419e-02 8.67966239e+01] [ 8.54888178e-02 9.96332312e-01 -3.68602892e-03 9.99573144e+00] [ 4.97324285e-02 -5.72198018e-04 9.98762413e-01 3.09128142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73439141799999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:86.82, Y:10.00, Z:3.09 [[ 9.94859383e-01 -8.82665512e-02 -4.96369305e-02 8.68231049e+01] [ 8.81915370e-02 9.96096650e-01 -3.70365183e-03 9.99624596e+00] [ 4.97700887e-02 -6.92944416e-04 9.98760461e-01 3.09226883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76439141799999 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:86.85, Y:10.00, Z:3.09 [[ 9.94580499e-01 -9.09417989e-02 -5.03906710e-02 8.68502343e+01] [ 9.08675548e-02 9.95855861e-01 -3.76707544e-03 9.99707293e+00] [ 5.05244297e-02 -8.32217293e-04 9.98722479e-01 3.09324829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79439141799999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:86.88, Y:10.00, Z:3.09 [[ 9.94163454e-01 -9.48936430e-02 -5.13246942e-02 8.68781088e+01] [ 9.48214163e-02 9.95486870e-01 -3.84588816e-03 9.99622419e+00] [ 5.14580095e-02 -1.04323873e-03 9.98674614e-01 3.09363325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82439141799999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:86.90, Y:10.00, Z:3.10 [[ 9.94012990e-01 -9.72352216e-02 -4.98346024e-02 8.69045543e+01] [ 9.71693389e-02 9.95260803e-01 -3.74879488e-03 9.99666301e+00] [ 4.99629413e-02 -1.11604456e-03 9.98750449e-01 3.09593243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85439141799999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:86.93, Y:10.00, Z:3.10 [[ 9.93717485e-01 -1.01086445e-01 -4.80321781e-02 8.69325317e+01] [ 1.01029366e-01 9.94876855e-01 -3.62085782e-03 9.99530509e+00] [ 4.81521220e-02 -1.25455075e-03 9.98839226e-01 3.09922788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88439141799999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:86.96, Y:10.00, Z:3.10 [[ 9.93542751e-01 -1.02917887e-01 -4.77567785e-02 8.69609432e+01] [ 1.02862852e-01 9.94688979e-01 -3.61511759e-03 9.99702889e+00] [ 4.78752015e-02 -1.32062457e-03 9.98852452e-01 3.10147937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:86.99, Y:10.00, Z:3.10 [[ 9.93526626e-01 -1.03073884e-01 -4.77558108e-02 8.69901108e+01] [ 1.03018418e-01 9.94672833e-01 -3.62785745e-03 9.99933702e+00] [ 4.78753450e-02 -1.31535509e-03 9.98852452e-01 3.10272315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:87.02, Y:10.00, Z:3.10 [[ 9.93395334e-01 -1.04361368e-01 -4.76908358e-02 8.70200594e+01] [ 1.04307205e-01 9.94538502e-01 -3.62979211e-03 1.00010976e+01] [ 4.78091825e-02 -1.36867926e-03 9.98855550e-01 3.10475995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:87.05, Y:10.00, Z:3.11 [[ 9.93219269e-01 -1.05840572e-01 -4.80963317e-02 8.70477230e+01] [ 1.05787101e-01 9.94382055e-01 -3.66302171e-03 1.00022034e+01] [ 4.82138255e-02 -1.44978777e-03 9.98835985e-01 3.10538657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:87.08, Y:10.00, Z:3.10 [[ 9.92947156e-01 -1.07958820e-01 -4.89983499e-02 8.70762517e+01] [ 1.07905649e-01 9.94154116e-01 -3.73683148e-03 9.99898268e+00] [ 4.91153351e-02 -1.57672254e-03 9.98791869e-01 3.10325173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:87.10, Y:10.00, Z:3.10 [[ 9.92833411e-01 -1.08676698e-01 -4.97110958e-02 8.71044147e+01] [ 1.08622529e-01 9.94075813e-01 -3.79795235e-03 9.99847714e+00] [ 4.98293469e-02 -1.62901097e-03 9.98756418e-01 3.10322402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:87.13, Y:10.00, Z:3.10 [[ 9.92813046e-01 -1.08918022e-01 -4.95895243e-02 8.71326627e+01] [ 1.08863624e-01 9.94049413e-01 -3.80464047e-03 9.99962062e+00] [ 4.97088315e-02 -1.62119863e-03 9.98762436e-01 3.10433198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.094391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:87.16, Y:10.00, Z:3.11 [[ 9.92896840e-01 -1.08500683e-01 -4.88207550e-02 8.71601636e+01] [ 1.08446689e-01 9.94095151e-01 -3.76128406e-03 1.00020499e+01] [ 4.89405777e-02 -1.55988217e-03 9.98800474e-01 3.10667654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12439141799999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:87.19, Y:10.01, Z:3.11 [[ 9.93173643e-01 -1.05610609e-01 -4.95228604e-02 8.71870138e+01] [ 1.05550725e-01 9.94406544e-01 -3.83020447e-03 1.00050442e+01] [ 4.96503666e-02 -1.42311567e-03 9.98765646e-01 3.11001828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15439141799999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:87.21, Y:10.01, Z:3.11 [[ 9.93264908e-01 -1.04270106e-01 -5.05229376e-02 8.72148062e+01] [ 1.04205607e-01 9.94548066e-01 -3.91623707e-03 1.00067654e+01] [ 5.06558363e-02 -1.37491250e-03 9.98715223e-01 3.11098184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18439141799999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:87.24, Y:10.01, Z:3.11 [[ 9.93435367e-01 -1.02532795e-01 -5.07266982e-02 8.72421475e+01] [ 1.02464755e-01 9.94728805e-01 -3.94690242e-03 1.00078477e+01] [ 5.08639949e-02 -1.27670626e-03 9.98704773e-01 3.11112105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21439141799999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:87.27, Y:10.01, Z:3.11 [[ 9.93841274e-01 -9.92008186e-02 -4.93834034e-02 8.72695077e+01] [ 9.91318907e-02 9.95066858e-01 -3.84911584e-03 1.00093987e+01] [ 4.95216235e-02 -1.07005996e-03 9.98772478e-01 3.11309994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24439141799999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:87.30, Y:10.01, Z:3.11 [[ 9.94005745e-01 -9.83100816e-02 -4.78299704e-02 8.72962974e+01] [ 9.82440629e-02 9.95155342e-01 -3.73489463e-03 1.00123700e+01] [ 4.79654284e-02 -9.86503909e-04 9.98848509e-01 3.11498403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:87.32, Y:10.01, Z:3.12 [[ 9.94062656e-01 -9.81259210e-02 -4.70185020e-02 8.73232643e+01] [ 9.80614628e-02 9.95173552e-01 -3.68117184e-03 1.00138627e+01] [ 4.71527880e-02 -9.51387620e-04 9.98887236e-01 3.11626343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:87.35, Y:10.01, Z:3.12 [[ 9.93880896e-01 -9.93365836e-02 -4.83012226e-02 8.73513743e+01] [ 9.92696115e-02 9.95053358e-01 -3.78935897e-03 1.00135221e+01] [ 4.84387157e-02 -1.02867211e-03 9.98825627e-01 3.11575468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:87.38, Y:10.01, Z:3.12 [[ 9.93625393e-01 -1.00998603e-01 -5.00785370e-02 8.73790196e+01] [ 1.00927953e-01 9.94885920e-01 -3.94404023e-03 1.00124322e+01] [ 5.02207739e-02 -1.13542569e-03 9.98737495e-01 3.11513847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.364391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:87.41, Y:10.01, Z:3.12 [[ 9.93263088e-01 -1.03563748e-01 -5.19902753e-02 8.74069983e+01] [ 1.03490468e-01 9.94621967e-01 -4.10686601e-03 1.00112507e+01] [ 5.21359923e-02 -1.30129950e-03 9.98639147e-01 3.11580584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:87.43, Y:10.02, Z:3.12 [[ 9.93129000e-01 -1.04635680e-01 -5.24038584e-02 8.74349281e+01] [ 1.04561877e-01 9.94509701e-01 -4.15553613e-03 1.00156051e+01] [ 5.25509629e-02 -1.35246236e-03 9.98617328e-01 3.11808519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:87.46, Y:10.02, Z:3.12 [[ 9.93035213e-01 -1.05120926e-01 -5.32039197e-02 8.74626531e+01] [ 1.05044684e-01 9.94458485e-01 -4.23516358e-03 1.00207806e+01] [ 5.33542937e-02 -1.38312235e-03 9.98574687e-01 3.12070468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:87.49, Y:10.03, Z:3.12 [[ 9.93054237e-01 -1.05150528e-01 -5.27887253e-02 8.74903737e+01] [ 1.05074682e-01 9.94455389e-01 -4.21777835e-03 1.00253958e+01] [ 5.29395340e-02 -1.35827586e-03 9.98596796e-01 3.12347265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48439141799999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:87.52, Y:10.03, Z:3.13 [[ 9.93257526e-01 -1.05128106e-01 -4.88627513e-02 8.75186318e+01] [ 1.05062419e-01 9.94457912e-01 -3.91789123e-03 1.00264592e+01] [ 4.90038301e-02 -1.24216390e-03 9.98797818e-01 3.12563561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51439141799999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:87.55, Y:10.03, Z:3.13 [[ 9.93330444e-01 -1.05024808e-01 -4.75859038e-02 8.75460186e+01] [ 1.04961707e-01 9.94468890e-01 -3.82981055e-03 1.00257962e+01] [ 4.77249260e-02 -1.19043027e-03 9.98859807e-01 3.12564545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54439141799999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:87.57, Y:10.03, Z:3.13 [[ 9.93270093e-01 -1.05959954e-01 -4.67654789e-02 8.75744918e+01] [ 1.05899697e-01 9.94369666e-01 -3.77120342e-03 1.00256438e+01] [ 4.69017701e-02 -1.20662647e-03 9.98898778e-01 3.12575762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57439141799999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:87.60, Y:10.03, Z:3.13 [[ 9.92981877e-01 -1.08036983e-01 -4.81144773e-02 8.76018897e+01] [ 1.07974891e-01 9.94145990e-01 -3.89536589e-03 1.00262242e+01] [ 4.82536582e-02 -1.32712771e-03 9.98834232e-01 3.12581650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60439141799999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:87.63, Y:10.03, Z:3.13 [[ 9.92792070e-01 -1.09335877e-01 -4.90873812e-02 8.76288432e+01] [ 1.09272480e-01 9.94003860e-01 -3.98132581e-03 1.00301066e+01] [ 4.92283482e-02 -1.41127117e-03 9.98786553e-01 3.12722113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63439141799999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:87.66, Y:10.04, Z:3.13 [[ 9.92680046e-01 -1.09664617e-01 -5.05964173e-02 8.76562887e+01] [ 1.09341490e-01 9.93962414e-01 -9.11906136e-03 1.00364785e+01] [ 5.12909754e-02 3.52002261e-03 9.98677548e-01 3.13084044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:87.69, Y:10.03, Z:3.13 [[ 9.92574003e-01 -1.10935574e-01 -4.99013684e-02 8.76852221e+01] [ 1.11106944e-01 9.93808233e-01 6.64871045e-04 1.00348214e+01] [ 4.95186330e-02 -6.20432229e-03 9.98753929e-01 3.13055848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694391418 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:87.71, Y:10.04, Z:3.13 [[ 9.92558248e-01 -1.11221451e-01 -4.95773438e-02 8.77117261e+01] [ 1.11157886e-01 9.93794523e-01 -4.04603846e-03 1.00372843e+01] [ 4.97196990e-02 -1.49498388e-03 9.98762092e-01 3.13282383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:87.74, Y:10.04, Z:3.13 [[ 9.92639663e-01 -1.10654211e-01 -4.92153011e-02 8.77385716e+01] [ 1.10590365e-01 9.93857915e-01 -4.02681106e-03 1.00371854e+01] [ 4.93586001e-02 -1.44556572e-03 9.98780075e-01 3.13425808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:87.77, Y:10.04, Z:3.14 [[ 9.92820745e-01 -1.09197722e-01 -4.88141946e-02 8.77668423e+01] [ 1.09132767e-01 9.94019127e-01 -4.00188615e-03 1.00386567e+01] [ 4.89592400e-02 -1.35407254e-03 9.98799859e-01 3.13624568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:87.79, Y:10.04, Z:3.14 [[ 9.92827131e-01 -1.08672893e-01 -4.98446697e-02 8.77947935e+01] [ 1.08603702e-01 9.94076660e-01 -4.10244067e-03 1.00421905e+01] [ 4.99952469e-02 -1.34030126e-03 9.98748556e-01 3.13737700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:87.82, Y:10.05, Z:3.14 [[ 9.92828387e-01 -1.07782668e-01 -5.17174139e-02 8.78215122e+01] [ 1.07706161e-01 9.94173592e-01 -4.27221400e-03 1.00459094e+01] [ 5.18765577e-02 -1.32870879e-03 9.98652621e-01 3.13735171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.844391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:87.85, Y:10.05, Z:3.14 [[ 9.92760659e-01 -1.07703219e-01 -5.31628702e-02 8.78487256e+01] [ 1.07621742e-01 9.94182171e-01 -4.40134373e-03 1.00502608e+01] [ 5.33276166e-02 -1.35199982e-03 9.98576155e-01 3.13823884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87439141799999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:87.88, Y:10.05, Z:3.14 [[ 9.92824622e-01 -1.07243434e-01 -5.28972279e-02 8.78752471e+01] [ 1.07161301e-01 9.94231936e-01 -4.39472129e-03 1.00535893e+01] [ 5.30634183e-02 -1.30534827e-03 9.98590291e-01 3.13878064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90439141799999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:87.90, Y:10.05, Z:3.14 [[ 9.92870257e-01 -1.07626811e-01 -5.12359473e-02 8.79030453e+01] [ 1.07549812e-01 9.94190547e-01 -4.26552447e-03 1.00541312e+01] [ 5.13973792e-02 -1.27530413e-03 9.98677467e-01 3.14005236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93439141799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:87.93, Y:10.05, Z:3.14 [[ 9.92752418e-01 -1.09079249e-01 -5.04415897e-02 8.79299391e+01] [ 1.09005727e-01 9.94032187e-01 -4.21448274e-03 1.00523504e+01] [ 5.06002763e-02 -1.31448422e-03 9.98718120e-01 3.14256608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:87.96, Y:10.06, Z:3.14 [[ 9.92593457e-01 -1.09994679e-01 -5.15693766e-02 8.79571578e+01] [ 1.09918675e-01 9.93931212e-01 -4.31627652e-03 1.00552038e+01] [ 5.17311805e-02 -1.38412971e-03 9.98660087e-01 3.14453310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99439141799999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:87.98, Y:10.06, Z:3.15 [[ 9.92496394e-01 -1.10284174e-01 -5.28044343e-02 8.79840589e+01] [ 1.10204490e-01 9.93899074e-01 -4.42726801e-03 1.00594322e+01] [ 5.29705360e-02 -1.42523821e-03 9.98595059e-01 3.14590582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:88.01, Y:10.06, Z:3.15 [[ 9.92392408e-01 -1.10731193e-01 -5.38136747e-02 8.80115206e+01] [ 1.10648558e-01 9.93849310e-01 -4.52172638e-03 1.00644297e+01] [ 5.39833796e-02 -1.46707858e-03 9.98540757e-01 3.14758586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:88.04, Y:10.07, Z:3.15 [[ 9.92414382e-01 -1.10314015e-01 -5.42633672e-02 8.80392845e+01] [ 1.10228390e-01 9.93895743e-01 -4.57748465e-03 1.00696233e+01] [ 5.44370904e-02 -1.43860202e-03 9.98516166e-01 3.14826786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:88.07, Y:10.07, Z:3.15 [[ 9.92517941e-01 -1.09228636e-01 -5.45641145e-02 8.80659854e+01] [ 1.09139560e-01 9.94015707e-01 -4.61857690e-03 1.00713236e+01] [ 5.47420677e-02 -1.37108300e-03 9.98499587e-01 3.14846864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.114391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:88.09, Y:10.07, Z:3.15 [[ 9.92638326e-01 -1.09076755e-01 -5.26442283e-02 8.80936413e+01] [ 1.08993141e-01 9.94032473e-01 -4.46521988e-03 1.00722978e+01] [ 5.28171241e-02 -1.30551138e-03 9.98603348e-01 3.14953315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:88.12, Y:10.07, Z:3.15 [[ 9.92733721e-01 -1.08844381e-01 -5.13094540e-02 8.81211335e+01] [ 1.08763800e-01 9.94058023e-01 -4.36836164e-03 1.00727771e+01] [ 5.14800460e-02 -1.24399128e-03 9.98673249e-01 3.15061731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:88.15, Y:10.08, Z:3.16 [[ 9.92945596e-01 -1.07437959e-01 -5.01610189e-02 8.81477876e+01] [ 1.07145738e-01 9.94207106e-01 -8.48654668e-03 1.00763688e+01] [ 5.07822187e-02 3.05213979e-03 9.98705087e-01 3.15504100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:88.18, Y:10.08, Z:3.16 [[ 9.93085471e-01 -1.06356466e-01 -4.96945703e-02 8.81767647e+01] [ 1.06483035e-01 9.94314514e-01 -1.01058473e-04 1.00771665e+01] [ 4.94227808e-02 -5.19126899e-03 9.98764456e-01 3.15551038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23439141799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:88.20, Y:10.08, Z:3.16 [[ 9.93223017e-01 -1.04377571e-01 -5.11210417e-02 8.82039225e+01] [ 1.04289690e-01 9.94537270e-01 -4.39084760e-03 1.00848699e+01] [ 5.13000872e-02 -9.70306668e-04 9.98682812e-01 3.15822937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26439141799999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:88.23, Y:10.09, Z:3.16 [[ 9.93262339e-01 -1.03416503e-01 -5.22967802e-02 8.82310134e+01] [ 1.03322373e-01 9.94637707e-01 -4.50757272e-03 1.00861113e+01] [ 5.24825070e-02 -9.26225234e-04 9.98621414e-01 3.15771741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29439141799999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:88.26, Y:10.09, Z:3.16 [[ 9.93286045e-01 -1.02778830e-01 -5.30974976e-02 8.82595944e+01] [ 1.02680364e-01 9.94703830e-01 -4.58633426e-03 1.00860691e+01] [ 5.32876623e-02 -8.96528550e-04 9.98578801e-01 3.15675218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32439141799999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:88.29, Y:10.09, Z:3.16 [[ 9.93387377e-01 -1.01608969e-01 -5.34521876e-02 8.82862696e+01] [ 1.01506640e-01 9.94824075e-01 -4.63280918e-03 1.00857432e+01] [ 5.36462580e-02 -8.23577779e-04 9.98559663e-01 3.15675429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35439141799999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:88.31, Y:10.09, Z:3.16 [[ 9.93823953e-01 -9.83003832e-02 -5.14877247e-02 8.83142917e+01] [ 9.82005453e-02 9.95156601e-01 -4.47137769e-03 1.00888198e+01] [ 5.16778872e-02 -6.12360393e-04 9.98663618e-01 3.16042207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38439141799999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:88.34, Y:10.09, Z:3.16 [[ 9.94115959e-01 -9.57968375e-02 -5.05611092e-02 8.83419422e+01] [ 9.56965071e-02 9.95400802e-01 -4.40702113e-03 1.00944930e+01] [ 5.07507473e-02 -4.57431504e-04 9.98711246e-01 3.16436570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:88.37, Y:10.10, Z:3.17 [[ 9.94420004e-01 -9.28120423e-02 -5.01475909e-02 8.83697674e+01] [ 9.27087437e-02 9.95683606e-01 -4.38704499e-03 1.00999612e+01] [ 5.03383047e-02 -2.86554853e-04 9.98732183e-01 3.16697357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:88.40, Y:10.10, Z:3.17 [[ 9.94589345e-01 -9.04040811e-02 -5.11775007e-02 8.83975493e+01] [ 9.02924406e-02 9.95905156e-01 -4.49398892e-03 1.01036811e+01] [ 5.13742118e-02 -1.51267952e-04 9.98679462e-01 3.16821850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:88.42, Y:10.10, Z:3.17 [[ 9.94672446e-01 -8.84535801e-02 -5.29404356e-02 8.84249789e+01] [ 8.83305058e-02 9.96080299e-01 -4.66464500e-03 1.01013303e+01] [ 5.31455295e-02 -3.64616080e-05 9.98586777e-01 3.16513448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:88.45, Y:10.10, Z:3.17 [[ 9.94578664e-01 -9.04796172e-02 -5.12515303e-02 8.84527899e+01] [ 9.03665108e-02 9.95898299e-01 -4.52461037e-03 1.01011272e+01] [ 5.14506968e-02 -1.31341028e-04 9.98675527e-01 3.16515052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:88.48, Y:10.11, Z:3.17 [[ 9.94157381e-01 -9.46519035e-02 -5.18856246e-02 8.84767702e+01] [ 9.37027822e-02 9.95390473e-01 -2.04351468e-02 1.01072743e+01] [ 5.35806820e-02 1.54539246e-02 9.98443933e-01 3.17175012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:88.51, Y:10.10, Z:3.17 [[ 9.93783400e-01 -9.96048409e-02 -4.97335788e-02 8.85077447e+01] [ 1.00293910e-01 9.94890799e-01 1.15512132e-02 1.00956297e+01] [ 4.83289232e-02 -1.64673790e-02 9.98695720e-01 3.16518665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.594391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:88.53, Y:10.11, Z:3.17 [[ 9.93345159e-01 -1.04460771e-01 -4.85112594e-02 8.85340136e+01] [ 1.04373593e-01 9.94528719e-01 -4.33370710e-03 1.01050735e+01] [ 4.86985430e-02 -7.58427463e-04 9.98813234e-01 3.17096665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62439141799999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:88.56, Y:10.10, Z:3.17 [[ 9.92448631e-01 -1.12608558e-01 -4.86315519e-02 8.85617011e+01] [ 1.12530159e-01 9.93638763e-01 -4.35571450e-03 1.01049563e+01] [ 4.88126858e-02 -1.14969341e-03 9.98807289e-01 3.17374556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65439141799999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:88.59, Y:10.11, Z:3.17 [[ 9.92010091e-01 -1.16349965e-01 -4.87715595e-02 8.85887084e+01] [ 1.16274925e-01 9.93207398e-01 -4.38261324e-03 1.01056442e+01] [ 4.89501906e-02 -1.32331285e-03 9.98800344e-01 3.17488302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68439141799999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:88.62, Y:10.10, Z:3.17 [[ 9.90981481e-01 -1.24687338e-01 -4.90792344e-02 8.86168493e+01] [ 1.24621141e-01 9.92194562e-01 -4.41847751e-03 1.01035486e+01] [ 4.92470777e-02 -1.73768082e-03 9.98785115e-01 3.17463687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71439141799999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:88.64, Y:10.10, Z:3.17 [[ 9.90372141e-01 -1.29391719e-01 -4.92016744e-02 8.86449625e+01] [ 1.29330192e-01 9.91591619e-01 -4.44547077e-03 1.01039366e+01] [ 4.93631751e-02 -1.96059159e-03 9.98778971e-01 3.17461938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74439141799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:88.67, Y:10.11, Z:3.17 [[ 9.89793903e-01 -1.33972250e-01 -4.85743324e-02 8.86713435e+01] [ 1.33662073e-01 9.90980534e-01 -9.59329194e-03 1.01078057e+01] [ 4.94214528e-02 3.00283592e-03 9.98773499e-01 3.17477874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:88.70, Y:10.10, Z:3.17 [[ 9.88738863e-01 -1.41964145e-01 -4.73459892e-02 8.87017036e+01] [ 1.42143729e-01 9.89845935e-01 4.30796359e-04 1.01014265e+01] [ 4.68040773e-02 -7.15588055e-03 9.98878457e-01 3.17439366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:88.73, Y:10.11, Z:3.18 [[ 9.88688111e-01 -1.42458736e-01 -4.69183154e-02 8.87297250e+01] [ 1.42415859e-01 9.89797691e-01 -4.27254265e-03 1.01063706e+01] [ 4.70483012e-02 -2.45770009e-03 9.98889592e-01 3.17657962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:88.76, Y:10.11, Z:3.18 [[ 9.88645232e-01 -1.42756431e-01 -4.69170263e-02 8.87579891e+01] [ 1.42713221e-01 9.89754798e-01 -4.28665392e-03 1.01091061e+01] [ 4.70482993e-02 -2.45769999e-03 9.98889592e-01 3.17777033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.864391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:88.79, Y:10.11, Z:3.18 [[ 9.87842700e-01 -1.48357167e-01 -4.64429902e-02 8.87851440e+01] [ 1.48320374e-01 9.88930204e-01 -4.25651462e-03 1.01112472e+01] [ 4.65603603e-02 -2.68367477e-03 9.98911873e-01 3.18041413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:88.81, Y:10.12, Z:3.18 [[ 9.87585075e-01 -1.49891287e-01 -4.69927803e-02 8.88115691e+01] [ 1.49855035e-01 9.88698570e-01 -4.31354232e-03 1.01155861e+01] [ 4.71082570e-02 -2.78211470e-03 9.98885915e-01 3.18250938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:88.84, Y:10.12, Z:3.18 [[ 9.87329283e-01 -1.51325532e-01 -4.77647473e-02 8.88389874e+01] [ 1.51289375e-01 9.88479759e-01 -4.39226885e-03 1.01209092e+01] [ 4.78791483e-02 -2.88968311e-03 9.98848956e-01 3.18454028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:88.87, Y:10.13, Z:3.19 [[ 9.87192271e-01 -1.52003035e-01 -4.84406692e-02 8.88674096e+01] [ 1.51965896e-01 9.88375629e-01 -4.47014334e-03 1.01262077e+01] [ 4.85570522e-02 -2.94843875e-03 9.98816059e-01 3.18612038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98439141799999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:88.90, Y:10.13, Z:3.19 [[ 9.87110325e-01 -1.52981764e-01 -4.70083518e-02 8.88956429e+01] [ 1.52947274e-01 9.88224772e-01 -4.35104566e-03 1.01308016e+01] [ 4.71204484e-02 -2.89483717e-03 9.98885020e-01 3.18576861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01439141799999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:88.92, Y:10.13, Z:3.19 [[ 9.87021472e-01 -1.53966228e-01 -4.56400614e-02 8.89241702e+01] [ 1.53934212e-01 9.88072017e-01 -4.23637351e-03 1.01332397e+01] [ 4.57479260e-02 -2.84417528e-03 9.98948967e-01 3.18638627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04439141799999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:88.95, Y:10.14, Z:3.19 [[ 9.86785637e-01 -1.55890923e-01 -4.41828779e-02 8.89538201e+01] [ 1.55862722e-01 9.87770202e-01 -4.10369509e-03 1.01351719e+01] [ 4.42822590e-02 -2.83699624e-03 9.99015031e-01 3.18593055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07439141799999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:88.98, Y:10.14, Z:3.19 [[ 9.86671720e-01 -1.56570836e-01 -4.43225776e-02 8.89830994e+01] [ 1.56543059e-01 9.87662548e-01 -4.11846614e-03 1.01389115e+01] [ 4.44205816e-02 -2.87481783e-03 9.99008782e-01 3.18608755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10439141799999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:89.01, Y:10.14, Z:3.19 [[ 9.86602605e-01 -1.56730573e-01 -4.52860512e-02 8.90124168e+01] [ 1.56701660e-01 9.87637012e-01 -4.20986856e-03 1.01439335e+01] [ 4.53859954e-02 -2.94293213e-03 9.98965190e-01 3.18689666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13439141799999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:89.04, Y:10.15, Z:3.19 [[ 9.86718531e-01 -1.55822865e-01 -4.58887164e-02 8.90418899e+01] [ 1.55792116e-01 9.87780645e-01 -4.26776346e-03 1.01498352e+01] [ 4.59930010e-02 -2.93801895e-03 9.98937441e-01 3.18810232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:89.07, Y:10.16, Z:3.19 [[ 9.87237225e-01 -1.52562945e-01 -4.56859950e-02 8.90695770e+01] [ 1.52528899e-01 9.88289869e-01 -4.25088111e-03 1.01590706e+01] [ 4.57995329e-02 -2.77180645e-03 9.98946805e-01 3.19168824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:89.10, Y:10.16, Z:3.19 [[ 9.87609415e-01 -1.50411350e-01 -4.47668211e-02 8.90997884e+01] [ 1.50376318e-01 9.88620042e-01 -4.16843056e-03 1.01640722e+01] [ 4.48843558e-02 -2.61508847e-03 9.98988767e-01 3.19312006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:89.13, Y:10.17, Z:3.20 [[ 9.88000990e-01 -1.48039015e-01 -4.40283386e-02 8.91290768e+01] [ 1.48002779e-01 9.88978448e-01 -4.09971482e-03 1.01698642e+01] [ 4.41499957e-02 -2.46579416e-03 9.99021871e-01 3.19615980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:89.16, Y:10.17, Z:3.20 [[ 9.88150763e-01 -1.46945997e-01 -4.43276885e-02 8.91588625e+01] [ 1.46908133e-01 9.89141525e-01 -4.12841648e-03 1.01737824e+01] [ 4.44530117e-02 -2.43260008e-03 9.99008515e-01 3.19667095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:89.19, Y:10.18, Z:3.20 [[ 9.88320683e-01 -1.45624689e-01 -4.48962993e-02 8.91879634e+01] [ 1.45584488e-01 9.89336986e-01 -4.18143633e-03 1.01781825e+01] [ 4.50264898e-02 -2.40360472e-03 9.98982902e-01 3.19662399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:89.22, Y:10.19, Z:3.20 [[ 9.88740365e-01 -1.42289201e-01 -4.63279051e-02 8.92178040e+01] [ 1.42242707e-01 9.89822402e-01 -4.31559361e-03 1.01873636e+01] [ 4.64704607e-02 -2.32280505e-03 9.98916964e-01 3.19594420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.344391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:89.25, Y:10.20, Z:3.20 [[ 9.88931117e-01 -1.41174884e-01 -4.56606859e-02 8.92478525e+01] [ 1.41091145e-01 9.89983639e-01 -5.06785249e-03 1.01963732e+01] [ 4.59187854e-02 -1.43056145e-03 9.98944152e-01 3.19694964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37439141799999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:89.28, Y:10.20, Z:3.20 [[ 9.89519983e-01 -1.37242735e-01 -4.48846949e-02 8.92791601e+01] [ 1.37221484e-01 9.90533961e-01 -3.56891440e-03 1.02003816e+01] [ 4.49496221e-02 -2.62763233e-03 9.98985799e-01 3.19818160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40439141799999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:89.31, Y:10.21, Z:3.20 [[ 9.89989150e-01 -1.34352939e-01 -4.32524162e-02 8.93099420e+01] [ 1.34304649e-01 9.90931880e-01 -4.03364281e-03 1.02061484e+01] [ 4.34021299e-02 -1.81573798e-03 9.99056034e-01 3.19993368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43439141799999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:89.34, Y:10.22, Z:3.21 [[ 9.90450948e-01 -1.31064015e-01 -4.27684846e-02 8.93388741e+01] [ 1.31220040e-01 9.91352904e-01 8.49250651e-04 1.02154041e+01] [ 4.22873552e-02 -6.45322336e-03 9.99084649e-01 3.20533097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46439141799999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:89.37, Y:10.22, Z:3.21 [[ 9.91159965e-01 -1.26110715e-01 -4.12069448e-02 8.93717811e+01] [ 1.25842987e-01 9.92008999e-01 -9.03811336e-03 1.02242832e+01] [ 4.20174631e-02 3.77261108e-03 9.99109754e-01 3.20828613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49439141799999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:89.40, Y:10.23, Z:3.21 [[ 9.91484416e-01 -1.23034638e-01 -4.26746975e-02 8.94039003e+01] [ 1.22977591e-01 9.92401509e-01 -3.96945352e-03 1.02282460e+01] [ 4.28388145e-02 -1.31238019e-03 9.99081135e-01 3.20918355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:89.44, Y:10.23, Z:3.21 [[ 9.92003149e-01 -1.18097340e-01 -4.45283113e-02 8.94359564e+01] [ 1.18030423e-01 9.93001357e-01 -4.13820176e-03 1.02347655e+01] [ 4.47053841e-02 -1.15058625e-03 9.98999552e-01 3.20904835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:89.47, Y:10.24, Z:3.21 [[ 9.92220661e-01 -1.16202850e-01 -4.46660765e-02 8.94660987e+01] [ 1.16133756e-01 9.93224923e-01 -4.14753815e-03 1.02379770e+01] [ 4.48454161e-02 -1.07196620e-03 9.98993363e-01 3.20932370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584391418 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:89.50, Y:10.24, Z:3.21 [[ 9.92422987e-01 -1.14537068e-01 -4.44733009e-02 8.94961194e+01] [ 1.14466938e-01 9.93418479e-01 -4.12874760e-03 1.02411320e+01] [ 4.46534936e-02 -9.93258555e-04 9.99002042e-01 3.20986731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.614391418 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:89.53, Y:10.25, Z:3.21 [[ 9.92735299e-01 -1.11286794e-01 -4.57370208e-02 8.95257118e+01] [ 1.11209217e-01 9.93787950e-01 -4.24514237e-03 1.02453846e+01] [ 4.59253284e-02 -8.72075575e-04 9.98944495e-01 3.21017442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:89.55, Y:10.25, Z:3.21 [[ 9.92920177e-01 -1.09428773e-01 -4.62046107e-02 8.95548709e+01] [ 1.09347619e-01 9.93994322e-01 -4.28792161e-03 1.02496635e+01] [ 4.63963427e-02 -7.94800271e-04 9.98922794e-01 3.21100805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:89.59, Y:10.25, Z:3.21 [[ 9.93143368e-01 -1.07393297e-01 -4.61836547e-02 8.95856593e+01] [ 1.07309954e-01 9.94216371e-01 -4.28734774e-03 1.02541636e+01] [ 4.63769780e-02 -6.98014882e-04 9.98923765e-01 3.21236327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:89.62, Y:10.26, Z:3.22 [[ 9.93531508e-01 -1.04359770e-01 -4.47680710e-02 8.96152590e+01] [ 1.04278464e-01 9.94539464e-01 -4.15406748e-03 1.02606993e+01] [ 4.49571309e-02 -5.41148777e-04 9.98988770e-01 3.21677811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73439141799999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:89.65, Y:10.26, Z:3.22 [[ 9.93735504e-01 -1.02588758e-01 -4.43316561e-02 8.96456800e+01] [ 1.02507395e-01 9.94723748e-01 -4.11073518e-03 1.02648920e+01] [ 4.45194664e-02 -4.59339107e-04 9.99008411e-01 3.21856964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76439141799999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:89.68, Y:10.27, Z:3.22 [[ 9.93811947e-01 -1.01795400e-01 -4.44467252e-02 8.96771369e+01] [ 1.01712864e-01 9.94805265e-01 -4.12045252e-03 1.02686244e+01] [ 4.46352794e-02 -4.25848791e-04 9.99003258e-01 3.22040149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79439141799999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:89.71, Y:10.27, Z:3.22 [[ 9.93770482e-01 -1.02178885e-01 -4.44938745e-02 8.97071228e+01] [ 1.02096637e-01 9.94765941e-01 -4.12306169e-03 1.02716765e+01] [ 4.46822808e-02 -4.45297950e-04 9.99001149e-01 3.22192989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82439141799999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:89.74, Y:10.27, Z:3.22 [[ 9.93551171e-01 -1.04773477e-01 -4.33426984e-02 8.97389492e+01] [ 1.04697936e-01 9.94495962e-01 -4.01549339e-03 1.02725131e+01] [ 4.35248558e-02 -5.48292921e-04 9.99052194e-01 3.22310180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85439141799999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:89.77, Y:10.27, Z:3.22 [[ 9.93356902e-01 -1.06785194e-01 -4.28834282e-02 8.97692591e+01] [ 1.06713195e-01 9.94281914e-01 -3.97120710e-03 1.02731396e+01] [ 4.30622832e-02 -6.31401650e-04 9.99072190e-01 3.22410920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88439141799999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:89.80, Y:10.27, Z:3.22 [[ 9.92948175e-01 -1.09920856e-01 -4.43996325e-02 8.98005165e+01] [ 1.09846849e-01 9.93940025e-01 -4.11061365e-03 1.02722260e+01] [ 4.45824140e-02 -7.95533422e-04 9.99005393e-01 3.22415286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:89.83, Y:10.27, Z:3.23 [[ 9.92730968e-01 -1.10856502e-01 -4.68621478e-02 8.98320358e+01] [ 1.10775191e-01 9.93836028e-01 -4.33660845e-03 1.02747789e+01] [ 4.70540321e-02 -8.86077889e-04 9.98891953e-01 3.22506352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:89.86, Y:10.28, Z:3.23 [[ 9.92534839e-01 -1.11583457e-01 -4.92313522e-02 8.98635625e+01] [ 1.11494710e-01 9.93754594e-01 -4.55377365e-03 1.02782598e+01] [ 4.94320082e-02 -9.69256351e-04 9.98777021e-01 3.22565243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:89.89, Y:10.29, Z:3.23 [[ 9.92517807e-01 -1.11948306e-01 -4.87440135e-02 8.98924445e+01] [ 1.11337610e-01 9.93668263e-01 -1.50771101e-02 1.02858808e+01] [ 5.01232361e-02 9.53725831e-03 9.98697503e-01 3.22811056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:89.92, Y:10.28, Z:3.23 [[ 9.92190853e-01 -1.14722018e-01 -4.89506899e-02 8.99216897e+01] [ 1.15150801e-01 9.93329769e-01 6.02189643e-03 1.02778662e+01] [ 4.79333334e-02 -1.16115817e-02 9.98783043e-01 3.22602396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:89.95, Y:10.28, Z:3.23 [[ 9.92156056e-01 -1.16633589e-01 -4.49773885e-02 8.99515964e+01] [ 1.16564305e-01 9.93174396e-01 -4.16905529e-03 1.02828738e+01] [ 4.51566425e-02 -1.10640457e-03 9.98979306e-01 3.23168410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:89.98, Y:10.28, Z:3.23 [[ 9.92059648e-01 -1.18657779e-01 -4.16891527e-02 8.99825265e+01] [ 1.18600041e-01 9.92934589e-01 -3.86426132e-03 1.02803248e+01] [ 4.18531264e-02 -1.11075749e-03 9.99123157e-01 3.23483481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.094391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:90.01, Y:10.28, Z:3.24 [[ 9.91990064e-01 -1.18714584e-01 -4.31573963e-02 9.00142037e+01] [ 1.18652766e-01 9.92927751e-01 -4.00023071e-03 1.02826116e+01] [ 4.33270622e-02 -1.15255532e-03 9.99060277e-01 3.23598976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12439141799999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:90.04, Y:10.29, Z:3.24 [[ 9.91934524e-01 -1.18113541e-01 -4.59901255e-02 9.00448410e+01] [ 1.18042867e-01 9.92999366e-01 -4.25909714e-03 1.02863063e+01] [ 4.61712225e-02 -1.20406076e-03 9.98932815e-01 3.23677797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15439141799999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:90.07, Y:10.30, Z:3.24 [[ 9.91746198e-01 -1.17263737e-01 -5.18526231e-02 9.00735686e+01] [ 1.16474437e-01 9.93030550e-01 -1.80008890e-02 1.02970611e+01] [ 5.36020904e-02 1.18128082e-02 9.98492500e-01 3.24063006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18439141799999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:90.10, Y:10.28, Z:3.23 [[ 9.92141927e-01 -1.14669378e-01 -5.00532755e-02 9.01044427e+01] [ 1.15232455e-01 9.93302158e-01 8.50312892e-03 1.02832388e+01] [ 4.87429781e-02 -1.42040725e-02 9.98710352e-01 3.23181007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21439141799999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:90.13, Y:10.29, Z:3.24 [[ 9.92329940e-01 -1.13892097e-01 -4.80612194e-02 9.01339490e+01] [ 1.13809341e-01 9.93492581e-01 -4.46383713e-03 1.02890984e+01] [ 4.82568607e-02 -1.04021647e-03 9.98834417e-01 3.23604559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24439141799999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:90.16, Y:10.29, Z:3.24 [[ 9.92598078e-01 -1.11792878e-01 -4.74490139e-02 9.01639454e+01] [ 1.11709732e-01 9.93731099e-01 -4.40881575e-03 1.02903230e+01] [ 4.76444350e-02 -9.24334613e-04 9.98863931e-01 3.23751286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:90.19, Y:10.29, Z:3.24 [[ 9.92891649e-01 -1.09170733e-01 -4.74122739e-02 9.01919754e+01] [ 1.09084635e-01 9.94022695e-01 -4.40736126e-03 1.02940735e+01] [ 4.76100311e-02 -7.95918417e-04 9.98865682e-01 3.23999950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:90.22, Y:10.30, Z:3.24 [[ 9.93173355e-01 -1.06355251e-01 -4.79087389e-02 9.02200492e+01] [ 1.06263868e-01 9.94327974e-01 -4.45762279e-03 1.02998348e+01] [ 4.81110909e-02 -6.63775701e-04 9.98841770e-01 3.24302232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:90.25, Y:10.31, Z:3.25 [[ 9.93434678e-01 -1.03576599e-01 -4.85739415e-02 9.02480302e+01] [ 1.03478703e-01 9.94621342e-01 -4.53255873e-03 1.03061780e+01] [ 4.87821459e-02 -5.23567426e-04 9.98809305e-01 3.24624411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.364391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:90.28, Y:10.31, Z:3.25 [[ 9.94079655e-01 -9.74226668e-02 -4.81088675e-02 9.02768819e+01] [ 9.73188865e-02 9.95243076e-01 -4.50040695e-03 1.03105983e+01] [ 4.83184589e-02 -2.08138428e-04 9.98831959e-01 3.24786719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394391418 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:90.30, Y:10.31, Z:3.25 [[ 9.94345641e-01 -9.50411967e-02 -4.73700004e-02 9.03047109e+01] [ 9.49377603e-02 9.95473336e-01 -4.43379866e-03 1.03108363e+01] [ 4.75769659e-02 -8.84733729e-05 9.98867571e-01 3.24695071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424391418 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:90.33, Y:10.31, Z:3.25 [[ 9.94497531e-01 -9.33522571e-02 -4.75396253e-02 9.03339708e+01] [ 9.32457766e-02 9.95633143e-01 -4.45747217e-03 1.03103202e+01] [ 4.77481417e-02 7.57875139e-08 9.98859407e-01 3.24669604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:90.36, Y:10.31, Z:3.25 [[ 9.94626212e-01 -9.17048407e-02 -4.80512363e-02 9.03618787e+01] [ 9.15934992e-02 9.95786229e-01 -4.51855876e-03 1.03096702e+01] [ 4.82631331e-02 9.30961027e-05 9.98834652e-01 3.24636073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48439141799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:90.39, Y:10.31, Z:3.25 [[ 9.94920130e-01 -8.76002556e-02 -4.95996966e-02 9.03871129e+01] [ 8.74227260e-02 9.96154758e-01 -5.74159499e-03 1.03107625e+01] [ 4.99119389e-02 1.37628775e-03 9.98752674e-01 3.24724605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51439141799999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:90.42, Y:10.32, Z:3.25 [[ 9.94926039e-01 -8.79687707e-02 -4.88228717e-02 9.04169280e+01] [ 8.78857136e-02 9.96123126e-01 -3.84946615e-03 1.03150918e+01] [ 4.89722244e-02 -4.60898814e-04 9.98800034e-01 3.24910824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54439141799999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:90.44, Y:10.32, Z:3.25 [[ 9.95048767e-01 -8.67455712e-02 -4.85093526e-02 9.04439847e+01] [ 8.66238755e-02 9.96230424e-01 -4.60935208e-03 1.03199760e+01] [ 4.87263338e-02 3.84461986e-04 9.98812093e-01 3.25320186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57439141799999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:90.47, Y:10.32, Z:3.25 [[ 9.95032044e-01 -8.72954654e-02 -4.78616013e-02 9.04720026e+01] [ 8.71769155e-02 9.96182396e-01 -4.56277001e-03 1.03210654e+01] [ 4.80771938e-02 3.67675599e-04 9.98843555e-01 3.25452496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60439141799999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:90.50, Y:10.33, Z:3.26 [[ 9.94838973e-01 -8.84802750e-02 -4.96654605e-02 9.04967812e+01] [ 8.77869279e-02 9.96011147e-01 -1.59765550e-02 1.03252175e+01] [ 5.08809623e-02 1.15341214e-02 9.98638119e-01 3.25908054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63439141799999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:90.53, Y:10.31, Z:3.25 [[ 9.94685104e-01 -9.05635318e-02 -4.89876605e-02 9.05280175e+01] [ 9.09758855e-02 9.95833485e-01 6.24975111e-03 1.03130787e+01] [ 4.82175532e-02 -1.06732301e-02 9.98779830e-01 3.25304115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:90.56, Y:10.31, Z:3.26 [[ 9.94058399e-01 -9.70440824e-02 -4.92985358e-02 9.05562120e+01] [ 9.69285472e-02 9.95280082e-01 -4.73453813e-03 1.03126480e+01] [ 4.95253097e-02 -7.20280572e-05 9.98772866e-01 3.25543493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694391418 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:90.58, Y:10.31, Z:3.25 [[ 9.93760164e-01 -9.91964683e-02 -5.09980053e-02 9.05831290e+01] [ 9.90748651e-02 9.95067853e-01 -4.91318273e-03 1.03131428e+01] [ 5.12338461e-02 -1.70095221e-04 9.98686670e-01 3.25439621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724391418 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:90.61, Y:10.32, Z:3.26 [[ 9.93730253e-01 -9.94960902e-02 -5.09971700e-02 9.06113709e+01] [ 9.93744370e-02 9.95037937e-01 -4.92183864e-03 1.03160054e+01] [ 5.12338226e-02 -1.76835104e-04 9.98686670e-01 3.25558830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.754391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:90.64, Y:10.32, Z:3.26 [[ 9.93383141e-01 -1.02776040e-01 -5.12544782e-02 9.06382787e+01] [ 1.02656790e-01 9.94704466e-01 -4.96076558e-03 1.03192925e+01] [ 5.14929062e-02 -3.33679342e-04 9.98673305e-01 3.25870383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:90.67, Y:10.32, Z:3.26 [[ 9.93139747e-01 -1.05184681e-01 -5.10844978e-02 9.06663468e+01] [ 1.05068950e-01 9.94452604e-01 -4.95315719e-03 1.03223639e+01] [ 5.13221081e-02 -4.48217279e-04 9.98682052e-01 3.26063797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:90.69, Y:10.32, Z:3.26 [[ 9.92812586e-01 -1.09320773e-01 -4.87045990e-02 9.06948278e+01] [ 1.09219817e-01 9.94006332e-01 -4.73737742e-03 1.03213606e+01] [ 4.89305736e-02 -6.16179453e-04 9.98801992e-01 3.26242443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.844391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:90.72, Y:10.32, Z:3.26 [[ 9.92637493e-01 -1.11300259e-01 -4.77813835e-02 9.07221485e+01] [ 1.11204720e-01 9.93786587e-01 -4.66145805e-03 1.03199572e+01] [ 4.80033195e-02 -6.86377322e-04 9.98846940e-01 3.26371028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87439141799999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:90.75, Y:10.32, Z:3.27 [[ 9.92087955e-01 -1.16275403e-01 -4.73447056e-02 9.07503223e+01] [ 1.16186902e-01 9.93216593e-01 -4.62636320e-03 1.03162595e+01] [ 4.75614795e-02 -9.11075451e-04 9.98867897e-01 3.26551314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90439141799999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:90.78, Y:10.32, Z:3.27 [[ 9.91755482e-01 -1.19072518e-01 -4.73582063e-02 9.07769942e+01] [ 1.18986479e-01 9.92885024e-01 -4.64178155e-03 1.03179268e+01] [ 4.75739624e-02 -1.03147394e-03 9.98867185e-01 3.26684308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93439141799999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:90.80, Y:10.32, Z:3.27 [[ 9.91417363e-01 -1.21421228e-01 -4.84612959e-02 9.08049072e+01] [ 1.21333545e-01 9.92600389e-01 -4.75793100e-03 1.03202273e+01] [ 4.86804150e-02 -1.16288540e-03 9.98813729e-01 3.26719561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96439141799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:90.83, Y:10.32, Z:3.27 [[ 9.90805964e-01 -1.26339389e-01 -4.83931781e-02 9.08316798e+01] [ 1.26257124e-01 9.91986104e-01 -4.76527171e-03 1.03212583e+01] [ 4.86074017e-02 -1.38852386e-03 9.98816997e-01 3.26922459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99439141799999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:90.86, Y:10.32, Z:3.27 [[ 9.90613744e-01 -1.27835402e-01 -4.83995869e-02 9.08598349e+01] [ 1.27754520e-01 9.91794331e-01 -4.77365845e-03 1.03209268e+01] [ 4.86126785e-02 -1.45441433e-03 9.98816646e-01 3.26953131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024391418 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:90.89, Y:10.32, Z:3.27 [[ 9.90516148e-01 -1.28600746e-01 -4.83695052e-02 9.08869053e+01] [ 1.28520205e-01 9.91695349e-01 -4.78449207e-03 1.03194663e+01] [ 4.85831026e-02 -1.47734206e-03 9.98818051e-01 3.26950424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:90.92, Y:10.32, Z:3.27 [[ 9.90553781e-01 -1.28476057e-01 -4.79281794e-02 9.09157611e+01] [ 1.28396471e-01 9.91711550e-01 -4.74835091e-03 1.03152524e+01] [ 4.81409785e-02 -1.45031217e-03 9.98839498e-01 3.26981720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:90.94, Y:10.32, Z:3.27 [[ 9.90670513e-01 -1.27213287e-01 -4.88744696e-02 9.09432665e+01] [ 1.27128217e-01 9.91874396e-01 -4.85787494e-03 1.03169423e+01] [ 4.90953212e-02 -1.40077072e-03 9.98793115e-01 3.27096235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.114391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:90.97, Y:10.32, Z:3.27 [[ 9.90912490e-01 -1.25059368e-01 -4.95236365e-02 9.09705570e+01] [ 1.24968532e-01 9.92148415e-01 -4.93855074e-03 1.03204820e+01] [ 4.97524095e-02 -1.29522453e-03 9.98760742e-01 3.27265010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:91.00, Y:10.33, Z:3.28 [[ 9.91670772e-01 -1.18759777e-01 -4.98517292e-02 9.09964338e+01] [ 1.18659045e-01 9.92922541e-01 -4.98584222e-03 1.03268640e+01] [ 5.00910232e-02 -9.71044570e-04 9.98744185e-01 3.27545448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:91.02, Y:10.33, Z:3.28 [[ 9.92090986e-01 -1.15680777e-01 -4.87178935e-02 9.10229270e+01] [ 1.15580542e-01 9.93286129e-01 -4.87904209e-03 1.03306884e+01] [ 4.89552192e-02 -7.90386875e-04 9.98800662e-01 3.27706077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:91.05, Y:10.33, Z:3.28 [[ 9.92402851e-01 -1.13134215e-01 -4.83449191e-02 9.10505785e+01] [ 1.13032112e-01 9.93579501e-01 -4.84946083e-03 1.03328926e+01] [ 4.85831605e-02 -6.51909570e-04 9.98818928e-01 3.27865075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23439141799999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:91.08, Y:10.33, Z:3.28 [[ 9.92690796e-01 -1.11033117e-01 -4.72930305e-02 9.10774427e+01] [ 1.10932346e-01 9.93816569e-01 -4.75826491e-03 1.03333768e+01] [ 4.75289223e-02 -5.22841049e-04 9.98869725e-01 3.27901288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:91.11, Y:10.33, Z:3.28 [[ 9.92867023e-01 -1.09268311e-01 -4.77023123e-02 9.11058346e+01] [ 1.09163215e-01 9.94012198e-01 -4.81061313e-03 1.03318905e+01] [ 4.79423278e-02 -4.31038641e-04 9.98850012e-01 3.27906953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29439141799999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:91.13, Y:10.33, Z:3.28 [[ 9.92778150e-01 -1.09624886e-01 -4.87229787e-02 9.11329606e+01] [ 1.09514957e-01 9.93972931e-01 -4.92812110e-03 1.03346004e+01] [ 4.89695667e-02 -4.43363972e-04 9.98800173e-01 3.27941426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32439141799999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:91.16, Y:10.34, Z:3.28 [[ 9.92662663e-01 -1.09775094e-01 -5.06977904e-02 9.11592301e+01] [ 1.09425815e-01 9.93948385e-01 -9.62283639e-03 1.03403698e+01] [ 5.14473347e-02 4.00458336e-03 9.98667680e-01 3.28192169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35439141799999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:91.19, Y:10.34, Z:3.28 [[ 9.92241964e-01 -1.13350177e-01 -5.10648737e-02 9.11883206e+01] [ 1.13450819e-01 9.93543176e-01 -9.32759806e-04 1.03422254e+01] [ 5.08408853e-02 -4.86782833e-03 9.98694903e-01 3.28237123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38439141799999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:91.22, Y:10.35, Z:3.29 [[ 9.91936214e-01 -1.16140468e-01 -5.07340041e-02 9.12153457e+01] [ 1.16028334e-01 9.93232501e-01 -5.15988163e-03 1.03465150e+01] [ 5.09899328e-02 -7.68308523e-04 9.98698872e-01 3.28521742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:91.24, Y:10.35, Z:3.29 [[ 9.91598544e-01 -1.19428310e-01 -4.96911054e-02 9.12430201e+01] [ 1.19324458e-01 9.92842410e-01 -5.06191676e-03 1.03468761e+01] [ 4.99399730e-02 -9.09974942e-04 9.98751807e-01 3.28600914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:91.27, Y:10.35, Z:3.29 [[ 9.90690563e-01 -1.25859737e-01 -5.18800066e-02 9.12715133e+01] [ 1.25258767e-01 9.92015347e-01 -1.46898946e-02 1.03471227e+01] [ 5.33146290e-02 8.05471427e-03 9.98545278e-01 3.28903521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:91.30, Y:10.34, Z:3.29 [[ 9.90385546e-01 -1.28089945e-01 -5.22440146e-02 9.13013449e+01] [ 1.28456368e-01 9.91708247e-01 3.70330827e-03 1.03402769e+01] [ 5.13364636e-02 -1.03787794e-02 9.98627482e-01 3.28544895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.504391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:91.33, Y:10.35, Z:3.29 [[ 9.89870581e-01 -1.30822878e-01 -5.51507749e-02 9.13274415e+01] [ 1.30314176e-01 9.91390936e-01 -1.27368435e-02 1.03515145e+01] [ 5.63422489e-02 5.42089893e-03 9.98396797e-01 3.29026233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:91.36, Y:10.35, Z:3.29 [[ 9.89290750e-01 -1.35984492e-01 -5.30285825e-02 9.13552831e+01] [ 1.36260692e-01 9.90671705e-01 1.61146412e-03 1.03531585e+01] [ 5.23147821e-02 -8.81991787e-03 9.98591695e-01 3.29056607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:91.38, Y:10.36, Z:3.29 [[ 9.88853207e-01 -1.39768481e-01 -5.13235438e-02 9.13826035e+01] [ 1.39681975e-01 9.90182307e-01 -5.28623714e-03 1.03602591e+01] [ 5.15585144e-02 -1.94166140e-03 9.98668088e-01 3.29340303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.594391418 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:91.41, Y:10.36, Z:3.29 [[ 9.88408992e-01 -1.43168532e-01 -5.05018408e-02 9.14109493e+01] [ 1.43088413e-01 9.89696159e-01 -5.21708230e-03 1.03614909e+01] [ 5.07283999e-02 -2.06961721e-03 9.98710341e-01 3.29415405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62439141799999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:91.44, Y:10.36, Z:3.30 [[ 9.87323733e-01 -1.51212726e-01 -4.82344003e-02 9.14380158e+01] [ 1.51148517e-01 9.88498435e-01 -4.99695202e-03 1.03583574e+01] [ 4.84352319e-02 -2.35694876e-03 9.98823545e-01 3.29504143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65439141799999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:91.47, Y:10.36, Z:3.30 [[ 9.86667553e-01 -1.55700338e-01 -4.73766307e-02 9.14654978e+01] [ 1.55643034e-01 9.87801119e-01 -4.91881223e-03 1.03599878e+01] [ 4.75645496e-02 -2.52061013e-03 9.98864986e-01 3.29677836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:91.49, Y:10.36, Z:3.30 [[ 9.85925748e-01 -1.60121106e-01 -4.80796301e-02 9.14934653e+01] [ 1.60066584e-01 9.87093520e-01 -5.00709206e-03 1.03638846e+01] [ 4.82608324e-02 -2.75932118e-03 9.98830956e-01 3.29902125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:91.52, Y:10.37, Z:3.30 [[ 9.85123636e-01 -1.64463682e-01 -4.98308976e-02 9.15212517e+01] [ 1.64409843e-01 9.86378379e-01 -5.20555048e-03 1.03697361e+01] [ 5.00082439e-02 -3.06457922e-03 9.98744103e-01 3.30102292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74439141799999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:91.55, Y:10.38, Z:3.30 [[ 9.83610949e-01 -1.71814205e-01 -5.46752199e-02 9.15483005e+01] [ 1.71759681e-01 9.85122216e-01 -5.72997397e-03 1.03782410e+01] [ 5.48462647e-02 -3.75493317e-03 9.98487750e-01 3.30175910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:91.58, Y:10.38, Z:3.30 [[ 9.83113000e-01 -1.74282901e-01 -5.58059180e-02 9.15755213e+01] [ 1.74229207e-01 9.84687667e-01 -5.86363456e-03 1.03815677e+01] [ 5.59733304e-02 -3.95840546e-03 9.98424417e-01 3.30166055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804391418 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:91.60, Y:10.38, Z:3.30 [[ 9.82785051e-01 -1.75911910e-01 -5.64671840e-02 9.16022367e+01] [ 1.75859177e-01 9.84397408e-01 -5.94075413e-03 1.03838102e+01] [ 5.66311990e-02 -4.09178818e-03 9.98386781e-01 3.30142905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:91.63, Y:10.39, Z:3.30 [[ 9.82630611e-01 -1.76411310e-01 -5.75858630e-02 9.16296164e+01] [ 1.76356724e-01 9.84307612e-01 -6.06884911e-03 1.03863702e+01] [ 5.77528169e-02 -4.19221724e-03 9.98322111e-01 3.30162886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.864391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:91.66, Y:10.39, Z:3.30 [[ 9.83099022e-01 -1.74424264e-01 -5.56101584e-02 9.16565003e+01] [ 1.74369247e-01 9.84662796e-01 -5.87746187e-03 1.03928768e+01] [ 5.57824260e-02 -3.91857444e-03 9.98435259e-01 3.30477230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894391418 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:91.68, Y:10.40, Z:3.31 [[ 9.83549698e-01 -1.72667473e-01 -5.30653864e-02 9.16828871e+01] [ 1.72614013e-01 9.84973490e-01 -5.62368295e-03 1.04007324e+01] [ 5.32390260e-02 -3.62865763e-03 9.98575204e-01 3.30809375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:91.71, Y:10.41, Z:3.31 [[ 9.84439680e-01 -1.67656409e-01 -5.26293185e-02 9.17086498e+01] [ 1.67596290e-01 9.85839891e-01 -5.58504781e-03 1.04143711e+01] [ 5.28204507e-02 -3.32233587e-03 9.98598499e-01 3.31216868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954391418 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:91.74, Y:10.42, Z:3.31 [[ 9.84777811e-01 -1.65434600e-01 -5.33296855e-02 9.17373990e+01] [ 1.65369289e-01 9.86215442e-01 -5.66570882e-03 1.04210592e+01] [ 5.35318637e-02 -3.23962783e-03 9.98560887e-01 3.31287315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98439141799999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:91.76, Y:10.43, Z:3.31 [[ 9.85121062e-01 -1.63182989e-01 -5.39240731e-02 9.17646368e+01] [ 1.63112693e-01 9.86590794e-01 -5.73185663e-03 1.04253812e+01] [ 5.41363356e-02 -3.14912811e-03 9.98528588e-01 3.31251030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01439141799999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:91.79, Y:10.43, Z:3.31 [[ 9.85273820e-01 -1.61886079e-01 -5.50308685e-02 9.17933979e+01] [ 1.61810403e-01 9.86804480e-01 -5.85770933e-03 1.04286311e+01] [ 5.52529892e-02 -3.13311934e-03 9.98467471e-01 3.31201949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04439141799999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:91.82, Y:10.43, Z:3.31 [[ 9.85388756e-01 -1.60929315e-01 -5.57741375e-02 9.18209930e+01] [ 1.60849289e-01 9.86961042e-01 -5.95049323e-03 1.04316967e+01] [ 5.60045096e-02 -3.10768121e-03 9.98425679e-01 3.31189898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07439141799999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:91.85, Y:10.44, Z:3.31 [[ 9.85569847e-01 -1.59708395e-01 -5.60830286e-02 9.18476688e+01] [ 1.59625146e-01 9.87159528e-01 -5.98990961e-03 1.04393398e+01] [ 5.63195349e-02 -3.04878737e-03 9.98408140e-01 3.31391087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10439141799999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:91.88, Y:10.45, Z:3.32 [[ 9.85740459e-01 -1.58692462e-01 -5.59682971e-02 9.18752903e+01] [ 1.58607336e-01 9.87323582e-01 -5.98807839e-03 1.04475756e+01] [ 5.62090825e-02 -2.97429135e-03 9.98414590e-01 3.31670022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13439141799999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:91.90, Y:10.46, Z:3.32 [[ 9.86134912e-01 -1.56445936e-01 -5.53407968e-02 9.19029368e+01] [ 1.56358470e-01 9.87682550e-01 -5.93367339e-03 1.04564009e+01] [ 5.55874384e-02 -2.80159984e-03 9.98449892e-01 3.31972927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:91.93, Y:10.47, Z:3.32 [[ 9.87182558e-01 -1.49654660e-01 -5.54443857e-02 9.19307940e+01] [ 1.49556004e-01 9.88735366e-01 -5.94788849e-03 1.04695896e+01] [ 5.57099543e-02 -2.42038899e-03 9.98444061e-01 3.32249256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:91.96, Y:10.48, Z:3.32 [[ 9.87734237e-01 -1.46019567e-01 -5.53115077e-02 9.19601618e+01] [ 1.45915585e-01 9.89279238e-01 -5.93559792e-03 1.04758844e+01] [ 5.55852396e-02 -2.20801769e-03 9.98451504e-01 3.32322233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:91.99, Y:10.48, Z:3.32 [[ 9.88242933e-01 -1.42700665e-01 -5.48855695e-02 9.19894434e+01] [ 1.42593094e-01 9.89763862e-01 -5.89124469e-03 1.04810146e+01] [ 5.51644378e-02 -2.00432222e-03 9.98475271e-01 3.32354724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.254391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:92.02, Y:10.49, Z:3.32 [[ 9.89069366e-01 -1.37436232e-01 -5.34141566e-02 9.20186674e+01] [ 1.37326583e-01 9.90509221e-01 -5.73515840e-03 1.04886349e+01] [ 5.36954332e-02 -1.66271413e-03 9.98555975e-01 3.32439817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:92.05, Y:10.50, Z:3.33 [[ 9.89318445e-01 -1.35774919e-01 -5.30488923e-02 9.20481853e+01] [ 1.35664336e-01 9.90738480e-01 -5.69675780e-03 1.04956405e+01] [ 5.33310558e-02 -1.56093518e-03 9.98575667e-01 3.32662307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:92.08, Y:10.50, Z:3.33 [[ 9.89549508e-01 -1.34122727e-01 -5.29420904e-02 9.20779106e+01] [ 1.34010227e-01 9.90963640e-01 -5.68528867e-03 1.05024513e+01] [ 5.32262130e-02 -1.46890696e-03 9.98581400e-01 3.32859560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.344391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:92.11, Y:10.51, Z:3.33 [[ 9.89801546e-01 -1.32064470e-01 -5.34029485e-02 9.21071656e+01] [ 1.31947012e-01 9.91240182e-01 -5.73475261e-03 1.05088060e+01] [ 5.36925055e-02 -1.37009250e-03 9.98556577e-01 3.32921151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37439141799999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:92.14, Y:10.51, Z:3.33 [[ 9.89918421e-01 -1.31137527e-01 -5.35207278e-02 9.21382999e+01] [ 1.31018227e-01 9.91363303e-01 -5.74683325e-03 1.05126079e+01] [ 5.38121110e-02 -1.32329479e-03 9.98550202e-01 3.33010988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40439141799999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:92.17, Y:10.52, Z:3.33 [[ 9.90091485e-01 -1.29968964e-01 -5.31687822e-02 9.21693666e+01] [ 1.29849660e-01 9.91517270e-01 -5.70690935e-03 1.05169381e+01] [ 5.34594869e-02 -1.25358593e-03 9.98569232e-01 3.33165759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43439141799999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:92.20, Y:10.52, Z:3.34 [[ 9.90495249e-01 -1.27287473e-01 -5.21254337e-02 9.21989181e+01] [ 1.27169195e-01 9.91865270e-01 -5.59305497e-03 1.05245214e+01] [ 5.24133332e-02 -1.08885508e-03 9.98624883e-01 3.33502685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46439141799999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:92.23, Y:10.53, Z:3.34 [[ 9.90597823e-01 -1.26410781e-01 -5.23093423e-02 9.22295294e+01] [ 1.26290512e-01 9.91977428e-01 -5.61151277e-03 1.05298718e+01] [ 5.25990425e-02 -1.04742130e-03 9.98615163e-01 3.33667578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49439141799999 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:92.26, Y:10.53, Z:3.34 [[ 9.90633125e-01 -1.25646429e-01 -5.34694888e-02 9.22594403e+01] [ 1.25519760e-01 9.92074549e-01 -5.73396752e-03 1.05339783e+01] [ 5.37661716e-02 -1.03121925e-03 9.98553021e-01 3.33742263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:92.29, Y:10.53, Z:3.34 [[ 9.90446802e-01 -1.27145291e-01 -5.33779616e-02 9.22887968e+01] [ 1.27021278e-01 9.91883481e-01 -5.72324884e-03 1.05346608e+01] [ 5.36724025e-02 -1.11156340e-03 9.98557979e-01 3.33587627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:92.32, Y:10.54, Z:3.34 [[ 9.90105332e-01 -1.29451234e-01 -5.41646446e-02 9.23165987e+01] [ 1.29617398e-01 9.91563981e-01 -4.48695362e-04 1.05352731e+01] [ 5.37657948e-02 -6.57642464e-03 9.98531917e-01 3.33568196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:92.35, Y:10.54, Z:3.34 [[ 9.90117212e-01 -1.30338225e-01 -5.17673069e-02 9.23488796e+01] [ 1.29907236e-01 9.91458070e-01 -1.16191952e-02 1.05394907e+01] [ 5.28395394e-02 4.77941740e-03 9.98591578e-01 3.33823427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.614391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:92.38, Y:10.54, Z:3.34 [[ 9.89703264e-01 -1.32246031e-01 -5.47579837e-02 9.23768984e+01] [ 1.32608187e-01 9.91163942e-01 3.01797173e-03 1.05389180e+01] [ 5.38750242e-02 -1.02482534e-02 9.98495095e-01 3.33916702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:92.41, Y:10.55, Z:3.34 [[ 9.89757832e-01 -1.32321864e-01 -5.35757293e-02 9.24079916e+01] [ 1.32172783e-01 9.91206468e-01 -6.33197859e-03 1.05464065e+01] [ 5.39424686e-02 -8.14127819e-04 9.98543713e-01 3.34301305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:92.44, Y:10.56, Z:3.35 [[ 9.89554047e-01 -1.34797763e-01 -5.11111590e-02 9.24396009e+01] [ 1.34189841e-01 9.90839667e-01 -1.51604783e-02 1.05570234e+01] [ 5.26865623e-02 8.14351438e-03 9.98577893e-01 3.34768522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:92.47, Y:10.56, Z:3.35 [[ 9.89454054e-01 -1.35231303e-01 -5.18957543e-02 9.24697406e+01] [ 1.35126087e-01 9.90812885e-01 -5.54692605e-03 1.05572342e+01] [ 5.21691001e-02 -1.52404177e-03 9.98637102e-01 3.34703679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73439141799999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:92.50, Y:10.56, Z:3.35 [[ 9.89394201e-01 -1.35845549e-01 -5.14305478e-02 9.24997549e+01] [ 1.35743117e-01 9.90728824e-01 -5.49573925e-03 1.05595668e+01] [ 5.17002979e-02 -1.54389031e-03 9.98661452e-01 3.34805471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76439141799999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:92.53, Y:10.56, Z:3.35 [[ 9.88990217e-01 -1.38115472e-01 -5.31268895e-02 9.25287449e+01] [ 1.38194984e-01 9.90402617e-01 -2.19168262e-03 1.05588877e+01] [ 5.29197157e-02 -5.17431697e-03 9.98585364e-01 3.34613573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79439141799999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:92.56, Y:10.56, Z:3.35 [[ 9.89033103e-01 -1.38040372e-01 -5.25202477e-02 9.25620654e+01] [ 1.37715991e-01 9.90423638e-01 -9.76335571e-03 1.05610641e+01] [ 5.33650320e-02 2.42340405e-03 9.98572131e-01 3.34690728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82439141799999 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:92.59, Y:10.56, Z:3.35 [[ 9.88945362e-01 -1.38289500e-01 -5.35078129e-02 9.25926444e+01] [ 1.38182229e-01 9.90390320e-01 -5.71705200e-03 1.05610582e+01] [ 5.37842282e-02 -1.73997683e-03 9.98551065e-01 3.34595452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85439141799999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:92.62, Y:10.57, Z:3.35 [[ 9.88966932e-01 -1.38637468e-01 -5.21925197e-02 9.26235552e+01] [ 1.38535956e-01 9.90341711e-01 -5.57528286e-03 1.05650664e+01] [ 5.24613724e-02 -1.71677023e-03 9.98621478e-01 3.34799347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88439141799999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:92.65, Y:10.57, Z:3.35 [[ 9.89182217e-01 -1.37134368e-01 -5.20836603e-02 9.26524590e+01] [ 1.36799450e-01 9.90548704e-01 -9.95873003e-03 1.05712353e+01] [ 5.29570864e-02 2.72598256e-03 9.98593068e-01 3.35191959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:92.68, Y:10.57, Z:3.35 [[ 9.89163760e-01 -1.37553712e-01 -5.13228185e-02 9.26836453e+01] [ 1.37665480e-01 9.90477837e-01 -1.36781289e-03 1.05715025e+01] [ 5.10222620e-02 -5.71238948e-03 9.98681179e-01 3.35212299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:92.71, Y:10.58, Z:3.36 [[ 9.89311001e-01 -1.36573740e-01 -5.11014382e-02 9.27146836e+01] [ 1.36473900e-01 9.90628651e-01 -5.45442086e-03 1.05765746e+01] [ 5.13674794e-02 -1.57789401e-03 9.98678573e-01 3.35513706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:92.75, Y:10.58, Z:3.35 [[ 9.89613319e-01 -1.33706455e-01 -5.28021022e-02 9.27459044e+01] [ 1.33595895e-01 9.91019877e-01 -5.63382031e-03 1.05768304e+01] [ 5.30812109e-02 -1.47884045e-03 9.98589104e-01 3.35444237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.004391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:92.78, Y:10.58, Z:3.35 [[ 9.89665498e-01 -1.33384346e-01 -5.26385658e-02 9.27764723e+01] [ 1.33274116e-01 9.91063312e-01 -5.61447373e-03 1.05788665e+01] [ 5.29170343e-02 -1.45890738e-03 9.98597847e-01 3.35472193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:92.81, Y:10.58, Z:3.35 [[ 9.89845972e-01 -1.32102053e-01 -5.24785609e-02 9.28075210e+01] [ 1.31990760e-01 9.91235150e-01 -5.59612837e-03 1.05802085e+01] [ 5.27578542e-02 -1.38738001e-03 9.98606371e-01 3.35361179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:92.84, Y:10.58, Z:3.36 [[ 9.90008644e-01 -1.31166491e-01 -5.17516738e-02 9.28378956e+01] [ 1.31057083e-01 9.91359474e-01 -5.51671287e-03 1.05833406e+01] [ 5.20281200e-02 -1.32082997e-03 9.98644747e-01 3.35510694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.094391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:92.87, Y:10.59, Z:3.36 [[ 9.90547327e-01 -1.28006523e-01 -4.92983029e-02 9.28689928e+01] [ 1.27903390e-01 9.91772715e-01 -5.25405581e-03 1.05874848e+01] [ 4.95652651e-02 -1.10102910e-03 9.98770280e-01 3.35804384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12439141799999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:92.90, Y:10.59, Z:3.36 [[ 9.90555124e-01 -1.27946084e-01 -4.92985335e-02 9.29006429e+01] [ 1.27842983e-01 9.91780515e-01 -5.25189078e-03 1.05908158e+01] [ 4.95652838e-02 -1.10018427e-03 9.98770280e-01 3.35937634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15439141799999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:92.93, Y:10.60, Z:3.36 [[ 9.91167909e-01 -1.23446907e-01 -4.84462404e-02 9.29302006e+01] [ 1.23218562e-01 9.92349813e-01 -7.68337300e-03 1.05958247e+01] [ 4.90241062e-02 1.64603666e-03 9.98796239e-01 3.36209398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18439141799999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:92.96, Y:10.60, Z:3.36 [[ 9.91315329e-01 -1.21486699e-01 -5.03477856e-02 9.29622073e+01] [ 1.21485414e-01 9.92588385e-01 -3.09712428e-03 1.05962074e+01] [ 5.03508866e-02 -3.04629481e-03 9.98726944e-01 3.36228856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21439141799999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:92.99, Y:10.60, Z:3.36 [[ 9.91503907e-01 -1.19491916e-01 -5.13973096e-02 9.29935824e+01] [ 1.19368396e-01 9.92834924e-01 -5.47724997e-03 1.06000177e+01] [ 5.16835311e-02 -7.04499683e-04 9.98663265e-01 3.36348936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24439141799999 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:93.02, Y:10.60, Z:3.36 [[ 9.91797705e-01 -1.16847080e-01 -5.18080319e-02 9.30230829e+01] [ 1.16718051e-01 9.93149753e-01 -5.51947692e-03 1.06016269e+01] [ 5.20980688e-02 -5.72727964e-04 9.98641809e-01 3.36270356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:93.05, Y:10.60, Z:3.36 [[ 9.91930737e-01 -1.16112322e-01 -5.09052193e-02 9.30522764e+01] [ 1.15986724e-01 9.93235951e-01 -5.42451699e-03 1.06036817e+01] [ 5.11907472e-02 -5.23584493e-04 9.98688757e-01 3.36353405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:93.08, Y:10.61, Z:3.36 [[ 9.92041550e-01 -1.15709098e-01 -4.96484424e-02 9.30818314e+01] [ 1.15589024e-01 9.93283024e-01 -5.29257036e-03 1.06057557e+01] [ 4.99273536e-02 -4.88365324e-04 9.98752733e-01 3.36485301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:93.11, Y:10.61, Z:3.37 [[ 9.92187625e-01 -1.15391245e-01 -4.74191719e-02 9.31122422e+01] [ 1.15281278e-01 9.93320018e-01 -5.05653309e-03 1.06081431e+01] [ 4.76858923e-02 -4.49513170e-04 9.98862280e-01 3.36817276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.364391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:93.14, Y:10.61, Z:3.37 [[ 9.92223433e-01 -1.15331003e-01 -4.68126015e-02 9.31425076e+01] [ 1.15223771e-01 9.93327018e-01 -4.99174539e-03 1.06115429e+01] [ 4.70759249e-02 -4.40997712e-04 9.98891217e-01 3.36986671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:93.17, Y:10.61, Z:3.37 [[ 9.92204332e-01 -1.15240141e-01 -4.74370568e-02 9.31733844e+01] [ 1.15129975e-01 9.93337563e-01 -5.05723117e-03 1.06145530e+01] [ 4.77038064e-02 -4.43620502e-04 9.98861427e-01 3.37169645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:93.20, Y:10.62, Z:3.37 [[ 9.91881236e-01 -1.17380858e-01 -4.89218642e-02 9.32033859e+01] [ 1.17266379e-01 9.93086811e-01 -5.21362945e-03 1.06165048e+01] [ 4.91956384e-02 -5.65588652e-04 9.98789001e-01 3.37168444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:93.23, Y:10.62, Z:3.37 [[ 9.91603684e-01 -1.19680107e-01 -4.89776135e-02 9.32333403e+01] [ 1.19568196e-01 9.92812272e-01 -5.21902516e-03 1.06184785e+01] [ 4.92501893e-02 -6.80960296e-04 9.98786241e-01 3.37224241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48439141799999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:93.26, Y:10.62, Z:3.37 [[ 9.91001416e-01 -1.25391010e-01 -4.68325604e-02 9.32644412e+01] [ 1.25294983e-01 9.92106973e-01 -4.99204047e-03 1.06180779e+01] [ 4.70888668e-02 -9.20765680e-04 9.98890280e-01 3.37293727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51439141799999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:93.30, Y:10.62, Z:3.37 [[ 9.90719151e-01 -1.28061589e-01 -4.55608648e-02 9.32956057e+01] [ 1.27973535e-01 9.91765693e-01 -4.85632421e-03 1.06198973e+01] [ 4.58076112e-02 -1.01933154e-03 9.98949760e-01 3.37447897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54439141799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:93.33, Y:10.62, Z:3.38 [[ 9.90572128e-01 -1.29718155e-01 -4.40460990e-02 9.33271746e+01] [ 1.29637574e-01 9.91550339e-01 -4.69310678e-03 1.06221107e+01] [ 4.42827055e-02 -1.06116865e-03 9.99018476e-01 3.37539730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57439141799999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:93.36, Y:10.63, Z:3.38 [[ 9.90174924e-01 -1.33178872e-01 -4.26263860e-02 9.33582704e+01] [ 1.33106678e-01 9.91091317e-01 -4.54011530e-03 1.06258116e+01] [ 4.28512885e-02 -1.17834834e-03 9.99080767e-01 3.37934987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60439141799999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:93.39, Y:10.63, Z:3.38 [[ 9.89976461e-01 -1.34382887e-01 -4.34493657e-02 9.33906207e+01] [ 1.34309156e-01 9.90928686e-01 -4.62502305e-03 1.06299312e+01] [ 4.36767468e-02 -1.25698369e-03 9.99044925e-01 3.38153600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63439141799999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:93.42, Y:10.63, Z:3.38 [[ 9.89815606e-01 -1.34942519e-01 -4.53385443e-02 9.34219890e+01] [ 1.34862987e-01 9.90852521e-01 -4.82252609e-03 1.06337382e+01] [ 4.55745747e-02 -1.34107991e-03 9.98960039e-01 3.38254124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:93.45, Y:10.64, Z:3.38 [[ 9.89768212e-01 -1.34751460e-01 -4.69140657e-02 9.34530422e+01] [ 1.34666179e-01 9.90878468e-01 -4.98820806e-03 1.06366540e+01] [ 4.71583058e-02 -1.38056819e-03 9.98886474e-01 3.38237971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:93.49, Y:10.64, Z:3.38 [[ 9.89947280e-01 -1.33438432e-01 -4.68888758e-02 9.34851197e+01] [ 1.33351858e-01 9.91056227e-01 -4.98369323e-03 1.06366212e+01] [ 4.71345285e-02 -1.31912516e-03 9.98887679e-01 3.38094488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:93.52, Y:10.64, Z:3.38 [[ 9.90190321e-01 -1.32212944e-01 -4.51980613e-02 9.35161924e+01] [ 1.32131307e-01 9.91220589e-01 -4.80222273e-03 1.06379440e+01] [ 4.54361650e-02 -1.21696443e-03 9.98966503e-01 3.38223176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.754391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:93.55, Y:10.64, Z:3.38 [[ 9.90546578e-01 -1.30135988e-01 -4.33831856e-02 9.35472065e+01] [ 1.30058861e-01 9.91495568e-01 -4.60768169e-03 1.06401672e+01] [ 4.36138615e-02 -1.07824437e-03 9.99047881e-01 3.38406761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:93.58, Y:10.65, Z:3.39 [[ 9.91395193e-01 -1.23799668e-01 -4.25348508e-02 9.35775187e+01] [ 1.23719772e-01 9.92306921e-01 -4.51583110e-03 1.06460066e+01] [ 4.27666852e-02 -7.85428806e-04 9.99084778e-01 3.38808956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:93.61, Y:10.65, Z:3.39 [[ 9.91805372e-01 -1.20310946e-01 -4.29811553e-02 9.36081700e+01] [ 1.20226204e-01 9.92736048e-01 -4.56055577e-03 1.06519111e+01] [ 4.32176271e-02 -6.44277448e-04 9.99065474e-01 3.39107352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.844391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:93.64, Y:10.66, Z:3.39 [[ 9.92258039e-01 -1.16214678e-01 -4.37964930e-02 9.36378709e+01] [ 1.16122778e-01 9.93224004e-01 -4.64529516e-03 1.06568749e+01] [ 4.40395796e-02 -4.76438980e-04 9.99029673e-01 3.39262120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87439141799999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:93.67, Y:10.66, Z:3.39 [[ 9.92656502e-01 -1.12223756e-01 -4.51541475e-02 9.36684955e+01] [ 1.12121985e-01 9.93682914e-01 -4.78829071e-03 1.06606030e+01] [ 4.54062648e-02 -3.09644741e-04 9.98968556e-01 3.39349086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90439141799999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:93.70, Y:10.66, Z:3.39 [[ 9.93177487e-01 -1.06411291e-01 -4.76981823e-02 9.36999232e+01] [ 1.06291105e-01 9.94322199e-01 -5.05630915e-03 1.06597211e+01] [ 4.79654099e-02 -4.80800690e-05 9.98848996e-01 3.39001045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93439141799999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:93.73, Y:10.66, Z:3.39 [[ 9.93308043e-01 -1.04865206e-01 -4.83985573e-02 9.37278605e+01] [ 1.04739595e-01 9.94486444e-01 -5.13122502e-03 1.06595898e+01] [ 4.86697962e-02 2.76417859e-05 9.98814923e-01 3.38923472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96439141799999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:93.76, Y:10.66, Z:3.39 [[ 9.93578226e-01 -1.02949421e-01 -4.69438512e-02 9.37560835e+01] [ 1.02828845e-01 9.94686585e-01 -4.98268316e-03 1.06605836e+01] [ 4.72073834e-02 1.23503508e-04 9.98885102e-01 3.39081018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99439141799999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:93.78, Y:10.67, Z:3.39 [[ 9.93742599e-01 -1.01796154e-01 -4.59694388e-02 9.37835399e+01] [ 1.01678677e-01 9.94805261e-01 -4.89274444e-03 1.06653875e+01] [ 4.62287021e-02 1.88016858e-04 9.98930864e-01 3.39410334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:93.81, Y:10.67, Z:3.40 [[ 9.93836629e-01 -1.00829235e-01 -4.60675532e-02 9.38113225e+01] [ 1.00709887e-01 9.94903718e-01 -4.91031754e-03 1.06710080e+01] [ 4.63278835e-02 2.40595369e-04 9.98926258e-01 3.39810150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:93.84, Y:10.67, Z:3.40 [[ 9.94072640e-01 -9.84176140e-02 -4.61904621e-02 9.38393149e+01] [ 9.82944418e-02 9.95145135e-01 -4.93596384e-03 1.06742349e+01] [ 4.64519994e-02 3.66440924e-04 9.98920456e-01 3.40104827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:93.87, Y:10.67, Z:3.40 [[ 9.94127328e-01 -9.76318210e-02 -4.66785044e-02 9.38688601e+01] [ 9.75046140e-02 9.95222514e-01 -4.99983669e-03 1.06745836e+01] [ 4.69436417e-02 4.19104728e-04 9.98897452e-01 3.40103591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.114391418 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:93.90, Y:10.67, Z:3.40 [[ 9.94160204e-01 -9.71553262e-02 -4.69716028e-02 9.38972952e+01] [ 9.70258774e-02 9.95269131e-01 -5.03348822e-03 1.06740704e+01] [ 4.72384165e-02 4.46632707e-04 9.98883543e-01 3.40033149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:93.93, Y:10.67, Z:3.40 [[ 9.94087568e-01 -9.77642922e-02 -4.72445871e-02 9.39256024e+01] [ 9.76337312e-02 9.95209506e-01 -5.06882642e-03 1.06744816e+01] [ 4.75138124e-02 4.26192005e-04 9.98870490e-01 3.40040769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:93.95, Y:10.67, Z:3.40 [[ 9.93898293e-01 -1.00312077e-01 -4.58657928e-02 9.39538040e+01] [ 1.00191065e-01 9.94955974e-01 -4.93552404e-03 1.06743344e+01] [ 4.61295372e-02 3.10066280e-04 9.98935418e-01 3.40009005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:93.98, Y:10.68, Z:3.40 [[ 9.93679013e-01 -1.03246238e-01 -4.40707703e-02 9.39810305e+01] [ 1.03136808e-01 9.94655811e-01 -4.75572727e-03 1.06765772e+01] [ 4.43262587e-02 1.80347797e-04 9.99017092e-01 3.40306987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23439141799999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:94.01, Y:10.68, Z:3.41 [[ 9.93469636e-01 -1.05668133e-01 -4.30386789e-02 9.40105435e+01] [ 1.05565861e-01 9.94401448e-01 -4.64853600e-03 1.06784448e+01] [ 4.32889268e-02 7.47641524e-05 9.99062592e-01 3.40530945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26439141799999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:94.04, Y:10.68, Z:3.41 [[ 9.92990842e-01 -1.10054046e-01 -4.30963479e-02 9.40395590e+01] [ 1.09955549e-01 9.93925598e-01 -4.65655089e-03 1.06773241e+01] [ 4.33470356e-02 -1.14770210e-04 9.99060069e-01 3.40769200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29439141799999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:94.07, Y:10.68, Z:3.41 [[ 9.92725460e-01 -1.12021751e-01 -4.41280813e-02 9.40691617e+01] [ 1.11920303e-01 9.93705734e-01 -4.77071924e-03 1.06777018e+01] [ 4.43847517e-02 -2.02813754e-04 9.99014491e-01 3.40875937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32439141799999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:94.10, Y:10.68, Z:3.41 [[ 9.92434159e-01 -1.14118870e-01 -4.52915444e-02 9.40989728e+01] [ 1.14014094e-01 9.93467056e-01 -4.89840802e-03 1.06779118e+01] [ 4.55546581e-02 -3.02526950e-04 9.98961802e-01 3.40966708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35439141799999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:94.13, Y:10.68, Z:3.41 [[ 9.91838699e-01 -1.18766546e-01 -4.63735186e-02 9.41273221e+01] [ 1.18661645e-01 9.92922067e-01 -5.01822472e-03 1.06758131e+01] [ 4.66412872e-02 -5.25488545e-04 9.98911565e-01 3.40962092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38439141799999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:94.15, Y:10.68, Z:3.41 [[ 9.91509766e-01 -1.21369659e-01 -4.66668000e-02 9.41540366e+01] [ 1.21265814e-01 9.92607170e-01 -5.06044294e-03 1.06772378e+01] [ 4.69359845e-02 -6.41608886e-04 9.98897693e-01 3.41064151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:94.18, Y:10.68, Z:3.41 [[ 9.91241032e-01 -1.23687228e-01 -4.62891476e-02 9.41817432e+01] [ 1.23587088e-01 9.92320981e-01 -5.03010264e-03 1.06789326e+01] [ 4.65558518e-02 -7.34696816e-04 9.98915418e-01 3.41166466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:94.21, Y:10.68, Z:3.41 [[ 9.90792927e-01 -1.27401723e-01 -4.58058519e-02 9.42095883e+01] [ 1.27307415e-01 9.91850795e-01 -4.98219393e-03 1.06786835e+01] [ 4.60673107e-02 -8.95102090e-04 9.98937937e-01 3.41227313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:94.24, Y:10.68, Z:3.41 [[ 9.90588424e-01 -1.28924130e-01 -4.59689246e-02 9.42388651e+01] [ 1.28830534e-01 9.91653992e-01 -5.00538898e-03 1.06794399e+01] [ 4.62305830e-02 -9.63920709e-04 9.98930330e-01 3.41299605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.504391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:94.27, Y:10.68, Z:3.41 [[ 9.90355600e-01 -1.30451351e-01 -4.66715246e-02 9.42669261e+01] [ 1.30355955e-01 9.91454168e-01 -5.09487566e-03 1.06803628e+01] [ 4.69373110e-02 -1.03817254e-03 9.98897298e-01 3.41427644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:94.30, Y:10.68, Z:3.42 [[ 9.90316530e-01 -1.30747921e-01 -4.66706813e-02 9.42951370e+01] [ 1.30652491e-01 9.91415095e-01 -5.10258887e-03 1.06835904e+01] [ 4.69371709e-02 -1.04446267e-03 9.98897298e-01 3.41546770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:94.32, Y:10.69, Z:3.42 [[ 9.90054925e-01 -1.32466058e-01 -4.73707567e-02 9.43227270e+01] [ 1.32369007e-01 9.91186900e-01 -5.19379593e-03 1.06851696e+01] [ 4.76412751e-02 -1.12827676e-03 9.98863873e-01 3.41697019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.594391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:94.35, Y:10.69, Z:3.42 [[ 9.89560354e-01 -1.35654479e-01 -4.86638229e-02 9.43498296e+01] [ 1.35555177e-01 9.90755352e-01 -5.35043855e-03 1.06874856e+01] [ 4.89397539e-02 -1.30205125e-03 9.98800884e-01 3.41906993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62439141799999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:94.38, Y:10.69, Z:3.42 [[ 9.89128476e-01 -1.37837378e-01 -5.12417380e-02 9.43769844e+01] [ 1.37275541e-01 9.90429041e-01 -1.43436791e-02 1.06949701e+01] [ 5.27284006e-02 7.15350414e-03 9.98583268e-01 3.42309104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65439141799999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:94.41, Y:10.69, Z:3.42 [[ 9.88708790e-01 -1.40826135e-01 -5.12145409e-02 9.44071643e+01] [ 1.41143132e-01 9.89985764e-01 2.60836772e-03 1.06894452e+01] [ 5.03343401e-02 -9.80749678e-03 9.98684268e-01 3.41961366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68439141799999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:94.43, Y:10.69, Z:3.42 [[ 9.88562065e-01 -1.42248951e-01 -5.01026978e-02 9.44333237e+01] [ 1.42150680e-01 9.89829541e-01 -5.53750014e-03 1.06945235e+01] [ 5.03808340e-02 -1.64796999e-03 9.98728720e-01 3.42204752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71439141799999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:94.46, Y:10.70, Z:3.42 [[ 9.88469418e-01 -1.42964870e-01 -4.98924399e-02 9.44610433e+01] [ 1.42867904e-01 9.89726356e-01 -5.52281259e-03 1.06952869e+01] [ 5.01694310e-02 -1.66889696e-03 9.98739327e-01 3.42270876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74439141799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:94.49, Y:10.70, Z:3.42 [[ 9.88511252e-01 -1.42700530e-01 -4.98203175e-02 9.44891306e+01] [ 1.42602690e-01 9.89764558e-01 -5.53113432e-03 1.06962542e+01] [ 5.00996803e-02 -1.63692279e-03 9.98742881e-01 3.42307717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:94.52, Y:10.70, Z:3.43 [[ 9.88942746e-01 -1.39500989e-01 -5.03161847e-02 9.45153510e+01] [ 1.39396281e-01 9.90220834e-01 -5.60146089e-03 1.06996113e+01] [ 5.06055437e-02 -1.47436492e-03 9.98717630e-01 3.42520371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:94.54, Y:10.71, Z:3.43 [[ 9.89351815e-01 -1.36533334e-01 -5.04146298e-02 9.45425224e+01] [ 1.36423921e-01 9.90634603e-01 -5.62121489e-03 1.07052921e+01] [ 5.07099600e-02 -1.31640232e-03 9.98712555e-01 3.42786833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:94.57, Y:10.71, Z:3.43 [[ 9.90479406e-01 -1.28234382e-01 -5.00648581e-02 9.45689257e+01] [ 1.28115141e-01 9.91743508e-01 -5.59687512e-03 1.07127953e+01] [ 5.03692098e-02 -8.70476830e-04 9.98730286e-01 3.43075458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.864391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:94.60, Y:10.71, Z:3.43 [[ 9.91048862e-01 -1.24147705e-01 -4.90866607e-02 9.45981949e+01] [ 1.24265129e-01 9.92248828e-01 -6.64138637e-04 1.07140713e+01] [ 4.87886328e-02 -5.44156639e-03 9.98794302e-01 3.43016002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:94.62, Y:10.72, Z:3.43 [[ 9.91551978e-01 -1.20242902e-01 -4.86448284e-02 9.46240870e+01] [ 1.19887767e-01 9.92735419e-01 -1.01641888e-02 1.07205604e+01] [ 4.95136157e-02 4.24640167e-03 9.98764422e-01 3.43307864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:94.65, Y:10.72, Z:3.43 [[ 9.91969879e-01 -1.16675674e-01 -4.88113393e-02 9.46524426e+01] [ 1.16546891e-01 9.93170039e-01 -5.48598108e-03 1.07207239e+01] [ 4.91180403e-02 -2.46881858e-04 9.98792950e-01 3.43265968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:94.68, Y:10.73, Z:3.43 [[ 9.92473196e-01 -1.12719057e-01 -4.78682402e-02 9.46795398e+01] [ 1.12589843e-01 9.93626898e-01 -5.39575956e-03 1.07259432e+01] [ 4.81713760e-02 -3.43309234e-05 9.98839085e-01 3.43432847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98439141799999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:94.71, Y:10.73, Z:3.44 [[ 9.92516821e-01 -1.12073291e-01 -4.84761573e-02 9.47067453e+01] [ 1.11939194e-01 9.93699943e-01 -5.48083138e-03 1.07307234e+01] [ 4.87850095e-02 1.34353490e-05 9.98809302e-01 3.43560941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01439141799999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:94.73, Y:10.74, Z:3.44 [[ 9.92421168e-01 -1.13214264e-01 -4.77781838e-02 9.47331698e+01] [ 1.13084557e-01 9.93570596e-01 -5.41785329e-03 1.07351049e+01] [ 4.80843768e-02 -2.61824700e-05 9.98843277e-01 3.43775819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04439141799999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:94.76, Y:10.74, Z:3.44 [[ 9.91967451e-01 -1.17278183e-01 -4.73962491e-02 9.47611374e+01] [ 1.17154605e-01 9.93099081e-01 -5.38651545e-03 1.07359052e+01] [ 4.77008922e-02 -2.09440836e-04 9.98861643e-01 3.43788053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07439141799999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:94.79, Y:10.74, Z:3.44 [[ 9.91610110e-01 -1.20165318e-01 -4.76412263e-02 9.47887034e+01] [ 1.20042989e-01 9.92753839e-01 -5.43099912e-03 1.07365343e+01] [ 4.79486280e-02 -3.33561570e-04 9.98849747e-01 3.43845840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10439141799999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:94.82, Y:10.74, Z:3.44 [[ 9.90861710e-01 -1.25749053e-01 -4.87877732e-02 9.48158401e+01] [ 1.25626733e-01 9.92061900e-01 -5.57772283e-03 1.07369576e+01] [ 4.91018843e-02 -6.02296586e-04 9.98793593e-01 3.43990714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13439141799999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:94.84, Y:10.74, Z:3.44 [[ 9.90388187e-01 -1.29306540e-01 -4.91025215e-02 9.48428738e+01] [ 1.29186565e-01 9.91604366e-01 -5.62256631e-03 1.07415976e+01] [ 4.94173093e-02 -7.74862839e-04 9.98777918e-01 3.44245794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:94.87, Y:10.75, Z:3.45 [[ 9.89880901e-01 -1.32432929e-01 -5.09639189e-02 9.48706029e+01] [ 1.31991490e-01 9.91178852e-01 -1.19469477e-02 1.07490946e+01] [ 5.20965279e-02 5.09925170e-03 9.98629035e-01 3.44577047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:94.90, Y:10.75, Z:3.44 [[ 9.89447646e-01 -1.35488368e-01 -5.13444968e-02 9.48992556e+01] [ 1.35674226e-01 9.90753494e-01 1.35730512e-04 1.07473221e+01] [ 5.08513497e-02 -7.10042308e-03 9.98680992e-01 3.44372750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:94.93, Y:10.75, Z:3.44 [[ 9.88487167e-01 -1.42602302e-01 -5.05737596e-02 9.49265669e+01] [ 1.42490366e-01 9.89779016e-01 -5.83044574e-03 1.07490118e+01] [ 5.08882810e-02 -1.44295272e-03 9.98703310e-01 3.44350723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.254391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:94.95, Y:10.75, Z:3.44 [[ 9.87919314e-01 -1.46667595e-01 -5.00404352e-02 9.49542667e+01] [ 1.46562790e-01 9.89184498e-01 -5.77734449e-03 1.07500077e+01] [ 5.03465720e-02 -1.62651557e-03 9.98730483e-01 3.44430338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:94.98, Y:10.75, Z:3.45 [[ 9.87390522e-01 -1.50486826e-01 -4.91291484e-02 9.49812594e+01] [ 1.50389812e-01 9.88610423e-01 -5.68643886e-03 1.07526918e+01] [ 4.94253223e-02 -1.77378756e-03 9.98776247e-01 3.44605498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:95.01, Y:10.76, Z:3.45 [[ 9.86535806e-01 -1.56493769e-01 -4.75058215e-02 9.50081390e+01] [ 1.56409647e-01 9.87676924e-01 -5.50600655e-03 1.07594065e+01] [ 4.77820593e-02 -1.99849614e-03 9.98855786e-01 3.45038589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.344391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:95.04, Y:10.76, Z:3.45 [[ 9.86186187e-01 -1.58843924e-01 -4.69618138e-02 9.50351824e+01] [ 1.58763671e-01 9.87301529e-01 -5.45783895e-03 1.07643468e+01] [ 4.72324151e-02 -2.07338456e-03 9.98881775e-01 3.45255028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37439141799999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:95.06, Y:10.77, Z:3.45 [[ 9.85677504e-01 -1.61791596e-01 -4.75745538e-02 9.50635946e+01] [ 1.61711931e-01 9.86822432e-01 -5.54422596e-03 1.07674558e+01] [ 4.78446461e-02 -2.22855416e-03 9.98852303e-01 3.45290923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40439141799999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:95.09, Y:10.77, Z:3.45 [[ 9.85473942e-01 -1.62830776e-01 -4.82415559e-02 9.50918081e+01] [ 1.62749418e-01 9.86651338e-01 -5.63606544e-03 1.07703633e+01] [ 4.85153205e-02 -2.29708950e-03 9.98819797e-01 3.45299396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43439141799999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:95.12, Y:10.77, Z:3.45 [[ 9.85397359e-01 -1.63236079e-01 -4.84358050e-02 9.51198614e+01] [ 1.63153919e-01 9.86584325e-01 -5.67175765e-03 1.07740375e+01] [ 4.87118414e-02 -2.31355637e-03 9.98810194e-01 3.45329753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46439141799999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:95.15, Y:10.78, Z:3.45 [[ 9.85300690e-01 -1.63584015e-01 -4.92221439e-02 9.51479420e+01] [ 1.63499275e-01 9.86526578e-01 -5.77038713e-03 1.07805712e+01] [ 4.95028963e-02 -2.36221840e-03 9.98771187e-01 3.45403376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:95.18, Y:10.79, Z:3.46 [[ 9.85403870e-01 -1.62956292e-01 -4.92388013e-02 9.51750321e+01] [ 1.62870068e-01 9.86630564e-01 -5.78532786e-03 1.07855859e+01] [ 4.95232619e-02 -2.31864248e-03 9.98770279e-01 3.45522233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:95.20, Y:10.79, Z:3.46 [[ 9.85824980e-01 -1.60733430e-01 -4.81027350e-02 9.52029553e+01] [ 1.60648206e-01 9.86995513e-01 -5.65787399e-03 1.07927396e+01] [ 4.83865931e-02 -2.14994457e-03 9.98826369e-01 3.45809861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:95.23, Y:10.80, Z:3.46 [[ 9.85821674e-01 -1.60754137e-01 -4.81013010e-02 9.52328776e+01] [ 1.60668346e-01 9.86992165e-01 -5.67003977e-03 1.07963085e+01] [ 4.83870895e-02 -2.13870837e-03 9.98826369e-01 3.45937420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:95.26, Y:10.80, Z:3.46 [[ 9.86561948e-01 -1.56152261e-01 -4.80831965e-02 9.52613640e+01] [ 1.56061029e-01 9.87731147e-01 -5.66890380e-03 1.08030934e+01] [ 4.83784830e-02 -1.91118834e-03 9.98827247e-01 3.46214912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.614391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:95.29, Y:10.81, Z:3.46 [[ 9.86933363e-01 -1.53599238e-01 -4.86807091e-02 9.52901857e+01] [ 1.53502567e-01 9.88131574e-01 -5.74050035e-03 1.08086508e+01] [ 4.89846823e-02 -1.80712252e-03 9.98797895e-01 3.46313114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:95.32, Y:10.81, Z:3.46 [[ 9.87240638e-01 -1.51344897e-01 -4.95039971e-02 9.53181352e+01] [ 1.51241905e-01 9.88479521e-01 -5.84149087e-03 1.08143639e+01] [ 4.98177672e-02 -1.72012164e-03 9.98756843e-01 3.46371690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:95.35, Y:10.82, Z:3.46 [[ 9.87815561e-01 -1.46947495e-01 -5.12528234e-02 9.53465493e+01] [ 1.46830514e-01 9.89143097e-01 -6.06079879e-03 1.08221345e+01] [ 5.15869956e-02 -1.53852706e-03 9.98667319e-01 3.46322624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:95.37, Y:10.83, Z:3.46 [[ 9.87918400e-01 -1.46521116e-01 -5.04856274e-02 9.53740817e+01] [ 1.46406886e-01 9.89206420e-01 -5.97341497e-03 1.08277688e+01] [ 5.08159382e-02 -1.49019694e-03 9.98706924e-01 3.46451934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73439141799999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:95.40, Y:10.83, Z:3.47 [[ 9.88021364e-01 -1.45958683e-01 -5.00983686e-02 9.54020535e+01] [ 1.45845154e-01 9.89289633e-01 -5.93400853e-03 1.08325868e+01] [ 5.04279168e-02 -1.44367707e-03 9.98726660e-01 3.46548603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76439141799999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:95.43, Y:10.84, Z:3.47 [[ 9.88203123e-01 -1.45001855e-01 -4.92853896e-02 9.54308746e+01] [ 1.44890205e-01 9.89430448e-01 -5.84954033e-03 1.08386540e+01] [ 4.96126593e-02 -1.36043618e-03 9.98767607e-01 3.46735295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79439141799999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:95.46, Y:10.85, Z:3.47 [[ 9.88308837e-01 -1.44607088e-01 -4.83159726e-02 9.54603988e+01] [ 1.44499235e-01 9.89488286e-01 -5.73616565e-03 1.08462924e+01] [ 4.86375791e-02 -1.31251787e-03 9.98815630e-01 3.47077112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:95.49, Y:10.85, Z:3.47 [[ 9.88353130e-01 -1.44210133e-01 -4.85955518e-02 9.54890377e+01] [ 1.44100542e-01 9.89546233e-01 -5.76949276e-03 1.08521028e+01] [ 4.89195645e-02 -1.30034913e-03 9.98801875e-01 3.47305578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85439141799999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:95.52, Y:10.86, Z:3.47 [[ 9.88385078e-01 -1.43914122e-01 -4.88227799e-02 9.55194975e+01] [ 1.43803102e-01 9.89589339e-01 -5.79731996e-03 1.08581467e+01] [ 4.91488187e-02 -1.29088265e-03 9.98790632e-01 3.47428026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88439141799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:95.55, Y:10.85, Z:3.48 [[ 9.87840183e-01 -1.44053218e-01 -5.84845626e-02 9.55484976e+01] [ 1.45448572e-01 9.89157021e-01 2.03248880e-02 1.08534326e+01] [ 5.49225502e-02 -2.85842372e-02 9.98081387e-01 3.47728755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:95.58, Y:10.88, Z:3.48 [[ 9.88233668e-01 -1.46091420e-01 -4.52936479e-02 9.55764040e+01] [ 1.44679292e-01 9.88926640e-01 -3.30454722e-02 1.08825990e+01] [ 4.96197550e-02 2.61035953e-02 9.98427004e-01 3.48235381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:95.61, Y:10.87, Z:3.48 [[ 9.88190884e-01 -1.45480748e-01 -4.81054023e-02 9.56086282e+01] [ 1.45374402e-01 9.89360175e-01 -5.72075097e-03 1.08741128e+01] [ 4.84258283e-02 -1.34010015e-03 9.98825882e-01 3.47548076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:95.64, Y:10.88, Z:3.48 [[ 9.88113624e-01 -1.46455443e-01 -4.67147679e-02 9.56401806e+01] [ 1.46356256e-01 9.89216350e-01 -5.55517676e-03 1.08780363e+01] [ 4.70245980e-02 -1.34785268e-03 9.98892822e-01 3.47699827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.004391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:95.67, Y:10.88, Z:3.48 [[ 9.88056008e-01 -1.47045657e-01 -4.60749395e-02 9.56717127e+01] [ 1.46949896e-01 9.89128772e-01 -5.47722275e-03 1.08815048e+01] [ 4.63794501e-02 -1.35890470e-03 9.98922970e-01 3.47775516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:95.70, Y:10.89, Z:3.48 [[ 9.88046097e-01 -1.46837283e-01 -4.69438225e-02 9.57025062e+01] [ 1.46737738e-01 9.89159703e-01 -5.57845039e-03 1.08868201e+01] [ 4.72540620e-02 -1.37666420e-03 9.98881954e-01 3.47980318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:95.73, Y:10.90, Z:3.49 [[ 9.88031368e-01 -1.46208153e-01 -4.91649475e-02 9.57308340e+01] [ 1.45685584e-01 9.89230902e-01 -1.40688791e-02 1.08971530e+01] [ 5.06924702e-02 6.73786981e-03 9.98691581e-01 3.48520494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.094391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:95.76, Y:10.90, Z:3.48 [[ 9.88464904e-01 -1.43125948e-01 -4.95186408e-02 9.57598543e+01] [ 1.43410945e-01 9.89660707e-01 2.23267517e-03 1.09005705e+01] [ 4.86870993e-02 -9.30843614e-03 9.98770704e-01 3.48375975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12439141799999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:95.79, Y:10.91, Z:3.49 [[ 9.88682817e-01 -1.41922882e-01 -4.86228617e-02 9.57902511e+01] [ 1.41809629e-01 9.89877024e-01 -5.78856917e-03 1.09095126e+01] [ 4.89521840e-02 -1.17213109e-03 9.98800435e-01 3.48730995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15439141799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:95.82, Y:10.91, Z:3.49 [[ 9.88868743e-01 -1.40673429e-01 -4.84726235e-02 9.58218330e+01] [ 1.40559468e-01 9.90055431e-01 -5.76877630e-03 1.09131625e+01] [ 4.88020977e-02 -1.10872359e-03 9.98807852e-01 3.48809860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18439141799999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:95.85, Y:10.92, Z:3.49 [[ 9.89243327e-01 -1.38133305e-01 -4.81334560e-02 9.58526772e+01] [ 1.38018032e-01 9.90413162e-01 -5.72630001e-03 1.09151579e+01] [ 4.84630011e-02 -9.78580803e-04 9.98824499e-01 3.48755094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21439141799999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:95.88, Y:10.92, Z:3.49 [[ 9.89438081e-01 -1.36548065e-01 -4.86509015e-02 9.58840768e+01] [ 1.36428537e-01 9.90633025e-01 -5.78474637e-03 1.09193909e+01] [ 4.89850856e-02 -9.13722941e-04 9.98799092e-01 3.48815311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24439141799999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:95.91, Y:10.93, Z:3.49 [[ 9.89618506e-01 -1.34948688e-01 -4.94374738e-02 9.59146063e+01] [ 1.34823367e-01 9.90852224e-01 -5.87629038e-03 1.09250324e+01] [ 4.97782286e-02 -8.50040951e-04 9.98759934e-01 3.48934028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:95.94, Y:10.93, Z:3.49 [[ 9.89998953e-01 -1.31277498e-01 -5.16555162e-02 9.59447729e+01] [ 1.31135789e-01 9.91345415e-01 -6.13782879e-03 1.09334798e+01] [ 5.20142180e-02 -6.97442779e-04 9.98646101e-01 3.49143740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:95.98, Y:10.94, Z:3.49 [[ 9.90233340e-01 -1.29011785e-01 -5.28572715e-02 9.59755248e+01] [ 1.28860289e-01 9.91642883e-01 -6.27849324e-03 1.09387816e+01] [ 5.32255367e-02 -5.94029949e-04 9.98582340e-01 3.49323372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:96.01, Y:10.94, Z:3.50 [[ 9.90442252e-01 -1.27481713e-01 -5.26550810e-02 9.60053260e+01] [ 1.27329344e-01 9.91840789e-01 -6.25201277e-03 1.09435733e+01] [ 5.30224744e-02 -5.12279333e-04 9.98593188e-01 3.49543406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.364391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:96.04, Y:10.95, Z:3.50 [[ 9.90770133e-01 -1.25288746e-01 -5.17423826e-02 9.60360191e+01] [ 1.25138775e-01 9.92120243e-01 -6.14082782e-03 1.09474772e+01] [ 5.21040418e-02 -3.90829565e-04 9.98641585e-01 3.49718884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:96.07, Y:10.95, Z:3.50 [[ 9.90830154e-01 -1.25050858e-01 -5.11653125e-02 9.60666192e+01] [ 1.24903898e-01 9.92150262e-01 -6.07234067e-03 1.09504621e+01] [ 5.15230296e-02 -3.74088739e-04 9.98671737e-01 3.49871148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:96.10, Y:10.95, Z:3.50 [[ 9.90807911e-01 -1.25456007e-01 -5.06011250e-02 9.60967036e+01] [ 1.25312809e-01 9.92099107e-01 -6.00520758e-03 1.09536758e+01] [ 5.09547202e-02 -3.90961915e-04 9.98700888e-01 3.50008717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:96.13, Y:10.96, Z:3.50 [[ 9.90810379e-01 -1.25436465e-01 -5.06012443e-02 9.61274667e+01] [ 1.25293293e-01 9.92101578e-01 -6.00420215e-03 1.09573230e+01] [ 5.09547202e-02 -3.90970696e-04 9.98700888e-01 3.50139648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48439141799999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:96.16, Y:10.96, Z:3.50 [[ 9.90571166e-01 -1.27465473e-01 -5.02127364e-02 9.61575280e+01] [ 1.27327138e-01 9.91842886e-01 -5.95727161e-03 1.09612488e+01] [ 5.05624918e-02 -4.92342543e-04 9.98720778e-01 3.50248896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51439141799999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:96.19, Y:10.97, Z:3.50 [[ 9.90320483e-01 -1.29357606e-01 -5.03184964e-02 9.61876181e+01] [ 1.29221136e-01 9.91597832e-01 -5.96965211e-03 1.09653626e+01] [ 5.06679318e-02 -5.90344510e-04 9.98715381e-01 3.50342103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54439141799999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:96.22, Y:10.97, Z:3.50 [[ 9.90033094e-01 -1.31254831e-01 -5.10552867e-02 9.62166136e+01] [ 1.31116880e-01 9.91348416e-01 -6.05654546e-03 1.09692053e+01] [ 5.14085284e-02 -6.98029438e-04 9.98677463e-01 3.50442840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57439141799999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:96.25, Y:10.97, Z:3.51 [[ 9.89436503e-01 -1.35452308e-01 -5.16534467e-02 9.62478758e+01] [ 1.35316755e-01 9.90783435e-01 -6.12864442e-03 1.09725574e+01] [ 5.20075184e-02 -9.25672310e-04 9.98646264e-01 3.50558872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60439141799999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:96.28, Y:10.97, Z:3.51 [[ 9.89143785e-01 -1.37686857e-01 -5.13507659e-02 9.62778968e+01] [ 1.37555994e-01 9.90475265e-01 -6.09084026e-03 1.09745516e+01] [ 5.17002921e-02 -1.03888886e-03 9.98662105e-01 3.50658905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63439141799999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:96.31, Y:10.98, Z:3.51 [[ 9.88786242e-01 -1.40225179e-01 -5.13679620e-02 9.63085674e+01] [ 1.40097693e-01 9.90118944e-01 -6.09203061e-03 1.09762041e+01] [ 5.17146484e-02 -1.17281690e-03 9.98661214e-01 3.50769148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:96.34, Y:10.98, Z:3.51 [[ 9.88474199e-01 -1.42622133e-01 -5.07709159e-02 9.63396988e+01] [ 1.42500770e-01 9.89776379e-01 -6.02085251e-03 1.09782517e+01] [ 5.11105601e-02 -1.28343723e-03 9.98692177e-01 3.50840688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:96.37, Y:10.98, Z:3.51 [[ 9.87785085e-01 -1.47264818e-01 -5.09283797e-02 9.63700810e+01] [ 1.47148978e-01 9.89095916e-01 -6.03719501e-03 1.09828795e+01] [ 5.12621188e-02 -1.53060784e-03 9.98684060e-01 3.51103438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:96.40, Y:10.99, Z:3.51 [[ 9.87513597e-01 -1.49079094e-01 -5.09148349e-02 9.64010118e+01] [ 1.48965885e-01 9.88823935e-01 -6.03240049e-03 1.09886476e+01] [ 5.12451122e-02 -1.62749596e-03 9.98684780e-01 3.51319579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.754391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:96.43, Y:10.99, Z:3.51 [[ 9.87299695e-01 -1.50539962e-01 -5.07644699e-02 9.64325942e+01] [ 1.50429520e-01 9.88602460e-01 -6.01124793e-03 1.09938685e+01] [ 5.10908128e-02 -1.70157157e-03 9.98692562e-01 3.51497698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:96.46, Y:11.00, Z:3.52 [[ 9.86881390e-01 -1.53455375e-01 -5.01654245e-02 9.64631108e+01] [ 1.53351485e-01 9.88153876e-01 -5.93630384e-03 1.09979197e+01] [ 5.04821164e-02 -1.83451454e-03 9.98723280e-01 3.51583273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:96.50, Y:11.00, Z:3.52 [[ 9.86636329e-01 -1.55119313e-01 -4.98673492e-02 9.64951796e+01] [ 1.55018938e-01 9.87893894e-01 -5.89776556e-03 1.10006839e+01] [ 5.01785071e-02 -1.91143375e-03 9.98738436e-01 3.51601047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.844391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:96.53, Y:11.00, Z:3.52 [[ 9.86023787e-01 -1.59046370e-01 -4.96119399e-02 9.65259112e+01] [ 1.58952200e-01 9.87268870e-01 -5.86308980e-03 1.10030276e+01] [ 4.99128270e-02 -2.10478099e-03 9.98751360e-01 3.51559288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87439141799999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:96.56, Y:11.01, Z:3.52 [[ 9.85657909e-01 -1.61191631e-01 -4.99574338e-02 9.65580727e+01] [ 1.61099216e-01 9.86920596e-01 -5.89749603e-03 1.10077073e+01] [ 5.02546473e-02 -2.23518983e-03 9.98733936e-01 3.51723100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90439141799999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:96.59, Y:11.01, Z:3.52 [[ 9.85287474e-01 -1.63429090e-01 -4.99952513e-02 9.65888932e+01] [ 1.63339606e-01 9.86552273e-01 -5.89800363e-03 1.10132365e+01] [ 5.02868342e-02 -2.35497555e-03 9.98732040e-01 3.51887545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93439141799999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:96.62, Y:11.02, Z:3.52 [[ 9.84714174e-01 -1.66825412e-01 -5.00727248e-02 9.66203837e+01] [ 1.66740189e-01 9.85983191e-01 -5.90390793e-03 1.10205306e+01] [ 5.03557869e-02 -2.53547376e-03 9.98728124e-01 3.52157516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96439141799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:96.65, Y:11.03, Z:3.52 [[ 9.84473747e-01 -1.68217139e-01 -5.01441405e-02 9.66526610e+01] [ 1.68133676e-01 9.85746498e-01 -5.90828747e-03 1.10253553e+01] [ 5.04232861e-02 -2.61436475e-03 9.98724515e-01 3.52336220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99439141799999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:96.68, Y:11.03, Z:3.52 [[ 9.83942520e-01 -1.71065598e-01 -5.09281640e-02 9.66822282e+01] [ 1.71068453e-01 9.85249608e-01 -4.33527599e-03 1.10314569e+01] [ 5.09185702e-02 -4.44653987e-03 9.98692910e-01 3.52436327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:96.71, Y:11.04, Z:3.53 [[ 9.83803256e-01 -1.72138229e-01 -4.99958330e-02 9.67142787e+01] [ 1.71936271e-01 9.85072729e-01 -8.34491637e-03 1.10385007e+01] [ 5.06860108e-02 -3.86341223e-04 9.98714563e-01 3.52663325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:96.75, Y:11.04, Z:3.53 [[ 9.84143246e-01 -1.69911921e-01 -5.09117855e-02 9.67488264e+01] [ 1.69827478e-01 9.85455472e-01 -6.01170587e-03 1.10402732e+01] [ 5.11927581e-02 -2.72984039e-03 9.98685060e-01 3.52747421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:96.78, Y:11.05, Z:3.53 [[ 9.84206753e-01 -1.69421993e-01 -5.13152660e-02 9.67808086e+01] [ 1.69337923e-01 9.85539704e-01 -6.01328320e-03 1.10456333e+01] [ 5.15920144e-02 -2.77130663e-03 9.98664400e-01 3.52853629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.114391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:96.81, Y:11.05, Z:3.53 [[ 9.84354298e-01 -1.68521758e-01 -5.14493324e-02 9.68118543e+01] [ 1.68436229e-01 9.85694139e-01 -6.02502034e-03 1.10508113e+01] [ 5.17286524e-02 -2.73517686e-03 9.98657431e-01 3.52929857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:96.84, Y:11.06, Z:3.53 [[ 9.84942079e-01 -1.65358592e-01 -5.04543051e-02 9.68427829e+01] [ 1.65272382e-01 9.86230283e-01 -5.90490704e-03 1.10578354e+01] [ 5.07359907e-02 -2.52271176e-03 9.98708914e-01 3.53004409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:96.88, Y:11.06, Z:3.53 [[ 9.85373994e-01 -1.63128687e-01 -4.92658464e-02 9.68757408e+01] [ 1.63044019e-01 9.86601984e-01 -5.75957500e-03 1.10638119e+01] [ 4.95453337e-02 -2.35716616e-03 9.98769094e-01 3.53198315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:96.91, Y:11.07, Z:3.53 [[ 9.85851131e-01 -1.60458318e-01 -4.84837624e-02 9.69065471e+01] [ 1.60373388e-01 9.87040180e-01 -5.66212915e-03 1.10699142e+01] [ 4.87639573e-02 -2.19348878e-03 9.98807922e-01 3.53425701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23439141799999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:96.94, Y:11.08, Z:3.54 [[ 9.86805865e-01 -1.54713960e-01 -4.77260505e-02 9.69380410e+01] [ 1.54625261e-01 9.87957506e-01 -5.56727638e-03 1.10800355e+01] [ 4.80126452e-02 -1.88583201e-03 9.98844948e-01 3.53789522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26439141799999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:96.97, Y:11.09, Z:3.54 [[ 9.87284387e-01 -1.51607689e-01 -4.77979823e-02 9.69706882e+01] [ 1.51515373e-01 9.88439209e-01 -5.56972553e-03 1.10872628e+01] [ 4.80898130e-02 -1.74322605e-03 9.98841494e-01 3.54032988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29439141799999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:97.00, Y:11.10, Z:3.54 [[ 9.88082892e-01 -1.46035416e-01 -4.86400714e-02 9.70015248e+01] [ 1.45933365e-01 9.89278220e-01 -5.66190673e-03 1.10967267e+01] [ 4.89454022e-02 -1.50377612e-03 9.98800324e-01 3.54144609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32439141799999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:97.03, Y:11.10, Z:3.54 [[ 9.88479552e-01 -1.43012387e-01 -4.95543356e-02 9.70343749e+01] [ 1.42902932e-01 9.89719930e-01 -5.76305274e-03 1.11021918e+01] [ 4.98691015e-02 -1.38480004e-03 9.98754802e-01 3.54141330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35439141799999 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:97.07, Y:11.11, Z:3.54 [[ 9.88768174e-01 -1.41220634e-01 -4.89308665e-02 9.70659095e+01] [ 1.41112007e-01 9.89977315e-01 -5.68481496e-03 1.11075056e+01] [ 4.92432611e-02 -1.28376867e-03 9.98785990e-01 3.54269453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38439141799999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:97.10, Y:11.11, Z:3.54 [[ 9.89066994e-01 -1.39037654e-01 -4.91427783e-02 9.70990200e+01] [ 1.38925643e-01 9.90286386e-01 -5.70434154e-03 1.11118941e+01] [ 4.94585426e-02 -1.18521615e-03 9.98775474e-01 3.54238389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:97.13, Y:11.12, Z:3.54 [[ 9.89477103e-01 -1.36320153e-01 -4.84961645e-02 9.71304543e+01] [ 1.36208084e-01 9.90664288e-01 -5.62368145e-03 1.11168651e+01] [ 4.88100394e-02 -1.04106564e-03 9.98807537e-01 3.54353790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:97.16, Y:11.12, Z:3.54 [[ 9.89696153e-01 -1.34777715e-01 -4.83372743e-02 9.71625944e+01] [ 1.34664767e-01 9.90875387e-01 -5.60062187e-03 1.11219000e+01] [ 4.86510545e-02 -9.66413882e-04 9.98815369e-01 3.54470944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:97.19, Y:11.13, Z:3.55 [[ 9.90218465e-01 -1.30456166e-01 -4.94831313e-02 9.71946320e+01] [ 1.30332616e-01 9.91453774e-01 -5.72912757e-03 1.11310680e+01] [ 4.98076373e-02 -7.76178026e-04 9.98758528e-01 3.54862351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:97.23, Y:11.14, Z:3.55 [[ 9.90577913e-01 -1.27341659e-01 -5.03934608e-02 9.72259512e+01] [ 1.27209800e-01 9.91858708e-01 -5.82844181e-03 1.11373043e+01] [ 5.07253963e-02 -6.37016348e-04 9.98712435e-01 3.55021069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:97.26, Y:11.14, Z:3.55 [[ 9.90815246e-01 -1.25262720e-01 -5.09352463e-02 9.72581336e+01] [ 1.25125542e-01 9.92123459e-01 -5.88567184e-03 1.11430305e+01] [ 5.12713080e-02 -5.41686897e-04 9.98684615e-01 3.55228386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:97.29, Y:11.15, Z:3.55 [[ 9.91050840e-01 -1.23256843e-01 -5.12443508e-02 9.72887102e+01] [ 1.23115656e-01 9.92374703e-01 -5.91476115e-03 1.11468377e+01] [ 5.15826321e-02 -4.47152867e-04 9.98668630e-01 3.55280658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.594391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:97.32, Y:11.15, Z:3.55 [[ 9.91243916e-01 -1.22099822e-01 -5.02705941e-02 9.73206867e+01] [ 1.21962786e-01 9.92517750e-01 -5.79605369e-03 1.11486357e+01] [ 5.06021541e-02 -3.85838774e-04 9.98718816e-01 3.55165771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62439141799999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:97.35, Y:11.15, Z:3.55 [[ 9.91273908e-01 -1.22379328e-01 -4.89830556e-02 9.73527370e+01] [ 1.22249762e-01 9.92483322e-01 -5.64362559e-03 1.11513545e+01] [ 4.93055288e-02 -3.93788121e-04 9.98783665e-01 3.55214777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65439141799999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:97.38, Y:11.16, Z:3.55 [[ 9.91032785e-01 -1.24997332e-01 -4.72195543e-02 9.73830430e+01] [ 1.24880078e-01 9.92156947e-01 -5.43672894e-03 1.11565431e+01] [ 4.75287854e-02 -5.08805015e-04 9.98869739e-01 3.55470524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68439141799999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:97.42, Y:11.16, Z:3.56 [[ 9.90830927e-01 -1.26693717e-01 -4.69337330e-02 9.74156029e+01] [ 1.26579932e-01 9.91941709e-01 -5.40061563e-03 1.11618149e+01] [ 4.72397514e-02 -5.89771744e-04 9.98883406e-01 3.55715090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71439141799999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:97.45, Y:11.18, Z:3.56 [[ 9.91167986e-01 -1.27297015e-01 -3.71684430e-02 9.74510292e+01] [ 1.25933134e-01 9.91348872e-01 -3.69899963e-02 1.11790532e+01] [ 4.15556101e-02 3.19825616e-02 9.98624177e-01 3.56158783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74439141799999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:97.48, Y:11.15, Z:3.55 [[ 9.89922711e-01 -1.31590789e-01 -5.23153017e-02 9.74813100e+01] [ 1.33161237e-01 9.90705923e-01 2.77463464e-02 1.11522909e+01] [ 4.81779156e-02 -3.44331088e-02 9.98245085e-01 3.54910988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:97.51, Y:11.17, Z:3.56 [[ 9.89523223e-01 -1.35759807e-01 -4.91229670e-02 9.75123605e+01] [ 1.35646984e-01 9.90741187e-01 -5.63873646e-03 1.11690919e+01] [ 4.94336604e-02 -1.08372165e-03 9.98776821e-01 3.56006708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:97.55, Y:11.17, Z:3.56 [[ 9.89092023e-01 -1.38718053e-01 -4.95406164e-02 9.75453727e+01] [ 1.38607310e-01 9.90331129e-01 -5.68062031e-03 1.11709233e+01] [ 4.98496192e-02 -1.24803533e-03 9.98755955e-01 3.56057251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:97.58, Y:11.17, Z:3.56 [[ 9.88691926e-01 -1.41532085e-01 -4.95675812e-02 9.75787034e+01] [ 1.41425062e-01 9.89932683e-01 -5.67750842e-03 1.11738305e+01] [ 4.98721182e-02 -1.39679149e-03 9.98754635e-01 3.56197698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864391418 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:97.61, Y:11.18, Z:3.56 [[ 9.88190093e-01 -1.45343643e-01 -4.85341678e-02 9.76112075e+01] [ 1.45245915e-01 9.89380001e-01 -5.55317486e-03 1.11779167e+01] [ 4.88258537e-02 -1.56179726e-03 9.98806086e-01 3.56342153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.894391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:97.64, Y:11.18, Z:3.57 [[ 9.87947965e-01 -1.47247335e-01 -4.77183388e-02 9.76442399e+01] [ 1.47155364e-01 9.89098354e-01 -5.45397813e-03 1.11820807e+01] [ 4.80012141e-02 -1.63376291e-03 9.98845941e-01 3.56680097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:97.68, Y:11.18, Z:3.57 [[ 9.87867927e-01 -1.48003910e-01 -4.70297948e-02 9.76759459e+01] [ 1.47915721e-01 9.88985395e-01 -5.36911583e-03 1.11843929e+01] [ 4.73064303e-02 -1.65246870e-03 9.98879057e-01 3.56734379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:97.71, Y:11.18, Z:3.57 [[ 9.87785561e-01 -1.48654607e-01 -4.67064594e-02 9.77094844e+01] [ 1.48568783e-01 9.88887750e-01 -5.32305389e-03 1.11838907e+01] [ 4.69787420e-02 -1.68108604e-03 9.98894475e-01 3.56640534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98439141799999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:97.74, Y:11.19, Z:3.57 [[ 9.87756034e-01 -1.48836381e-01 -4.67519969e-02 9.77423173e+01] [ 1.48750864e-01 9.88860380e-01 -5.32249505e-03 1.11869270e+01] [ 4.70233783e-02 -1.69707334e-03 9.98892347e-01 3.56721471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01439141799999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:97.78, Y:11.19, Z:3.57 [[ 9.87675969e-01 -1.49153715e-01 -4.74273184e-02 9.77750274e+01] [ 1.49066360e-01 9.88812486e-01 -5.39338643e-03 1.11911813e+01] [ 4.77011683e-02 -1.74289956e-03 9.98860131e-01 3.56857718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04439141799999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:97.81, Y:11.20, Z:3.57 [[ 9.87480423e-01 -1.50428666e-01 -4.74724264e-02 9.78064308e+01] [ 1.50342894e-01 9.88619205e-01 -5.39269639e-03 1.11977665e+01] [ 4.77433686e-02 -1.81195984e-03 9.98857992e-01 3.57126375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07439141799999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:97.84, Y:11.20, Z:3.57 [[ 9.87424374e-01 -1.51279998e-01 -4.59071551e-02 9.78385104e+01] [ 1.51200936e-01 9.88489319e-01 -5.20992866e-03 1.12004558e+01] [ 4.61668905e-02 -1.79679427e-03 9.98932125e-01 3.57264864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10439141799999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:97.87, Y:11.20, Z:3.57 [[ 9.87371897e-01 -1.51768656e-01 -4.54203977e-02 9.78719605e+01] [ 1.51692184e-01 9.88414388e-01 -5.14578211e-03 1.12020436e+01] [ 4.56751430e-02 -1.80911870e-03 9.98954708e-01 3.57320471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13439141799999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:97.91, Y:11.20, Z:3.57 [[ 9.87333313e-01 -1.51971945e-01 -4.55791264e-02 9.79051150e+01] [ 1.51895412e-01 9.88383113e-01 -5.15815410e-03 1.12037549e+01] [ 4.58335336e-02 -1.83044281e-03 9.98947414e-01 3.57375667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:97.94, Y:11.21, Z:3.57 [[ 9.87327949e-01 -1.51846638e-01 -4.61098741e-02 9.79378150e+01] [ 1.51768439e-01 9.88402332e-01 -5.21253512e-03 1.12070520e+01] [ 4.63666130e-02 -1.85154202e-03 9.98922774e-01 3.57496023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:97.97, Y:11.21, Z:3.58 [[ 9.87319915e-01 -1.51670508e-01 -4.68555542e-02 9.79697008e+01] [ 1.51589836e-01 9.88429323e-01 -5.29103478e-03 1.12123270e+01] [ 4.71158976e-02 -1.87888174e-03 9.98887662e-01 3.57697061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:98.00, Y:11.22, Z:3.58 [[ 9.87496434e-01 -1.49765314e-01 -4.92051155e-02 9.80007466e+01] [ 1.49674247e-01 9.88719781e-01 -5.55110671e-03 1.12212184e+01] [ 4.94814342e-02 -1.88304055e-03 9.98773268e-01 3.57958239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.254391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:98.03, Y:11.23, Z:3.58 [[ 9.87651204e-01 -1.48609657e-01 -4.96011038e-02 9.80332286e+01] [ 1.48515920e-01 9.88894214e-01 -5.59064794e-03 1.12262041e+01] [ 4.98810688e-02 -1.84494341e-03 9.98753461e-01 3.58090424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:98.07, Y:11.23, Z:3.58 [[ 9.87873876e-01 -1.47073570e-01 -4.97450530e-02 9.80658076e+01] [ 1.46977646e-01 9.89123957e-01 -5.60086213e-03 1.12293014e+01] [ 5.00277624e-02 -1.77846539e-03 9.98746244e-01 3.58152429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:98.10, Y:11.23, Z:3.58 [[ 9.88175735e-01 -1.45258181e-01 -4.90792882e-02 9.80985895e+01] [ 1.45162859e-01 9.89392376e-01 -5.52008946e-03 1.12312405e+01] [ 4.93605117e-02 -1.66967134e-03 9.98779631e-01 3.58155977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.344391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:98.13, Y:11.23, Z:3.58 [[ 9.88190139e-01 -1.45159945e-01 -4.90799329e-02 9.81310683e+01] [ 1.45064787e-01 9.89406792e-01 -5.51435179e-03 1.12348060e+01] [ 4.93604819e-02 -1.67054193e-03 9.98779631e-01 3.58295071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37439141799999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:98.16, Y:11.24, Z:3.58 [[ 9.88636132e-01 -1.42382539e-01 -4.82266632e-02 9.81629750e+01] [ 1.42287592e-01 9.89810554e-01 -5.41371137e-03 1.12363255e+01] [ 4.85060782e-02 -1.50986511e-03 9.98821746e-01 3.58327015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40439141799999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:98.20, Y:11.24, Z:3.59 [[ 9.88858629e-01 -1.41040738e-01 -4.76038011e-02 9.81954291e+01] [ 1.40946906e-01 9.90002760e-01 -5.33898689e-03 1.12408757e+01] [ 4.78809091e-02 -1.43010522e-03 9.98852028e-01 3.58500537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43439141799999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:98.23, Y:11.25, Z:3.59 [[ 9.89121481e-01 -1.39468977e-01 -4.67664440e-02 9.82277199e+01] [ 1.39376917e-01 9.90225540e-01 -5.23967865e-03 1.12469875e+01] [ 4.70400999e-02 -1.33548406e-03 9.98892109e-01 3.58794265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46439141799999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:98.26, Y:11.27, Z:3.60 [[ 9.90134105e-01 -1.35524427e-01 -3.56031531e-02 9.82613948e+01] [ 1.34367973e-01 9.90378777e-01 -3.30926734e-02 1.12680312e+01] [ 3.97454728e-02 2.79822610e-02 9.98817947e-01 3.59511272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49439141799999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:98.29, Y:11.25, Z:3.59 [[ 9.90005591e-01 -1.32903777e-01 -4.71753631e-02 9.82920992e+01] [ 1.34154460e-01 9.90659918e-01 2.44030111e-02 1.12469470e+01] [ 4.34914890e-02 -3.04879028e-02 9.98588493e-01 3.58586405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:98.32, Y:11.26, Z:3.60 [[ 9.90246440e-01 -1.32389747e-01 -4.34159179e-02 9.83219182e+01] [ 1.32304316e-01 9.91197289e-01 -4.84801025e-03 1.12629272e+01] [ 4.36755670e-02 -9.43388427e-04 9.99045322e-01 3.59591306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:98.36, Y:11.26, Z:3.59 [[ 9.90553704e-01 -1.29796550e-01 -4.42291212e-02 9.83550659e+01] [ 1.29705509e-01 9.91540284e-01 -4.93421541e-03 1.12624012e+01] [ 4.44953995e-02 -8.49155325e-04 9.99009228e-01 3.59374793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:98.39, Y:11.27, Z:3.59 [[ 9.90629961e-01 -1.28755177e-01 -4.55454203e-02 9.83869516e+01] [ 1.28657795e-01 9.91676062e-01 -5.07539771e-03 1.12652108e+01] [ 4.58197867e-02 -8.31932293e-04 9.98949376e-01 3.59335918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.614391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:98.42, Y:11.27, Z:3.60 [[ 9.90622511e-01 -1.28720115e-01 -4.58058163e-02 9.84197899e+01] [ 1.28621796e-01 9.91680607e-01 -5.09968175e-03 1.12703710e+01] [ 4.60811714e-02 -8.39766833e-04 9.98937346e-01 3.59590736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.644391418 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:98.45, Y:11.28, Z:3.60 [[ 9.90598301e-01 -1.28676763e-01 -4.64467175e-02 9.84514576e+01] [ 1.28575911e-01 9.91686220e-01 -5.16493474e-03 1.12757494e+01] [ 4.67251767e-02 -8.55553407e-04 9.98907416e-01 3.59762574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:98.48, Y:11.28, Z:3.60 [[ 9.90452925e-01 -1.29686967e-01 -4.67364283e-02 9.84833816e+01] [ 1.29586400e-01 9.91554561e-01 -5.18811401e-03 1.12811218e+01] [ 4.70145494e-02 -9.17822808e-04 9.98893783e-01 3.59927817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:98.52, Y:11.28, Z:3.60 [[ 9.90465266e-01 -1.29592501e-01 -4.67369310e-02 9.85158651e+01] [ 1.29492044e-01 9.91566912e-01 -5.18358140e-03 1.12846385e+01] [ 4.70145476e-02 -9.17903380e-04 9.98893783e-01 3.60067415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73439141799999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:98.55, Y:11.29, Z:3.60 [[ 9.90474733e-01 -1.29708767e-01 -4.62108199e-02 9.85485819e+01] [ 1.29610895e-01 9.91551710e-01 -5.12072712e-03 1.12867238e+01] [ 4.64846207e-02 -9.17474906e-04 9.98918584e-01 3.60256766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76439141799999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:98.58, Y:11.29, Z:3.60 [[ 9.90611897e-01 -1.28830120e-01 -4.57260369e-02 9.85813262e+01] [ 1.28733609e-01 9.91666294e-01 -5.06151322e-03 1.12897492e+01] [ 4.59970449e-02 -8.72482542e-04 9.98941195e-01 3.60441679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79439141799999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:98.61, Y:11.30, Z:3.61 [[ 9.90993469e-01 -1.25600080e-01 -4.64388210e-02 9.86140447e+01] [ 1.25497259e-01 9.92080679e-01 -5.13468319e-03 1.12950960e+01] [ 4.67159737e-02 -7.39507256e-04 9.98907939e-01 3.60695832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82439141799999 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:98.65, Y:11.30, Z:3.61 [[ 9.91306693e-01 -1.23153152e-01 -4.63070382e-02 9.86468093e+01] [ 1.23048512e-01 9.92387478e-01 -5.11439620e-03 1.12999743e+01] [ 4.65843789e-02 -6.28076970e-04 9.98914161e-01 3.60805235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85439141799999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:98.68, Y:11.30, Z:3.61 [[ 9.91603373e-01 -1.20699564e-01 -4.64151544e-02 9.86788451e+01] [ 1.20592012e-01 9.92688947e-01 -5.12067969e-03 1.13041898e+01] [ 4.66938745e-02 -5.19613597e-04 9.98909111e-01 3.60914348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88439141799999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:98.71, Y:11.31, Z:3.61 [[ 9.92204282e-01 -1.15979067e-01 -4.56017407e-02 9.87118024e+01] [ 1.15870481e-01 9.93251614e-01 -5.02630308e-03 1.13059692e+01] [ 4.58769485e-02 -2.96776176e-04 9.98947054e-01 3.60916615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:98.74, Y:11.31, Z:3.61 [[ 9.92408518e-01 -1.14313760e-01 -4.53618531e-02 9.87436596e+01] [ 1.14204820e-01 9.93444671e-01 -4.99450587e-03 1.13078956e+01] [ 4.56354320e-02 -2.23952083e-04 9.98958136e-01 3.61002518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:98.78, Y:11.31, Z:3.61 [[ 9.92562091e-01 -1.12972521e-01 -4.53619420e-02 9.87760597e+01] [ 1.12862349e-01 9.93598099e-01 -4.99080711e-03 1.13100843e+01] [ 4.56353634e-02 -1.65969407e-04 9.98958150e-01 3.61133092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974391418 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:98.81, Y:11.31, Z:3.61 [[ 9.92733743e-01 -1.11417190e-01 -4.54524588e-02 9.88079847e+01] [ 1.11305121e-01 9.93773717e-01 -4.99700534e-03 1.13123530e+01] [ 4.57262112e-02 -9.83956110e-05 9.98954005e-01 3.61233489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.004391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:98.84, Y:11.32, Z:3.62 [[ 9.92752632e-01 -1.11364156e-01 -4.51689869e-02 9.88395051e+01] [ 1.11253595e-01 9.93779661e-01 -4.96212855e-03 1.13161978e+01] [ 4.54406237e-02 -9.90459839e-05 9.98967036e-01 3.61632339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:98.87, Y:11.32, Z:3.62 [[ 9.92696264e-01 -1.11835431e-01 -4.52433843e-02 9.88714528e+01] [ 1.11725165e-01 9.93726733e-01 -4.96655388e-03 1.13193983e+01] [ 4.55149971e-02 -1.24545112e-04 9.98963648e-01 3.61796656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:98.90, Y:11.32, Z:3.62 [[ 9.92548396e-01 -1.12997596e-01 -4.55985269e-02 9.89037429e+01] [ 1.12886991e-01 9.93595244e-01 -5.00174494e-03 1.13220576e+01] [ 4.58716646e-02 -1.83006600e-04 9.98947324e-01 3.61910280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.094391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:98.94, Y:11.32, Z:3.62 [[ 9.92089880e-01 -1.16690369e-01 -4.62712464e-02 9.89352107e+01] [ 1.16580664e-01 9.93168277e-01 -5.07174404e-03 1.13219616e+01] [ 4.65469577e-02 -3.62706673e-04 9.98916037e-01 3.61876629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12439141799999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:98.97, Y:11.32, Z:3.62 [[ 9.91823427e-01 -1.19006116e-01 -4.60850696e-02 9.89672408e+01] [ 1.18899924e-01 9.92893409e-01 -5.04844754e-03 1.13231896e+01] [ 4.63583580e-02 -4.72342727e-04 9.98924762e-01 3.61890210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15439141799999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:99.00, Y:11.32, Z:3.62 [[ 9.91593506e-01 -1.20983077e-01 -4.58847817e-02 9.89994616e+01] [ 1.20880092e-01 9.92654409e-01 -5.02281984e-03 1.13242196e+01] [ 4.61554070e-02 -5.65961074e-04 9.98934111e-01 3.61937212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18439141799999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:99.03, Y:11.32, Z:3.62 [[ 9.91105696e-01 -1.25093542e-01 -4.53993847e-02 9.90312432e+01] [ 1.24997195e-01 9.92144666e-01 -4.96612924e-03 1.13242781e+01] [ 4.56639881e-02 -7.52836739e-04 9.98956572e-01 3.62025687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21439141799999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:99.06, Y:11.33, Z:3.62 [[ 9.90932519e-01 -1.26127893e-01 -4.63087198e-02 9.90636884e+01] [ 1.26028909e-01 9.92013651e-01 -5.06270022e-03 1.13267917e+01] [ 4.65774299e-02 -8.19443142e-04 9.98914346e-01 3.62113286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24439141799999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:99.10, Y:11.33, Z:3.62 [[ 9.90739534e-01 -1.27497896e-01 -4.66847176e-02 9.90953288e+01] [ 1.27398992e-01 9.91838437e-01 -5.10009707e-03 1.13307973e+01] [ 4.69539490e-02 -8.94718148e-04 9.98896654e-01 3.62422573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:99.13, Y:11.33, Z:3.63 [[ 9.90531739e-01 -1.28713996e-01 -4.77449720e-02 9.91266005e+01] [ 1.28612139e-01 9.91681275e-01 -5.21214446e-03 1.13343306e+01] [ 4.80186707e-02 -9.77788455e-04 9.98845960e-01 3.62628228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:99.16, Y:11.34, Z:3.63 [[ 9.90525701e-01 -1.28824135e-01 -4.75728742e-02 9.91584184e+01] [ 1.28723277e-01 9.91666969e-01 -5.19044519e-03 1.13369001e+01] [ 4.78451026e-02 -9.82466932e-04 9.98854284e-01 3.62741952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:99.19, Y:11.34, Z:3.63 [[ 9.90518610e-01 -1.28949657e-01 -4.73800554e-02 9.91899368e+01] [ 1.28849931e-01 9.91650649e-01 -5.16580907e-03 1.13390025e+01] [ 4.76505920e-02 -9.88086861e-04 9.98863577e-01 3.62847651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.364391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:99.22, Y:11.34, Z:3.63 [[ 9.90529181e-01 -1.29155337e-01 -4.65922824e-02 9.92216326e+01] [ 1.29059253e-01 9.91623886e-01 -5.07724464e-03 1.13395936e+01] [ 4.68577733e-02 -9.84006192e-04 9.98901087e-01 3.62884050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.394391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:99.25, Y:11.34, Z:3.63 [[ 9.90549766e-01 -1.29377618e-01 -4.55257305e-02 9.92535935e+01] [ 1.29286240e-01 9.91594919e-01 -4.95839048e-03 1.13416553e+01] [ 4.57845878e-02 -9.74317969e-04 9.98950861e-01 3.62961708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:99.29, Y:11.34, Z:3.63 [[ 9.90508258e-01 -1.29828475e-01 -4.51437483e-02 9.92852461e+01] [ 1.29739246e-01 9.91535973e-01 -4.91337045e-03 1.13437062e+01] [ 4.53995458e-02 -9.90181875e-04 9.98968418e-01 3.63088240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454391418 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:99.32, Y:11.35, Z:3.63 [[ 9.90271283e-01 -1.31818311e-01 -4.45726287e-02 9.93178309e+01] [ 1.31733500e-01 9.91273315e-01 -4.84765127e-03 1.13454065e+01] [ 4.48226666e-02 -1.07121854e-03 9.98994385e-01 3.63159068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48439141799999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:99.35, Y:11.35, Z:3.63 [[ 9.90092456e-01 -1.32989779e-01 -4.50627146e-02 9.93499332e+01] [ 1.32904479e-01 9.91116753e-01 -4.89707231e-03 1.13486929e+01] [ 4.53136720e-02 -1.14048227e-03 9.98972157e-01 3.63325261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51439141799999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:99.38, Y:11.35, Z:3.63 [[ 9.89839413e-01 -1.34651218e-01 -4.56835452e-02 9.93823342e+01] [ 1.34565544e-01 9.90892283e-01 -4.95963216e-03 1.13522436e+01] [ 4.59352929e-02 -1.23819174e-03 9.98943650e-01 3.63493411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54439141799999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:99.41, Y:11.36, Z:3.64 [[ 9.89212732e-01 -1.38908170e-01 -4.65047454e-02 9.94142243e+01] [ 1.38824354e-01 9.90304179e-01 -5.04300321e-03 1.13552163e+01] [ 4.67543581e-02 -1.46738824e-03 9.98905339e-01 3.63606154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57439141799999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:99.45, Y:11.36, Z:3.64 [[ 9.88852464e-01 -1.41229594e-01 -4.71699744e-02 9.94467281e+01] [ 1.41146226e-01 9.89975569e-01 -5.11033519e-03 1.13582331e+01] [ 4.74188528e-02 -1.60449634e-03 9.98873805e-01 3.63745607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60439141799999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:99.48, Y:11.36, Z:3.64 [[ 9.88499926e-01 -1.43750586e-01 -4.69432246e-02 9.94783843e+01] [ 1.43671033e-01 9.89612453e-01 -5.08197306e-03 1.13614261e+01] [ 4.71861363e-02 -1.72085160e-03 9.98884632e-01 3.63860240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63439141799999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:99.51, Y:11.36, Z:3.64 [[ 9.88130580e-01 -1.46205603e-01 -4.71368152e-02 9.95103809e+01] [ 1.46128367e-01 9.89252496e-01 -5.09898676e-03 1.13645748e+01] [ 4.73757126e-02 -1.84956109e-03 9.98875428e-01 3.63989942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664391418 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:99.54, Y:11.37, Z:3.64 [[ 9.87277522e-01 -1.51632830e-01 -4.78599990e-02 9.95421455e+01] [ 1.51559793e-01 9.88434558e-01 -5.17242328e-03 1.13676550e+01] [ 4.80907861e-02 -2.14703430e-03 9.98840661e-01 3.64054875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:99.57, Y:11.37, Z:3.64 [[ 9.86917110e-01 -1.53853672e-01 -4.82044199e-02 9.95746522e+01] [ 1.53782419e-01 9.88091023e-01 -5.20557236e-03 1.13706785e+01] [ 4.84312510e-02 -2.27552387e-03 9.98823926e-01 3.64176427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:99.61, Y:11.37, Z:3.64 [[ 9.86224254e-01 -1.58053815e-01 -4.87925541e-02 9.96062891e+01] [ 1.57986222e-01 9.87427290e-01 -5.26323115e-03 1.13737397e+01] [ 4.90109732e-02 -2.51782506e-03 9.98795067e-01 3.64324692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.754391418 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:99.64, Y:11.38, Z:3.65 [[ 9.86071912e-01 -1.59048833e-01 -4.86379838e-02 9.96388584e+01] [ 1.58983118e-01 9.87267387e-01 -5.24156187e-03 1.13775317e+01] [ 4.88523595e-02 -2.56406136e-03 9.98802720e-01 3.64527184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:99.67, Y:11.38, Z:3.65 [[ 9.85997001e-01 -1.59586946e-01 -4.83933985e-02 9.96713098e+01] [ 1.59522819e-01 9.87180497e-01 -5.20938161e-03 1.13816459e+01] [ 4.86043684e-02 -2.58341668e-03 9.98814768e-01 3.64706766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:99.70, Y:11.39, Z:3.65 [[ 9.86105948e-01 -1.59024879e-01 -4.80223685e-02 9.97033769e+01] [ 1.58961350e-01 9.87271304e-01 -5.16356553e-03 1.13860133e+01] [ 4.82322417e-02 -2.54187784e-03 9.98832914e-01 3.64895795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.844391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:99.74, Y:11.39, Z:3.65 [[ 9.86314697e-01 -1.57799326e-01 -4.77775157e-02 9.97363612e+01] [ 1.57735252e-01 9.87468101e-01 -5.13219659e-03 1.13905292e+01] [ 4.79886298e-02 -2.47423755e-03 9.98844818e-01 3.65092051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87439141799999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:99.77, Y:11.40, Z:3.65 [[ 9.86992772e-01 -1.53614205e-01 -4.74124902e-02 9.97693980e+01] [ 1.53546561e-01 9.88128318e-01 -5.08726537e-03 1.13959942e+01] [ 4.76311004e-02 -2.25893067e-03 9.98862441e-01 3.65212194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90439141799999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:99.80, Y:11.40, Z:3.65 [[ 9.87459606e-01 -1.50657382e-01 -4.71792207e-02 9.98016062e+01] [ 1.50587305e-01 9.88583782e-01 -5.05655615e-03 1.13997230e+01] [ 4.74024200e-02 -2.11144673e-03 9.98873642e-01 3.65315426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93439141799999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:99.83, Y:11.40, Z:3.65 [[ 9.87969450e-01 -1.47493270e-01 -4.64984030e-02 9.98330346e+01] [ 1.47421921e-01 9.89061165e-01 -4.97892425e-03 1.14033626e+01] [ 4.67241224e-02 -1.93585881e-03 9.98905956e-01 3.65362767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96439141799999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:99.87, Y:11.41, Z:3.66 [[ 9.88992688e-01 -1.40640058e-01 -4.59764794e-02 9.98651069e+01] [ 1.40563117e-01 9.90059503e-01 -4.91840707e-03 1.14094971e+01] [ 4.62111754e-02 -1.59832862e-03 9.98930414e-01 3.65552713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99439141799999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:99.90, Y:11.42, Z:3.66 [[ 9.89527788e-01 -1.36928047e-01 -4.56669070e-02 9.98967516e+01] [ 1.36848442e-01 9.90579977e-01 -4.87979117e-03 1.14154119e+01] [ 4.59049040e-02 -1.42075613e-03 9.98944804e-01 3.65723079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:99.93, Y:11.42, Z:3.66 [[ 9.90538593e-01 -1.29260226e-01 -4.60986975e-02 9.99288205e+01] [ 1.29171030e-01 9.91610119e-01 -4.92113543e-03 1.14233532e+01] [ 4.63480420e-02 -1.08004166e-03 9.98924768e-01 3.65912413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:99.96, Y:11.43, Z:3.66 [[ 9.91003306e-01 -1.25508882e-01 -4.64754536e-02 9.99617838e+01] [ 1.25414369e-01 9.92092071e-01 -4.95557655e-03 1.14283017e+01] [ 4.67298979e-02 -9.17696944e-04 9.98907140e-01 3.66013174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:99.99, Y:11.43, Z:3.66 [[ 9.91788168e-01 -1.18821647e-01 -4.73037614e-02 9.99931161e+01] [ 1.18716403e-01 9.92915421e-01 -5.03811085e-03 1.14338474e+01] [ 4.75672708e-02 -6.18993674e-04 9.98867845e-01 3.66010654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.114391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:100.02, Y:11.44, Z:3.66 [[ 9.92128784e-01 -1.15710013e-01 -4.78713712e-02 1.00024639e+02] [ 1.15598837e-01 9.93282922e-01 -5.09377359e-03 1.14385993e+01] [ 4.81392160e-02 -4.80195423e-04 9.98840520e-01 3.66135998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.144391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:100.06, Y:11.44, Z:3.66 [[ 9.92461648e-01 -1.12830244e-01 -4.78457332e-02 1.00056902e+02] [ 1.12716028e-01 9.93614220e-01 -5.08718643e-03 1.14437985e+01] [ 4.81141893e-02 -3.44143585e-04 9.98841782e-01 3.66271997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:100.09, Y:11.45, Z:3.67 [[ 9.92816236e-01 -1.09227362e-01 -4.88395868e-02 1.00087700e+02] [ 1.08807190e-01 9.93999906e-01 -1.11885289e-02 1.14515544e+01] [ 4.97686381e-02 5.79405493e-03 9.98743967e-01 3.66662312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:100.12, Y:11.45, Z:3.66 [[ 9.93119424e-01 -1.06539276e-01 -4.86126736e-02 1.00121823e+02] [ 1.06684087e-01 9.94292893e-01 3.86607560e-04 1.14512238e+01] [ 4.82940470e-02 -5.57014616e-03 9.98817630e-01 3.66400301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23439141799999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:100.15, Y:11.46, Z:3.67 [[ 9.93429845e-01 -1.03785326e-01 -4.82260280e-02 1.00152733e+02] [ 1.03659818e-01 9.94599719e-01 -5.10304353e-03 1.14575598e+01] [ 4.84952150e-02 7.04144667e-05 9.98823412e-01 3.66682792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26439141799999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:100.19, Y:11.46, Z:3.67 [[ 9.93440192e-01 -1.03686078e-01 -4.82263613e-02 1.00185234e+02] [ 1.03560606e-01 9.94610070e-01 -5.09989199e-03 1.14609172e+01] [ 4.84952124e-02 7.20864979e-05 9.98823412e-01 3.66823485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29439141799999 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:100.22, Y:11.46, Z:3.67 [[ 9.93750709e-01 -1.00659327e-01 -4.82413622e-02 1.00216607e+02] [ 1.00530437e-01 9.94920928e-01 -5.09682732e-03 1.14641895e+01] [ 4.85093840e-02 2.15250527e-04 9.98822704e-01 3.66928802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32439141799999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:100.25, Y:11.47, Z:3.67 [[ 9.94286102e-01 -9.59128079e-02 -4.68602314e-02 1.00248373e+02] [ 9.57860599e-02 9.95389646e-01 -4.94807299e-03 1.14678116e+01] [ 4.71187727e-02 4.31243275e-04 9.98889201e-01 3.67054003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35439141799999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:100.28, Y:11.47, Z:3.67 [[ 9.94519213e-01 -9.37234826e-02 -4.63405176e-02 1.00279778e+02] [ 9.35973385e-02 9.95598128e-01 -4.88929385e-03 1.14713799e+01] [ 4.65947743e-02 5.25147559e-04 9.98913736e-01 3.67221616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38439141799999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:100.31, Y:11.48, Z:3.67 [[ 9.94763607e-01 -9.17430112e-02 -4.50398345e-02 1.00311675e+02] [ 9.16220745e-02 9.95782539e-01 -4.74653997e-03 1.14751504e+01] [ 4.52853426e-02 5.95042145e-04 9.98973915e-01 3.67414983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:100.34, Y:11.48, Z:3.68 [[ 9.94790155e-01 -9.17898969e-02 -4.43527136e-02 1.00343793e+02] [ 9.16728278e-02 9.95778227e-01 -4.67061001e-03 1.14780746e+01] [ 4.45941813e-02 5.80338175e-04 9.99005016e-01 3.67528111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:100.37, Y:11.48, Z:3.68 [[ 9.94772222e-01 -9.21683910e-02 -4.39683357e-02 1.00374848e+02] [ 9.20538691e-02 9.95743280e-01 -4.62660281e-03 1.14797687e+01] [ 4.42076013e-02 5.54960538e-04 9.99022212e-01 3.67605272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:100.41, Y:11.48, Z:3.68 [[ 9.94451820e-01 -9.53669197e-02 -4.43928771e-02 1.00407450e+02] [ 9.52534813e-02 9.95442102e-01 -4.66852271e-03 1.14792710e+01] [ 4.46357616e-02 4.14044817e-04 9.99003242e-01 3.67538881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.504391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:100.44, Y:11.48, Z:3.68 [[ 9.94171050e-01 -9.78630448e-02 -4.52409869e-02 1.00438299e+02] [ 9.77479805e-02 9.95199845e-01 -4.75397635e-03 1.14807946e+01] [ 4.54890618e-02 3.04050548e-04 9.98964791e-01 3.67631114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:100.47, Y:11.48, Z:3.68 [[ 9.93863281e-01 -1.00853322e-01 -4.54355055e-02 1.00470542e+02] [ 1.00740519e-01 9.94901292e-01 -4.77156397e-03 1.14829495e+01] [ 4.56850711e-02 1.65085845e-04 9.98955878e-01 3.67744895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:100.50, Y:11.48, Z:3.68 [[ 9.93172882e-01 -1.07118362e-01 -4.61874677e-02 1.00501312e+02] [ 1.07008735e-01 9.94246267e-01 -4.84670668e-03 1.14844691e+01] [ 4.64408887e-02 -1.28844871e-04 9.98921032e-01 3.67958852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59439141799999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:100.53, Y:11.49, Z:3.68 [[ 9.92798265e-01 -1.10407092e-01 -4.64960165e-02 1.00533282e+02] [ 1.10299738e-01 9.93886408e-01 -4.87611374e-03 1.14868173e+01] [ 4.67501163e-02 -2.87501154e-04 9.98906574e-01 3.68100828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62439141799999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:100.56, Y:11.49, Z:3.68 [[ 9.92458032e-01 -1.13341879e-01 -4.66976758e-02 1.00564791e+02] [ 1.13237026e-01 9.93555953e-01 -4.89321623e-03 1.14883778e+01] [ 4.69513601e-02 -4.31594200e-04 9.98897084e-01 3.68229450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65439141799999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:100.60, Y:11.49, Z:3.68 [[ 9.92112202e-01 -1.16292907e-01 -4.67903759e-02 1.00596809e+02] [ 1.16191200e-01 9.93214793e-01 -4.89691964e-03 1.14896010e+01] [ 4.70423705e-02 -5.78336173e-04 9.98892727e-01 3.68315387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68439141799999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:100.63, Y:11.49, Z:3.68 [[ 9.91612805e-01 -1.20790957e-01 -4.59737956e-02 1.00628964e+02] [ 1.20697766e-01 9.92677659e-01 -4.80783184e-03 1.14881125e+01] [ 4.62179024e-02 -7.81426805e-04 9.98931076e-01 3.68339844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71439141799999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:100.66, Y:11.49, Z:3.68 [[ 9.91408687e-01 -1.22799287e-01 -4.50460984e-02 1.00660863e+02] [ 1.22712052e-01 9.92431153e-01 -4.70724867e-03 1.14898074e+01] [ 4.52831982e-02 -8.60891955e-04 9.98973819e-01 3.68451367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74439141799999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:100.69, Y:11.49, Z:3.69 [[ 9.91266389e-01 -1.24184296e-01 -4.43757501e-02 1.00692765e+02] [ 1.24101182e-01 9.92258749e-01 -4.63368925e-03 1.14920564e+01] [ 4.46076577e-02 -9.13862618e-04 9.99004165e-01 3.68593182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:100.72, Y:11.49, Z:3.69 [[ 9.91151802e-01 -1.25307806e-01 -4.37728121e-02 1.00723816e+02] [ 1.25228188e-01 9.92117454e-01 -4.56716251e-03 1.14946183e+01] [ 4.40000720e-02 -9.54838593e-04 9.99031072e-01 3.68737175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:100.76, Y:11.50, Z:3.69 [[ 9.90956300e-01 -1.27064768e-01 -4.31295340e-02 1.00756174e+02] [ 1.26989250e-01 9.91893897e-01 -4.49740715e-03 1.14958881e+01] [ 4.33513836e-02 -1.02025324e-03 9.99059366e-01 3.68837722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:100.79, Y:11.50, Z:3.69 [[ 9.90844843e-01 -1.27963517e-01 -4.30329455e-02 1.00788533e+02] [ 1.27889337e-01 9.91778308e-01 -4.48378065e-03 1.14974231e+01] [ 4.32529022e-02 -1.06072394e-03 9.99063592e-01 3.68915956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.864391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:100.82, Y:11.50, Z:3.69 [[ 9.90677786e-01 -1.29140712e-01 -4.33612856e-02 1.00820731e+02] [ 1.29066682e-01 9.91625641e-01 -4.51431061e-03 1.14987764e+01] [ 4.35811440e-02 -1.12427003e-03 9.99049258e-01 3.69065489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.894391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:100.85, Y:11.50, Z:3.69 [[ 9.90188844e-01 -1.32832078e-01 -4.33784746e-02 1.00852900e+02] [ 1.32761911e-01 9.91137710e-01 -4.50728250e-03 1.14995482e+01] [ 4.35927537e-02 -1.29594833e-03 9.99048544e-01 3.69144665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924391418 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:100.89, Y:11.50, Z:3.69 [[ 9.89839370e-01 -1.35300317e-01 -4.37246530e-02 1.00885673e+02] [ 1.35231591e-01 9.90803618e-01 -4.53955476e-03 1.15023043e+01] [ 4.39367476e-02 -1.41952438e-03 9.99033306e-01 3.69321218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954391418 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:100.92, Y:11.50, Z:3.69 [[ 9.89010993e-01 -1.40672247e-01 -4.54815794e-02 1.00918971e+02] [ 1.40603825e-01 9.90054707e-01 -4.71601855e-03 1.15045549e+01] [ 4.56926648e-02 -1.73068982e-03 9.98954046e-01 3.69449079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98439141799999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:100.95, Y:11.51, Z:3.69 [[ 9.88575061e-01 -1.43524315e-01 -4.60447520e-02 1.00950996e+02] [ 1.43457555e-01 9.89644983e-01 -4.76833165e-03 1.15065872e+01] [ 4.62523294e-02 -1.89161381e-03 9.98927997e-01 3.69483663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01439141799999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:100.98, Y:11.51, Z:3.69 [[ 9.88163051e-01 -1.46089753e-01 -4.68141955e-02 1.00981947e+02] [ 1.46024058e-01 9.89269206e-01 -4.83859228e-03 1.15077851e+01] [ 4.70187108e-02 -2.05468070e-03 9.98891896e-01 3.69476521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04439141799999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:101.01, Y:11.51, Z:3.70 [[ 9.87376175e-01 -1.50787748e-01 -4.84906612e-02 1.01013833e+02] [ 1.50723231e-01 9.88563329e-01 -5.00530778e-03 1.15083501e+01] [ 4.86908286e-02 -2.36654749e-03 9.98811095e-01 3.69500854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07439141799999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:101.04, Y:11.51, Z:3.70 [[ 9.87068741e-01 -1.52528244e-01 -4.92994457e-02 1.01044942e+02] [ 1.52463915e-01 9.88295957e-01 -5.08487905e-03 1.15116512e+01] [ 4.94980306e-02 -2.49726136e-03 9.98771099e-01 3.69684551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10439141799999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:101.08, Y:11.52, Z:3.70 [[ 9.86967223e-01 -1.53212236e-01 -4.92108938e-02 1.01077236e+02] [ 1.53149139e-01 9.88190067e-01 -5.07265289e-03 1.15159312e+01] [ 4.94069090e-02 -2.53006388e-03 9.98775528e-01 3.69891930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13439141799999 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:101.11, Y:11.52, Z:3.70 [[ 9.86945477e-01 -1.53385586e-01 -4.91068947e-02 1.01109095e+02] [ 1.53323164e-01 9.88163157e-01 -5.05797581e-03 1.15204774e+01] [ 4.93014446e-02 -2.53727814e-03 9.98780722e-01 3.70160653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:101.14, Y:11.53, Z:3.70 [[ 9.87304446e-01 -1.51444717e-01 -4.79001971e-02 1.01139945e+02] [ 1.51383226e-01 9.88462854e-01 -4.92994044e-03 1.15253228e+01] [ 4.80941789e-02 -2.38393424e-03 9.98839961e-01 3.70436232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:101.17, Y:11.53, Z:3.71 [[ 9.87619598e-01 -1.49577908e-01 -4.72649926e-02 1.01171157e+02] [ 1.49516039e-01 9.88747348e-01 -4.86170937e-03 1.15285648e+01] [ 4.74603404e-02 -2.26535505e-03 9.98870554e-01 3.70628674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:101.20, Y:11.53, Z:3.71 [[ 9.88009494e-01 -1.47217500e-01 -4.65214631e-02 1.01202776e+02] [ 1.47155085e-01 9.89101870e-01 -4.78239419e-03 1.15316279e+01] [ 4.67185183e-02 -2.12081899e-03 9.98905842e-01 3.70728316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.254391418 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:101.24, Y:11.54, Z:3.71 [[ 9.88363010e-01 -1.45032195e-01 -4.58718056e-02 1.01235192e+02] [ 1.44969325e-01 9.89424930e-01 -4.71207879e-03 1.15352677e+01] [ 4.60701111e-02 -1.99276030e-03 9.98936221e-01 3.70871835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:101.27, Y:11.54, Z:3.71 [[ 9.88783231e-01 -1.41950176e-01 -4.64528693e-02 1.01267783e+02] [ 1.41882491e-01 9.89872025e-01 -4.76785660e-03 1.15388298e+01] [ 4.66591939e-02 -1.87647214e-03 9.98909104e-01 3.70936456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:101.30, Y:11.54, Z:3.71 [[ 9.89439244e-01 -1.37446982e-01 -4.60251067e-02 1.01298384e+02] [ 1.37375921e-01 9.90507744e-01 -4.71856120e-03 1.15446485e+01] [ 4.62367766e-02 -1.65401182e-03 9.98929139e-01 3.71153650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34439141799999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:101.33, Y:11.55, Z:3.71 [[ 9.89795241e-01 -1.34749782e-01 -4.63451934e-02 1.01329063e+02] [ 1.34674920e-01 9.90878459e-01 -4.74830489e-03 1.15489318e+01] [ 4.65622869e-02 -1.54168563e-03 9.98914199e-01 3.71315104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37439141799999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:101.36, Y:11.55, Z:3.71 [[ 9.90112530e-01 -1.32398644e-01 -4.63441153e-02 1.01361014e+02] [ 1.32321488e-01 9.91195508e-01 -4.74231735e-03 1.15531372e+01] [ 4.65639553e-02 -1.43689446e-03 9.98914277e-01 3.71453674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40439141799999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:101.39, Y:11.56, Z:3.72 [[ 9.90432654e-01 -1.29557193e-01 -4.75193892e-02 1.01391054e+02] [ 1.29246125e-01 9.91566322e-01 -9.57434392e-03 1.15588533e+01] [ 4.83590511e-02 3.34104592e-03 9.98824429e-01 3.71760353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43439141799999 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:101.42, Y:11.56, Z:3.72 [[ 9.90990709e-01 -1.25444069e-01 -4.69169547e-02 1.01422996e+02] [ 1.25576438e-01 9.92083939e-01 -1.27095334e-04 1.15581116e+01] [ 4.65615006e-02 -5.76571377e-03 9.98898785e-01 3.71542693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46439141799999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:101.45, Y:11.57, Z:3.72 [[ 9.91138651e-01 -1.24759212e-01 -4.55994827e-02 1.01454502e+02] [ 1.24523166e-01 9.92184513e-01 -7.99210528e-03 1.15670627e+01] [ 4.62401893e-02 2.24309251e-03 9.98927832e-01 3.71842380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49439141799999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:101.49, Y:11.57, Z:3.72 [[ 9.91511616e-01 -1.21019390e-01 -4.75291688e-02 1.01486709e+02] [ 1.21083051e-01 9.92641173e-01 -1.54805114e-03 1.15673284e+01] [ 4.73667541e-02 -4.22006609e-03 9.98868651e-01 3.71924667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:101.52, Y:11.58, Z:3.72 [[ 9.92073708e-01 -1.16581042e-01 -4.68894290e-02 1.01517973e+02] [ 1.16485226e-01 9.93180921e-01 -4.78011129e-03 1.15760287e+01] [ 4.71269566e-02 -7.19703001e-04 9.98888648e-01 3.72305848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:101.55, Y:11.58, Z:3.72 [[ 9.92209181e-01 -1.14293563e-01 -4.95774381e-02 1.01547929e+02] [ 1.14686750e-01 9.93388353e-01 5.15058423e-03 1.15774243e+01] [ 4.86609710e-02 -1.07963322e-02 9.98757002e-01 3.72468734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:101.58, Y:11.59, Z:3.73 [[ 9.92654589e-01 -1.11786051e-01 -4.62681933e-02 1.01581447e+02] [ 1.11182252e-01 9.93680209e-01 -1.54320527e-02 1.15888400e+01] [ 4.77008763e-02 1.01744960e-02 9.98809845e-01 3.72867621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.614391418 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:101.61, Y:11.59, Z:3.72 [[ 9.93198799e-01 -1.06110399e-01 -4.79242042e-02 1.01613285e+02] [ 1.05999365e-01 9.94354323e-01 -4.85959366e-03 1.15857719e+01] [ 4.81692930e-02 -2.53392624e-04 9.98839154e-01 3.72498073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.644391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:101.64, Y:11.59, Z:3.73 [[ 9.93427003e-01 -1.03638791e-01 -4.85982616e-02 1.01644942e+02] [ 1.03521951e-01 9.94614991e-01 -4.92187270e-03 1.15887782e+01] [ 4.88466565e-02 -1.41465583e-04 9.98806280e-01 3.72566348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:101.68, Y:11.59, Z:3.73 [[ 9.93913361e-01 -9.86774191e-02 -4.89795560e-02 1.01675680e+02] [ 9.85528137e-02 9.95119469e-01 -4.95844668e-03 1.15933379e+01] [ 4.92297965e-02 1.01193341e-04 9.98787473e-01 3.72776371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:101.71, Y:11.60, Z:3.73 [[ 9.94133417e-01 -9.64552916e-02 -4.89400322e-02 1.01705616e+02] [ 9.63282887e-02 9.95337296e-01 -4.95255958e-03 1.15974788e+01] [ 4.91895399e-02 2.09195426e-04 9.98789440e-01 3.73001091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73439141799999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:101.74, Y:11.60, Z:3.73 [[ 9.94352469e-01 -9.45417985e-02 -4.82184168e-02 1.01736303e+02] [ 9.44163191e-02 9.95520848e-01 -4.87845529e-03 1.16012581e+01] [ 4.84636572e-02 2.98298633e-04 9.98824902e-01 3.73195647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76439141799999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:101.77, Y:11.60, Z:3.73 [[ 9.94692868e-01 -9.15261510e-02 -4.70006508e-02 1.01767064e+02] [ 9.14036483e-02 9.95802579e-01 -4.75355470e-03 1.16024876e+01] [ 4.72384439e-02 4.32296002e-04 9.98883548e-01 3.73347913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79439141799999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:101.80, Y:11.61, Z:3.74 [[ 9.94750244e-01 -9.02835287e-02 -4.81750618e-02 1.01795097e+02] [ 8.98430734e-02 9.95892556e-01 -1.12355862e-02 1.16058761e+01] [ 4.89915738e-02 6.84840654e-03 9.98775713e-01 3.73617619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82439141799999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:101.83, Y:11.60, Z:3.73 [[ 9.94598864e-01 -9.17217226e-02 -4.85821511e-02 1.01827010e+02] [ 9.18759838e-02 9.95770007e-01 9.47029354e-04 1.15993681e+01] [ 4.82897858e-02 -5.40544725e-03 9.98818741e-01 3.73221579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85439141799999 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:101.86, Y:11.60, Z:3.73 [[ 9.94550788e-01 -9.23634710e-02 -4.83499744e-02 1.01856092e+02] [ 9.22887866e-02 9.95725110e-01 -3.77956532e-03 1.16028495e+01] [ 4.84923773e-02 -7.03190802e-04 9.98823305e-01 3.73442507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88439141799999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:101.89, Y:11.61, Z:3.74 [[ 9.94265326e-01 -9.53090663e-02 -4.85040639e-02 1.01886724e+02] [ 9.51227188e-02 9.95446611e-01 -6.14105381e-03 1.16058564e+01] [ 4.88685042e-02 1.49199843e-03 9.98804107e-01 3.73692647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:101.92, Y:11.61, Z:3.74 [[ 9.94045189e-01 -9.77137974e-02 -4.82304376e-02 1.01916829e+02] [ 9.75918909e-02 9.95214546e-01 -4.88162376e-03 1.16065056e+01] [ 4.84766351e-02 1.45655008e-04 9.98824306e-01 3.73763925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944391418 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:101.95, Y:11.60, Z:3.74 [[ 9.93349375e-01 -1.04554286e-01 -4.82226187e-02 1.01946699e+02] [ 1.04440464e-01 9.94519163e-01 -4.88093543e-03 1.16048303e+01] [ 4.84686412e-02 -1.87918496e-04 9.98824687e-01 3.73889181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:101.98, Y:11.61, Z:3.74 [[ 9.92920416e-01 -1.08336354e-01 -4.87060765e-02 1.01977730e+02] [ 1.08224739e-01 9.94114226e-01 -4.93074849e-03 1.16051039e+01] [ 4.89535829e-02 -3.75361581e-04 9.98800984e-01 3.74048208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.004391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:102.01, Y:11.61, Z:3.74 [[ 9.92415243e-01 -1.12715959e-01 -4.90621906e-02 1.02008513e+02] [ 1.12608051e-01 9.93627072e-01 -4.96679961e-03 1.16058328e+01] [ 4.93093583e-02 -5.95670037e-04 9.98783376e-01 3.74182022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034391418 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:102.04, Y:11.61, Z:3.74 [[ 9.91892219e-01 -1.16988355e-01 -4.96341776e-02 1.02038963e+02] [ 1.16883263e-01 9.93132950e-01 -5.02457313e-03 1.16069235e+01] [ 4.98811538e-02 -8.17569655e-04 9.98754826e-01 3.74347465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:102.07, Y:11.61, Z:3.74 [[ 9.91377978e-01 -1.21277657e-01 -4.96128496e-02 1.02070269e+02] [ 1.21178076e-01 9.92618084e-01 -5.02127641e-03 1.16088196e+01] [ 4.98555803e-02 -1.03400680e-03 9.98755902e-01 3.74478387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09439141799999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:102.10, Y:11.61, Z:3.75 [[ 9.90451584e-01 -1.28589371e-01 -4.97034524e-02 1.02100983e+02] [ 1.28498708e-01 9.91696927e-01 -5.02852676e-03 1.16083548e+01] [ 4.99373761e-02 -1.40631714e-03 9.98751361e-01 3.74567299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12439141799999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:102.13, Y:11.61, Z:3.75 [[ 9.90038010e-01 -1.31792998e-01 -4.95514223e-02 1.02132420e+02] [ 1.31706951e-01 9.91276026e-01 -5.01200841e-03 1.16094149e+01] [ 4.97796845e-02 -1.56418789e-03 9.98758998e-01 3.74687539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15439141799999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:102.16, Y:11.61, Z:3.75 [[ 9.90045810e-01 -1.31734318e-01 -4.95516331e-02 1.02164086e+02] [ 1.31648301e-01 9.91283827e-01 -5.00992332e-03 1.16125736e+01] [ 4.97797113e-02 -1.56333473e-03 9.98758998e-01 3.74825533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18439141799999 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:102.20, Y:11.61, Z:3.75 [[ 9.89326745e-01 -1.37076915e-01 -4.94217745e-02 1.02195632e+02] [ 1.36998139e-01 9.90558716e-01 -4.99396181e-03 1.16116920e+01] [ 4.96397264e-02 -1.83003115e-03 9.98765512e-01 3.74908674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21439141799999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:102.23, Y:11.61, Z:3.75 [[ 9.89009058e-01 -1.39387655e-01 -4.93169839e-02 1.02226358e+02] [ 1.39312185e-01 9.90235983e-01 -4.98122593e-03 1.16133083e+01] [ 4.95297735e-02 -1.94397923e-03 9.98770756e-01 3.75037310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24439141799999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:102.26, Y:11.62, Z:3.75 [[ 9.88732929e-01 -1.41430445e-01 -4.90369680e-02 1.02258639e+02] [ 1.41358489e-01 9.89946098e-01 -4.94982505e-03 1.16154174e+01] [ 4.92440111e-02 -2.03773669e-03 9.98784699e-01 3.75171260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:102.29, Y:11.62, Z:3.75 [[ 9.88333349e-01 -1.44595244e-01 -4.78477509e-02 1.02289744e+02] [ 1.44530613e-01 9.89488560e-01 -4.82603789e-03 1.16176071e+01] [ 4.80426243e-02 -2.14573060e-03 9.98842982e-01 3.75413610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:102.32, Y:11.62, Z:3.76 [[ 9.88159700e-01 -1.45835855e-01 -4.76687578e-02 1.02320598e+02] [ 1.45773280e-01 9.89306353e-01 -4.80518154e-03 1.16207923e+01] [ 4.78597727e-02 -2.20054443e-03 9.98851641e-01 3.75648530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:102.35, Y:11.62, Z:3.76 [[ 9.88056728e-01 -1.46741518e-01 -4.70194549e-02 1.02353008e+02] [ 1.46681751e-01 9.89172390e-01 -4.73777947e-03 1.16243290e+01] [ 4.72055755e-02 -2.21570108e-03 9.98882738e-01 3.75860009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.364391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:102.38, Y:11.63, Z:3.76 [[ 9.87828069e-01 -1.48201417e-01 -4.72445335e-02 1.02384074e+02] [ 1.48142921e-01 9.88954523e-01 -4.75665247e-03 1.16282267e+01] [ 4.74276378e-02 -2.30018839e-03 9.98872028e-01 3.76004416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.394391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:102.42, Y:11.63, Z:3.76 [[ 9.87726985e-01 -1.48670185e-01 -4.78808822e-02 1.02415898e+02] [ 1.48610799e-01 9.88884028e-01 -4.81767160e-03 1.16309805e+01] [ 4.80648838e-02 -2.35707193e-03 9.98841434e-01 3.76087234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:102.45, Y:11.63, Z:3.76 [[ 9.87593967e-01 -1.48979302e-01 -4.96318801e-02 1.02447899e+02] [ 1.48916092e-01 9.88837247e-01 -4.98972758e-03 1.16332705e+01] [ 4.98212178e-02 -2.46316075e-03 9.98755115e-01 3.76050517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:102.48, Y:11.64, Z:3.76 [[ 9.87479255e-01 -1.49797707e-01 -4.94506583e-02 1.02478844e+02] [ 1.49736170e-01 9.88713508e-01 -4.96767035e-03 1.16358144e+01] [ 4.96366795e-02 -2.49908075e-03 9.98764214e-01 3.76119551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48439141799999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:102.51, Y:11.64, Z:3.76 [[ 9.87371058e-01 -1.50270672e-01 -5.01708918e-02 1.02509595e+02] [ 1.50208086e-01 9.88641572e-01 -5.03711950e-03 1.16385383e+01] [ 5.03579606e-02 -2.56256762e-03 9.98727945e-01 3.76190009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51439141799999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:102.54, Y:11.64, Z:3.76 [[ 9.87187024e-01 -1.50800305e-01 -5.21636573e-02 1.02540762e+02] [ 1.50733500e-01 9.88560573e-01 -5.23505848e-03 1.16434008e+01] [ 5.23563834e-02 -2.69482885e-03 9.98624828e-01 3.76336512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54439141799999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:102.57, Y:11.65, Z:3.76 [[ 9.87151771e-01 -1.50785348e-01 -5.28692665e-02 1.02572561e+02] [ 1.50716840e-01 9.88562749e-01 -5.30332658e-03 1.16486064e+01] [ 5.30642514e-02 -2.73310054e-03 9.98587360e-01 3.76496283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57439141799999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:102.60, Y:11.65, Z:3.77 [[ 9.87155297e-01 -1.50532506e-01 -5.35199363e-02 1.02603015e+02] [ 1.50462163e-01 9.88601215e-01 -5.36429466e-03 1.16541919e+01] [ 5.37173748e-02 -2.75733349e-03 9.98552373e-01 3.76723449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60439141799999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:102.63, Y:11.66, Z:3.77 [[ 9.87455758e-01 -1.48416068e-01 -5.38868952e-02 1.02634699e+02] [ 1.48341811e-01 9.88921420e-01 -5.39748289e-03 1.16606282e+01] [ 5.40909781e-02 -2.66390405e-03 9.98532458e-01 3.76926591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63439141799999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:102.67, Y:11.66, Z:3.77 [[ 9.87749835e-01 -1.46538596e-01 -5.36349047e-02 1.02665940e+02] [ 1.46462496e-01 9.89201658e-01 -5.36806698e-03 1.16644624e+01] [ 5.38423657e-02 -2.55319476e-03 9.98546184e-01 3.77060745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:102.70, Y:11.68, Z:3.77 [[ 9.88503748e-01 -1.44513883e-01 -4.44531047e-02 1.02697823e+02] [ 1.43109362e-01 9.89145846e-01 -3.33197498e-02 1.16815980e+01] [ 4.87857703e-02 2.65750421e-02 9.98455665e-01 3.77289127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:102.73, Y:11.66, Z:3.77 [[ 9.89081962e-01 -1.37112147e-01 -5.40104672e-02 1.02728871e+02] [ 1.38564492e-01 9.90059791e-01 2.41141449e-02 1.16621732e+01] [ 5.01672497e-02 -3.13347988e-02 9.98249156e-01 3.76563298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724391418 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:102.76, Y:11.68, Z:3.78 [[ 9.89584740e-01 -1.34689755e-01 -5.08007109e-02 1.02759043e+02] [ 1.34606498e-01 9.90886150e-01 -5.07229057e-03 1.16817646e+01] [ 5.10209065e-02 -1.81864447e-03 9.98695930e-01 3.77604195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.754391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:102.79, Y:11.69, Z:3.78 [[ 9.90072476e-01 -1.31155024e-01 -5.05455367e-02 1.02789665e+02] [ 1.31068204e-01 9.91360528e-01 -5.04282602e-03 1.16876967e+01] [ 5.07702419e-02 -1.63214950e-03 9.98709026e-01 3.77746912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784391418 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:102.82, Y:11.69, Z:3.78 [[ 9.90603885e-01 -1.27269940e-01 -5.00630046e-02 1.02821615e+02] [ 1.27179973e-01 9.91867098e-01 -4.99151455e-03 1.16934166e+01] [ 5.02911169e-02 -1.42239789e-03 9.98733588e-01 3.77939540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:102.85, Y:11.70, Z:3.78 [[ 9.91059044e-01 -1.23856029e-01 -4.96150626e-02 1.02853053e+02] [ 1.23763590e-01 9.92299421e-01 -4.94287381e-03 1.16989818e+01] [ 4.98452026e-02 -1.24185847e-03 9.98756183e-01 3.78077110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84439141799999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:102.88, Y:11.71, Z:3.78 [[ 9.91816804e-01 -1.18080597e-01 -4.85427670e-02 1.02883897e+02] [ 1.17985379e-01 9.93003575e-01 -4.83230339e-03 1.17050046e+01] [ 4.87737424e-02 -9.34577048e-04 9.98809416e-01 3.78274130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87439141799999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:102.92, Y:11.71, Z:3.78 [[ 9.92076492e-01 -1.15849504e-01 -4.86120016e-02 1.02915896e+02] [ 1.15751486e-01 9.93266432e-01 -4.83615809e-03 1.17095001e+01] [ 4.88449359e-02 -8.29072691e-04 9.98806030e-01 3.78437057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90439141799999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:102.95, Y:11.72, Z:3.79 [[ 9.92410200e-01 -1.12842097e-01 -4.88738865e-02 1.02945982e+02] [ 1.12739564e-01 9.93612695e-01 -4.85834735e-03 1.17168226e+01] [ 4.91099402e-02 -6.88547215e-04 9.98793142e-01 3.78602861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93439141799999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:102.98, Y:11.72, Z:3.79 [[ 9.92488054e-01 -1.12067026e-01 -4.90759022e-02 1.02977729e+02] [ 1.11962849e-01 9.93700433e-01 -4.87534325e-03 1.17219205e+01] [ 4.93131106e-02 -6.55957914e-04 9.98783153e-01 3.78784268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96439141799999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:103.01, Y:11.73, Z:3.79 [[ 9.92548777e-01 -1.11108740e-01 -5.00177348e-02 1.03008243e+02] [ 1.10999507e-01 9.93808059e-01 -4.96494947e-03 1.17260649e+01] [ 5.02596772e-02 -6.23989395e-04 9.98735989e-01 3.78878693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99439141799999 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:103.04, Y:11.73, Z:3.79 [[ 9.92729887e-01 -1.10291953e-01 -4.81980972e-02 1.03037715e+02] [ 1.09847598e-01 9.93878621e-01 -1.17809728e-02 1.17338147e+01] [ 4.92024049e-02 6.40087862e-03 9.98768318e-01 3.78906156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:103.07, Y:11.73, Z:3.79 [[ 9.92641655e-01 -1.08951134e-01 -5.28412337e-02 1.03071196e+02] [ 1.09176398e-01 9.94021424e-01 1.38677468e-03 1.17288383e+01] [ 5.23742277e-02 -7.14558587e-03 9.98601963e-01 3.78578173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:103.10, Y:11.73, Z:3.79 [[ 9.92689155e-01 -1.08618123e-01 -5.26340659e-02 1.03101649e+02] [ 1.08494296e-01 9.94083405e-01 -5.21264339e-03 1.17348163e+01] [ 5.28888390e-02 -5.35961335e-04 9.98600262e-01 3.78860337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:103.13, Y:11.74, Z:3.79 [[ 9.92847752e-01 -1.07037632e-01 -5.28799321e-02 1.03132591e+02] [ 1.06910518e-01 9.94254865e-01 -5.23487373e-03 1.17405343e+01] [ 5.31364583e-02 -4.55988304e-04 9.98587156e-01 3.79124511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.114391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:103.16, Y:11.75, Z:3.79 [[ 9.92969599e-01 -1.06169369e-01 -5.23396553e-02 1.03163323e+02] [ 1.06043746e-01 9.94347977e-01 -5.17927919e-03 1.17457908e+01] [ 5.25937111e-02 -4.07426330e-04 9.98615910e-01 3.79333912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.144391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:103.19, Y:11.75, Z:3.80 [[ 9.93112934e-01 -1.05118365e-01 -5.17380835e-02 1.03193486e+02] [ 1.04994290e-01 9.94459656e-01 -5.11781427e-03 1.17505036e+01] [ 5.19894130e-02 -3.49635786e-04 9.98647575e-01 3.79558971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:103.22, Y:11.75, Z:3.80 [[ 9.93430748e-01 -1.02604737e-01 -5.06716603e-02 1.03224894e+02] [ 1.02482518e-01 9.94722183e-01 -5.01116214e-03 1.17537950e+01] [ 5.09183935e-02 -2.14716767e-04 9.98702794e-01 3.79631189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:103.26, Y:11.76, Z:3.80 [[ 9.93551620e-01 -1.02103957e-01 -4.92946363e-02 1.03256483e+02] [ 1.01987775e-01 9.94773717e-01 -4.87301784e-03 1.17566093e+01] [ 4.95345630e-02 -1.85855516e-04 9.98772393e-01 3.79706462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23439141799999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:103.29, Y:11.76, Z:3.80 [[ 9.93642103e-01 -1.01309165e-01 -4.91103261e-02 1.03287757e+02] [ 1.01193004e-01 9.94854980e-01 -4.85229550e-03 1.17592914e+01] [ 4.93492345e-02 -1.48176328e-04 9.98781573e-01 3.79814972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26439141799999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:103.32, Y:11.76, Z:3.80 [[ 9.93675279e-01 -1.01061743e-01 -4.89485854e-02 1.03319418e+02] [ 1.00946332e-01 9.94880146e-01 -4.83051871e-03 1.17624713e+01] [ 4.91861564e-02 -1.41213118e-04 9.98789619e-01 3.79814335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29439141799999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:103.35, Y:11.77, Z:3.80 [[ 9.93662290e-01 -1.01135632e-01 -4.90595307e-02 1.03349855e+02] [ 1.01019893e-01 9.94872636e-01 -4.83931507e-03 1.17653189e+01] [ 4.92974118e-02 -1.47343653e-04 9.98784133e-01 3.79896646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32439141799999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:103.38, Y:11.77, Z:3.80 [[ 9.93638573e-01 -1.01346509e-01 -4.91046985e-02 1.03381409e+02] [ 1.01230973e-01 9.94851174e-01 -4.84055866e-03 1.17677776e+01] [ 4.93424406e-02 -1.61150593e-04 9.98781907e-01 3.79978063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35439141799999 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:103.41, Y:11.77, Z:3.80 [[ 9.93534069e-01 -1.01945471e-01 -4.99717290e-02 1.03411753e+02] [ 1.01826669e-01 9.94789969e-01 -4.92413592e-03 1.17696432e+01] [ 5.02133681e-02 -1.96157902e-04 9.98738494e-01 3.80058819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38439141799999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:103.44, Y:11.77, Z:3.80 [[ 9.93422520e-01 -1.03038667e-01 -4.99472737e-02 1.03442616e+02] [ 1.02921417e-01 9.94677319e-01 -4.92061171e-03 1.17712593e+01] [ 5.01884336e-02 -2.52397724e-04 9.98739735e-01 3.80086657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:103.47, Y:11.77, Z:3.80 [[ 9.93300569e-01 -1.04053312e-01 -5.02681548e-02 1.03473011e+02] [ 1.03935958e-01 9.94571673e-01 -4.95006373e-03 1.17727220e+01] [ 5.05103534e-02 -3.07767700e-04 9.98723490e-01 3.80191885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:103.50, Y:11.77, Z:3.80 [[ 9.92972030e-01 -1.07009163e-01 -5.05528081e-02 1.03503837e+02] [ 1.06894446e-01 9.94257926e-01 -4.97525946e-03 1.17747657e+01] [ 5.07949285e-02 -4.63520955e-04 9.98708997e-01 3.80275878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474391418 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:103.53, Y:11.78, Z:3.80 [[ 9.92868979e-01 -1.07943261e-01 -5.05909463e-02 1.03534860e+02] [ 1.07829597e-01 9.94156924e-01 -4.97873761e-03 1.17777641e+01] [ 5.08327608e-02 -5.11967210e-04 9.98707048e-01 3.80428102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.504391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:103.57, Y:11.78, Z:3.81 [[ 9.92778993e-01 -1.08804696e-01 -5.05114699e-02 1.03565652e+02] [ 1.08692601e-01 9.94062990e-01 -4.96898643e-03 1.17805157e+01] [ 5.07522318e-02 -5.57117685e-04 9.98711120e-01 3.80582603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:103.60, Y:11.78, Z:3.81 [[ 9.92756248e-01 -1.08963112e-01 -5.06169152e-02 1.03595781e+02] [ 1.08850845e-01 9.94045631e-01 -4.97756126e-03 1.17824604e+01] [ 5.08578940e-02 -5.68188950e-04 9.98705738e-01 3.80674696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:103.62, Y:11.79, Z:3.81 [[ 9.92886141e-01 -1.07824767e-01 -5.05067296e-02 1.03624204e+02] [ 1.07735720e-01 9.94169429e-01 -4.49016519e-03 1.17862658e+01] [ 5.06963975e-02 -9.83156105e-04 9.98713627e-01 3.80795428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59439141799999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:103.65, Y:11.79, Z:3.81 [[ 9.92998712e-01 -1.06667102e-01 -5.07512299e-02 1.03654804e+02] [ 1.06504115e-01 9.94294681e-01 -5.91282112e-03 1.17875350e+01] [ 5.10923814e-02 4.66208928e-04 9.98693823e-01 3.80881182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62439141799999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:103.68, Y:11.79, Z:3.81 [[ 9.93455946e-01 -1.02364240e-01 -5.06640557e-02 1.03683698e+02] [ 1.02243105e-01 9.94746958e-01 -4.98373806e-03 1.17909389e+01] [ 5.09080718e-02 -2.28926147e-04 9.98703317e-01 3.80988069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65439141799999 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:103.71, Y:11.80, Z:3.81 [[ 9.93745909e-01 -9.97054447e-02 -5.02781562e-02 1.03712870e+02] [ 9.95826943e-02 9.95016993e-01 -4.94681572e-03 1.17951787e+01] [ 5.05208442e-02 -9.09563682e-05 9.98723003e-01 3.81198479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68439141799999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:103.74, Y:11.80, Z:3.81 [[ 9.93980648e-01 -9.74745731e-02 -5.00117834e-02 1.03742121e+02] [ 9.73502076e-02 9.95238015e-01 -4.92240521e-03 1.17996947e+01] [ 5.02534374e-02 2.41180288e-05 9.98736498e-01 3.81359588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71439141799999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:103.77, Y:11.80, Z:3.82 [[ 9.94448270e-01 -9.23480140e-02 -5.04428695e-02 1.03770544e+02] [ 9.25760050e-02 9.95703196e-01 2.19724367e-03 1.18012125e+01] [ 5.00232153e-02 -6.85484451e-03 9.98724531e-01 3.81585314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74439141799999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:103.80, Y:11.81, Z:3.82 [[ 9.94539516e-01 -9.27396409e-02 -4.78592793e-02 1.03799414e+02] [ 9.22596208e-02 9.95660880e-01 -1.21479882e-02 1.18097730e+01] [ 4.87782122e-02 7.66617535e-03 9.98780214e-01 3.81827439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:103.83, Y:11.81, Z:3.82 [[ 9.94606298e-01 -9.16949566e-02 -4.84803715e-02 1.03827370e+02] [ 9.15704950e-02 9.95787091e-01 -4.78674384e-03 1.18083663e+01] [ 4.87150484e-02 3.21553956e-04 9.98812665e-01 3.81664628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:103.86, Y:11.81, Z:3.82 [[ 9.94487587e-01 -9.22842612e-02 -4.97800614e-02 1.03857531e+02] [ 9.21534805e-02 9.95732656e-01 -4.92084698e-03 1.18105914e+01] [ 5.00217495e-02 3.06315321e-04 9.98748082e-01 3.81680323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:103.89, Y:11.81, Z:3.82 [[ 9.94287011e-01 -9.31589189e-02 -5.21033162e-02 1.03885769e+02] [ 9.34583700e-02 9.95617601e-01 3.33537334e-03 1.18101520e+01] [ 5.15642590e-02 -8.18580940e-03 9.98636130e-01 3.81775431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.864391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:103.91, Y:11.82, Z:3.82 [[ 9.94162935e-01 -9.55449666e-02 -5.01120574e-02 1.03914835e+02] [ 9.49669659e-02 9.95384816e-01 -1.37965087e-02 1.18198450e+01] [ 5.11989680e-02 8.95698749e-03 9.98648305e-01 3.82130232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.894391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:103.95, Y:11.82, Z:3.82 [[ 9.93611104e-01 -1.00123076e-01 -5.20801621e-02 1.03946252e+02] [ 9.99897084e-02 9.94975057e-01 -5.16663124e-03 1.18180540e+01] [ 5.23357612e-02 -7.38580435e-05 9.98629542e-01 3.81994743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:103.98, Y:11.82, Z:3.82 [[ 9.93311844e-01 -1.03100314e-01 -5.19798653e-02 1.03976197e+02] [ 1.02971532e-01 9.94670937e-01 -5.15668127e-03 1.18205054e+01] [ 5.22345168e-02 -2.30253784e-04 9.98634819e-01 3.82150012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:104.01, Y:11.82, Z:3.82 [[ 9.93006806e-01 -1.06061617e-01 -5.18499349e-02 1.04006500e+02] [ 1.05937511e-01 9.94359485e-01 -5.14379148e-03 1.18229087e+01] [ 5.21030334e-02 -3.85033105e-04 9.98641640e-01 3.82323804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98439141799999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:104.04, Y:11.82, Z:3.82 [[ 9.92284917e-01 -1.09913860e-01 -5.73549275e-02 1.04035775e+02] [ 1.11034913e-01 9.93675682e-01 1.67298513e-02 1.18170449e+01] [ 5.51533542e-02 -2.29691785e-02 9.98213667e-01 3.82499852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01439141799999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:104.07, Y:11.84, Z:3.83 [[ 9.92315575e-01 -1.13722119e-01 -4.87552997e-02 1.04065558e+02] [ 1.12470746e-01 9.93269057e-01 -2.76931586e-02 1.18383542e+01] [ 5.15764552e-02 2.19968076e-02 9.98426767e-01 3.83372298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04439141799999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:104.10, Y:11.83, Z:3.83 [[ 9.91553911e-01 -1.19305664e-01 -5.08625523e-02 1.04098061e+02] [ 1.19203641e-01 9.92857006e-01 -5.04550819e-03 1.18289536e+01] [ 5.11011992e-02 -1.06010806e-03 9.98692918e-01 3.82739012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07439141799999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:104.13, Y:11.83, Z:3.83 [[ 9.91566140e-01 -1.19203884e-01 -5.08628044e-02 1.04130581e+02] [ 1.19101858e-01 9.92869234e-01 -5.04296567e-03 1.18321002e+01] [ 5.11012548e-02 -1.05742051e-03 9.98692918e-01 3.82881597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10439141799999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:104.16, Y:11.83, Z:3.83 [[ 9.91198677e-01 -1.22137930e-01 -5.10637695e-02 1.04163103e+02] [ 1.22039248e-01 9.92512388e-01 -5.05774066e-03 1.18346443e+01] [ 5.12991658e-02 -1.21855817e-03 9.98682588e-01 3.83016331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13439141799999 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:104.20, Y:11.84, Z:3.83 [[ 9.90853590e-01 -1.24971431e-01 -5.09048545e-02 1.04195002e+02] [ 1.24877311e-01 9.92159401e-01 -5.03779899e-03 1.18375118e+01] [ 5.11353109e-02 -1.36514012e-03 9.98690801e-01 3.83150091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:104.23, Y:11.84, Z:3.83 [[ 9.90133830e-01 -1.30766854e-01 -5.03490652e-02 1.04225482e+02] [ 1.30682454e-01 9.91411775e-01 -4.97883209e-03 1.18410972e+01] [ 5.05677223e-02 -1.65002934e-03 9.98719271e-01 3.83360820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:104.26, Y:11.84, Z:3.84 [[ 9.89713037e-01 -1.34137563e-01 -4.97515588e-02 1.04257514e+02] [ 1.34059562e-01 9.90961079e-01 -4.91659131e-03 1.18441348e+01] [ 4.99613580e-02 -1.80365767e-03 9.98749523e-01 3.83548048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:104.29, Y:11.85, Z:3.84 [[ 9.88760563e-01 -1.41443139e-01 -4.84395213e-02 1.04289160e+02] [ 1.41378126e-01 9.89944114e-01 -4.78303046e-03 1.18461367e+01] [ 4.86289458e-02 -2.11901684e-03 9.98814665e-01 3.83767249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.254391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:104.32, Y:11.85, Z:3.84 [[ 9.88227022e-01 -1.45142450e-01 -4.83841037e-02 1.04320033e+02] [ 1.45015763e-01 9.89410311e-01 -6.13716230e-03 1.18487202e+01] [ 4.87624939e-02 -9.51548100e-04 9.98809949e-01 3.83997925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:104.35, Y:11.85, Z:3.84 [[ 9.87755157e-01 -1.48509991e-01 -4.77967902e-02 1.04353478e+02] [ 1.48518592e-01 9.88903801e-01 -3.39120917e-03 1.18496545e+01] [ 4.77700559e-02 -3.74902765e-03 9.98851324e-01 3.84043406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:104.39, Y:11.85, Z:3.84 [[ 9.86693334e-01 -1.55248754e-01 -4.83124105e-02 1.04385036e+02] [ 1.55201254e-01 9.87871425e-01 -4.75582241e-03 1.18528745e+01] [ 4.84647854e-02 -2.80560843e-03 9.98820951e-01 3.84246372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34439141799999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:104.42, Y:11.86, Z:3.84 [[ 9.86241667e-01 -1.57865498e-01 -4.90495458e-02 1.04417605e+02] [ 1.57820020e-01 9.87456115e-01 -4.82312868e-03 1.18562170e+01] [ 4.91956796e-02 -2.98422982e-03 9.98784701e-01 3.84329296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37439141799999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:104.45, Y:11.86, Z:3.84 [[ 9.85870567e-01 -1.59905176e-01 -4.98954865e-02 1.04450352e+02] [ 1.59861031e-01 9.87127368e-01 -4.90004059e-03 1.18593409e+01] [ 5.00367421e-02 -3.14553812e-03 9.98742424e-01 3.84421392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40439141799999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:104.48, Y:11.85, Z:3.84 [[ 9.84980488e-01 -1.62568897e-01 -5.81789720e-02 1.04481882e+02] [ 1.64048200e-01 9.86215975e-01 2.15925505e-02 1.18519182e+01] [ 5.38667545e-02 -3.08123965e-02 9.98072627e-01 3.84371928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43439141799999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:104.51, Y:11.88, Z:3.85 [[ 9.85655836e-01 -1.61630223e-01 -4.85617485e-02 1.04512388e+02] [ 1.60156233e-01 9.86544110e-01 -3.28740077e-02 1.18784193e+01] [ 5.32217402e-02 2.46249908e-02 9.98279047e-01 3.85467657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46439141799999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:104.55, Y:11.87, Z:3.85 [[ 9.85929609e-01 -1.59020521e-01 -5.15294016e-02 1.04545610e+02] [ 1.58973389e-01 9.87270012e-01 -5.03830071e-03 1.18691774e+01] [ 5.16746262e-02 -3.22439377e-03 9.98658769e-01 3.84753345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49439141799999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:104.58, Y:11.87, Z:3.85 [[ 9.86208895e-01 -1.56990571e-01 -5.24020627e-02 1.04577796e+02] [ 1.56939226e-01 9.87594996e-01 -5.11892122e-03 1.18741861e+01] [ 5.25556373e-02 -3.17561350e-03 9.98612948e-01 3.84973247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:104.61, Y:11.88, Z:3.85 [[ 9.87118416e-01 -1.51045750e-01 -5.27485841e-02 1.04609442e+02] [ 1.50985588e-01 9.88522566e-01 -5.14664881e-03 1.18824453e+01] [ 5.29205451e-02 -2.88392416e-03 9.98594562e-01 3.85213570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:104.64, Y:11.89, Z:3.85 [[ 9.87614041e-01 -1.47708561e-01 -5.29215238e-02 1.04641268e+02] [ 1.47643458e-01 9.89027195e-01 -5.15918170e-03 1.18883018e+01] [ 5.31028815e-02 -2.71823647e-03 9.98585347e-01 3.85399959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:104.67, Y:11.89, Z:3.86 [[ 9.88149924e-01 -1.44133167e-01 -5.27764855e-02 1.04673021e+02] [ 1.44063561e-01 9.89555083e-01 -5.14074722e-03 1.18935745e+01] [ 5.29661916e-02 -2.52333947e-03 9.98593118e-01 3.85553052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.614391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:104.70, Y:11.90, Z:3.86 [[ 9.89267097e-01 -1.36741636e-01 -5.15008224e-02 1.04704816e+02] [ 1.36665568e-01 9.90604562e-01 -5.01233647e-03 1.19008116e+01] [ 5.17023448e-02 -2.07984958e-03 9.98660374e-01 3.85645011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.644391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:104.74, Y:11.91, Z:3.86 [[ 9.89842720e-01 -1.32676860e-01 -5.10709317e-02 1.04736888e+02] [ 1.32596868e-01 9.91157609e-01 -4.96633020e-03 1.19058461e+01] [ 5.12782596e-02 -1.85595979e-03 9.98682680e-01 3.85821291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:104.77, Y:11.91, Z:3.86 [[ 9.90379246e-01 -1.28794518e-01 -5.06055479e-02 1.04767347e+02] [ 1.28711116e-01 9.91669940e-01 -4.91712697e-03 1.19111704e+01] [ 5.08172997e-02 -1.64367603e-03 9.98706614e-01 3.85998972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:104.80, Y:11.92, Z:3.86 [[ 9.90935730e-01 -1.24725568e-01 -4.98990202e-02 1.04798810e+02] [ 1.24639483e-01 9.92190265e-01 -4.84533566e-03 1.19165357e+01] [ 5.01136593e-02 -1.41797184e-03 9.98742515e-01 3.86159153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73439141799999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:104.83, Y:11.92, Z:3.86 [[ 9.91908802e-01 -1.17007207e-01 -4.92568983e-02 1.04830533e+02] [ 1.16914006e-01 9.93130543e-01 -4.77900275e-03 1.19239776e+01] [ 4.94777079e-02 -1.01848641e-03 9.98774709e-01 3.86358666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76439141799999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:104.86, Y:11.93, Z:3.87 [[ 9.92301401e-01 -1.13698811e-01 -4.90969408e-02 1.04862151e+02] [ 1.13602364e-01 9.93514897e-01 -4.75950202e-03 1.19293138e+01] [ 4.93196918e-02 -8.54668014e-04 9.98782678e-01 3.86522182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79439141799999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:104.89, Y:11.93, Z:3.87 [[ 9.92644608e-01 -1.10422723e-01 -4.96336929e-02 1.04894253e+02] [ 1.10320267e-01 9.93884464e-01 -4.80744012e-03 1.19342872e+01] [ 4.98610068e-02 -7.03522726e-04 9.98755919e-01 3.86701682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82439141799999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:104.93, Y:11.96, Z:3.87 [[ 9.94097175e-01 -1.02556146e-01 -3.53983685e-02 1.04928071e+02] [ 1.00119602e-01 9.92860285e-01 -6.48422658e-02 1.19633511e+01] [ 4.17956071e-02 6.09154426e-02 9.97267485e-01 3.87491428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85439141799999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:104.96, Y:11.91, Z:3.85 [[ 9.93416459e-01 -9.96829304e-02 -5.64539914e-02 1.04957689e+02] [ 1.02899789e-01 9.93041773e-01 5.72684061e-02 1.19134553e+01] [ 5.03524892e-02 -6.27004810e-02 9.96761394e-01 3.84811396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88439141799999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:104.98, Y:11.95, Z:3.87 [[ 9.93612250e-01 -1.00615045e-01 -5.11009773e-02 1.04984493e+02] [ 1.00493747e-01 9.94925406e-01 -4.94406514e-03 1.19469570e+01] [ 5.13391079e-02 -2.22844990e-04 9.98681254e-01 3.86904718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:105.02, Y:11.95, Z:3.87 [[ 9.93763001e-01 -9.86112142e-02 -5.20665498e-02 1.05015414e+02] [ 9.84826906e-02 9.95126029e-01 -5.03455220e-03 1.19500774e+01] [ 5.23092422e-02 -1.24502207e-04 9.98630927e-01 3.86937404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:105.05, Y:11.95, Z:3.87 [[ 9.94028267e-01 -9.52543162e-02 -5.32392688e-02 1.05045952e+02] [ 9.51152254e-02 9.95452969e-01 -5.14599710e-03 1.19539789e+01] [ 5.34873666e-02 5.14015215e-05 9.98568525e-01 3.86949051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:105.07, Y:11.96, Z:3.87 [[ 9.94167416e-01 -9.37644591e-02 -5.32857918e-02 1.05074981e+02] [ 9.36230338e-02 9.95594400e-01 -5.14960595e-03 1.19577464e+01] [ 5.35338859e-02 1.30792949e-04 9.98566025e-01 3.87082664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.004391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:105.11, Y:11.96, Z:3.87 [[ 9.94311031e-01 -9.24390263e-02 -5.29206883e-02 1.05105014e+02] [ 9.22976672e-02 9.95718327e-01 -5.11414312e-03 1.19618786e+01] [ 5.31668456e-02 2.00592845e-04 9.98585623e-01 3.87260929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.034391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:105.13, Y:11.97, Z:3.87 [[ 9.94424417e-01 -9.12971274e-02 -5.27722832e-02 1.05134690e+02] [ 9.11549536e-02 9.95823662e-01 -5.09980157e-03 1.19661073e+01] [ 5.30174856e-02 2.60912171e-04 9.98593550e-01 3.87495743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:105.16, Y:11.99, Z:3.88 [[ 9.94850208e-01 -9.08924171e-02 -4.48512273e-02 1.05162304e+02] [ 8.94980902e-02 9.95467067e-01 -3.21778080e-02 1.19852638e+01] [ 4.75726384e-02 2.79979998e-02 9.98475316e-01 3.88022967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09439141799999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:105.20, Y:11.96, Z:3.87 [[ 9.94546379e-01 -8.93584687e-02 -5.37825713e-02 1.05196326e+02] [ 9.06638550e-02 9.95631016e-01 2.23370814e-02 1.19610735e+01] [ 5.15515888e-02 -2.70913987e-02 9.98302805e-01 3.87037315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12439141799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:105.22, Y:11.99, Z:3.88 [[ 9.94780172e-01 -9.32771539e-02 -4.13736759e-02 1.05224218e+02] [ 9.19043960e-02 9.95189619e-01 -3.39294094e-02 1.19911099e+01] [ 4.43394914e-02 2.99498810e-02 9.98567481e-01 3.88211608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15439141799999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:105.26, Y:11.96, Z:3.87 [[ 9.94128674e-01 -9.42260045e-02 -5.31943511e-02 1.05260108e+02] [ 9.56289630e-02 9.95116234e-01 2.44700321e-02 1.19647474e+01] [ 5.06288490e-02 -2.94132812e-02 9.98284317e-01 3.87102451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18439141799999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:105.29, Y:11.99, Z:3.88 [[ 9.94192867e-01 -9.81994038e-02 -4.40161426e-02 1.05287303e+02] [ 9.71572684e-02 9.94949295e-01 -2.52262980e-02 1.19914937e+01] [ 4.62710374e-02 2.08033174e-02 9.98712277e-01 3.88261398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21439141799999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:105.32, Y:11.99, Z:3.88 [[ 9.94098526e-01 -1.01067489e-01 -3.94142511e-02 1.05322721e+02] [ 9.98028360e-02 9.94465240e-01 -3.28371701e-02 1.19906045e+01] [ 4.25148730e-02 2.87097283e-02 9.98683252e-01 3.87977635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24439141799999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:105.35, Y:11.96, Z:3.87 [[ 9.93003247e-01 -1.04422297e-01 -5.51410570e-02 1.05353591e+02] [ 1.06792221e-01 9.93396701e-01 4.19334788e-02 1.19587855e+01] [ 5.03981539e-02 -4.75287165e-02 9.97597638e-01 3.86831561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:105.38, Y:11.98, Z:3.88 [[ 9.92399325e-01 -1.12019108e-01 -5.09440812e-02 1.05383081e+02] [ 1.12066553e-01 9.93698823e-01 -1.93317964e-03 1.19811334e+01] [ 5.08396266e-02 -3.79064142e-03 9.98699636e-01 3.88450627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:105.42, Y:11.98, Z:3.89 [[ 9.92188517e-01 -1.14044930e-01 -5.05539332e-02 1.05415064e+02] [ 1.13945091e-01 9.93475152e-01 -4.86198546e-03 1.19848472e+01] [ 5.07785613e-02 -9.36366392e-04 9.98709498e-01 3.88781709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:105.45, Y:11.99, Z:3.89 [[ 9.92200008e-01 -1.13944738e-01 -5.05543422e-02 1.05447598e+02] [ 1.13844987e-01 9.93486649e-01 -4.85772938e-03 1.19878935e+01] [ 5.07785768e-02 -9.35519304e-04 9.98709498e-01 3.88919914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.364391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:105.48, Y:11.99, Z:3.89 [[ 9.92083737e-01 -1.14951840e-01 -5.05562292e-02 1.05478814e+02] [ 1.14853632e-01 9.93370571e-01 -4.85311077e-03 1.19900942e+01] [ 5.07789443e-02 -9.91874266e-04 9.98709425e-01 3.89053667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.394391418 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:105.51, Y:11.99, Z:3.89 [[ 9.92094515e-01 -1.15143468e-01 -4.99044555e-02 1.05510183e+02] [ 1.15048169e-01 9.93348377e-01 -4.78755382e-03 1.19919708e+01] [ 5.01237654e-02 -9.91710322e-04 9.98742522e-01 3.89227791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:105.54, Y:11.99, Z:3.89 [[ 9.92187971e-01 -1.14437598e-01 -4.96695782e-02 1.05542146e+02] [ 1.14342465e-01 9.93429980e-01 -4.76190421e-03 1.19946362e+01] [ 4.98881889e-02 -9.54637950e-04 9.98754353e-01 3.89358360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:105.57, Y:12.00, Z:3.89 [[ 9.92497961e-01 -1.12022406e-01 -4.89773179e-02 1.05573643e+02] [ 1.11927180e-01 9.93705338e-01 -4.69125677e-03 1.19960154e+01] [ 4.91945481e-02 -8.25830282e-04 9.98788874e-01 3.89395973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48439141799999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:105.60, Y:12.00, Z:3.90 [[ 9.92720821e-01 -1.09395338e-01 -5.03788887e-02 1.05604225e+02] [ 1.08896817e-01 9.93973904e-01 -1.25443985e-02 1.20014142e+01] [ 5.14475993e-02 6.96698491e-03 9.98651393e-01 3.89735651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51439141799999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:105.64, Y:12.00, Z:3.89 [[ 9.92921905e-01 -1.08064645e-01 -4.92759949e-02 1.05637343e+02] [ 1.08329924e-01 9.94111229e-01 2.73719809e-03 1.19965934e+01] [ 4.86900255e-02 -8.05588874e-03 9.98781450e-01 3.89259791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54439141799999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:105.67, Y:12.01, Z:3.90 [[ 9.93655421e-01 -1.04049159e-01 -4.26928139e-02 1.05666595e+02] [ 1.03056158e-01 9.94365285e-01 -2.48416798e-02 1.20130393e+01] [ 4.50370079e-02 2.02843124e-02 9.98779362e-01 3.89666373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57439141799999 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:105.70, Y:12.00, Z:3.89 [[ 9.93560691e-01 -1.01047292e-01 -5.12503544e-02 1.05700976e+02] [ 1.01962922e-01 9.94666332e-01 1.55708495e-02 1.19960939e+01] [ 4.94036098e-02 -2.06962198e-02 9.98564445e-01 3.89144897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60439141799999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:105.73, Y:12.02, Z:3.90 [[ 9.94152647e-01 -9.92765449e-02 -4.24815469e-02 1.05730492e+02] [ 9.81924403e-02 9.94804022e-01 -2.68924229e-02 1.20198006e+01] [ 4.49306006e-02 2.25638067e-02 9.98735258e-01 3.90079518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63439141799999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:105.76, Y:12.00, Z:3.90 [[ 9.94082256e-01 -9.60588549e-02 -5.07263693e-02 1.05764738e+02] [ 9.70693728e-02 9.95117675e-01 1.78423336e-02 1.20011538e+01] [ 4.87647925e-02 -2.26607241e-02 9.98553197e-01 3.89552012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:105.79, Y:12.01, Z:3.90 [[ 9.94209796e-01 -9.57491392e-02 -4.87748194e-02 1.05794770e+02] [ 9.56364552e-02 9.95405495e-01 -4.64417333e-03 1.20134687e+01] [ 4.89953988e-02 -4.73682070e-05 9.98799003e-01 3.90476637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:105.83, Y:12.02, Z:3.91 [[ 9.94643504e-01 -9.43381126e-02 -4.22447783e-02 1.05825072e+02] [ 9.33655122e-02 9.95331960e-01 -2.44370649e-02 1.20239378e+01] [ 4.43529246e-02 2.03619625e-02 9.98808394e-01 3.90563670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:105.86, Y:12.00, Z:3.90 [[ 9.94242198e-01 -9.36945131e-02 -5.19979760e-02 1.05859321e+02] [ 9.46069085e-02 9.95396104e-01 1.53665092e-02 1.20025380e+01] [ 5.03188251e-02 -2.01973997e-02 9.98528958e-01 3.89805209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.754391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:105.89, Y:12.01, Z:3.90 [[ 9.94236874e-01 -9.46175084e-02 -5.04040130e-02 1.05889990e+02] [ 9.44967133e-02 9.95513700e-01 -4.77956031e-03 1.20130313e+01] [ 5.06301156e-02 -1.09984687e-05 9.98717473e-01 3.90471106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.784391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:105.92, Y:12.02, Z:3.91 [[ 9.94423766e-01 -9.43741002e-02 -4.70627563e-02 1.05919601e+02] [ 9.36506190e-02 9.95453890e-01 -1.73526583e-02 1.20204819e+01] [ 4.84864454e-02 1.28484396e-02 9.98741199e-01 3.90548529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:105.95, Y:12.01, Z:3.90 [[ 9.94117324e-01 -9.47888817e-02 -5.24005135e-02 1.05952167e+02] [ 9.53170487e-02 9.95417428e-01 7.66833282e-03 1.20084635e+01] [ 5.14335117e-02 -1.26178848e-02 9.98596707e-01 3.90260359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84439141799999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:105.98, Y:12.02, Z:3.91 [[ 9.94122952e-01 -9.55844479e-02 -5.08248884e-02 1.05981545e+02] [ 9.54631392e-02 9.95421322e-01 -4.81456427e-03 1.20163844e+01] [ 5.10523751e-02 -6.56345463e-05 9.98695975e-01 3.90874885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87439141799999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:106.01, Y:12.02, Z:3.91 [[ 9.94178302e-01 -9.55738571e-02 -4.97507950e-02 1.06012278e+02] [ 9.54576114e-02 9.95422339e-01 -4.71281705e-03 1.20181700e+01] [ 4.99734749e-02 -6.37116123e-05 9.98750543e-01 3.91000204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90439141799999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:106.04, Y:12.02, Z:3.91 [[ 9.94138541e-01 -9.63048838e-02 -4.91317708e-02 1.06042535e+02] [ 9.61924067e-02 9.95351877e-01 -4.65417783e-03 1.20202228e+01] [ 4.93516204e-02 -9.92057292e-05 9.98781461e-01 3.91342035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93439141799999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:106.07, Y:12.02, Z:3.92 [[ 9.94098185e-01 -9.73047019e-02 -4.79644987e-02 1.06072600e+02] [ 9.71986717e-02 9.95254628e-01 -4.54360392e-03 1.20209644e+01] [ 4.81790033e-02 -1.45297156e-04 9.98838707e-01 3.91593266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96439141799999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:106.10, Y:12.02, Z:3.92 [[ 9.94104173e-01 -9.72434946e-02 -4.79645321e-02 1.06104288e+02] [ 9.71374102e-02 9.95260610e-01 -4.54325154e-03 1.20239273e+01] [ 4.81790111e-02 -1.42685117e-04 9.98838707e-01 3.91728444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99439141799999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:106.13, Y:12.03, Z:3.92 [[ 9.94063972e-01 -9.77748480e-02 -4.77168582e-02 1.06134721e+02] [ 9.76705995e-02 9.95208546e-01 -4.51706668e-03 1.20260985e+01] [ 4.79298806e-02 -1.70280907e-04 9.98850688e-01 3.91874060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:106.16, Y:12.04, Z:3.92 [[ 9.94381138e-01 -9.83183442e-02 -3.92384369e-02 1.06164799e+02] [ 9.72761989e-02 9.94873445e-01 -2.76436192e-02 1.20398605e+01] [ 4.17551537e-02 2.36713275e-02 9.98847423e-01 3.91994184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:106.20, Y:12.02, Z:3.91 [[ 9.93955583e-01 -9.79083128e-02 -4.96614761e-02 1.06199170e+02] [ 9.89569084e-02 9.94908223e-01 1.91090992e-02 1.20192769e+01] [ 4.75376713e-02 -2.39079419e-02 9.98583287e-01 3.91336306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:106.23, Y:12.04, Z:3.92 [[ 9.94308363e-01 -1.00043378e-01 -3.66360726e-02 1.06229538e+02] [ 9.88798480e-02 9.94574831e-01 -3.23060410e-02 1.20441922e+01] [ 3.96693212e-02 2.84995974e-02 9.98806347e-01 3.92076217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.114391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:106.26, Y:12.02, Z:3.91 [[ 9.93803115e-01 -9.98138315e-02 -4.89138752e-02 1.06262908e+02] [ 1.01086197e-01 9.94581785e-01 2.42622046e-02 1.20184045e+01] [ 4.62271456e-02 -2.90563721e-02 9.98508277e-01 3.91250552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144391418 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:106.29, Y:12.03, Z:3.92 [[ 9.93754143e-01 -1.01663156e-01 -4.60141992e-02 1.06292912e+02] [ 1.01570846e-01 9.94818816e-01 -4.34585117e-03 1.20315060e+01] [ 4.62176041e-02 -3.54993551e-04 9.98931333e-01 3.92218769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:106.32, Y:12.03, Z:3.92 [[ 9.93734382e-01 -1.01733471e-01 -4.62847679e-02 1.06323889e+02] [ 1.01640427e-01 9.94811624e-01 -4.36541093e-03 1.20331317e+01] [ 4.64887335e-02 -3.66344662e-04 9.98918747e-01 3.92353511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:106.35, Y:12.04, Z:3.93 [[ 9.93737952e-01 -9.98671265e-02 -5.01142641e-02 1.06350701e+02] [ 9.88111797e-02 9.94837357e-01 -2.31297189e-02 1.20437735e+01] [ 5.21654406e-02 1.80330299e-02 9.98475626e-01 3.93258091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23439141799999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:106.38, Y:12.03, Z:3.92 [[ 9.93773141e-01 -9.98243846e-02 -4.94978504e-02 1.06384441e+02] [ 1.00595606e-01 9.94838010e-01 1.33363305e-02 1.20306709e+01] [ 4.79110520e-02 -1.82325533e-02 9.98685188e-01 3.92245845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26439141799999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:106.41, Y:12.05, Z:3.93 [[ 9.94183394e-01 -9.95840739e-02 -4.10169667e-02 1.06412549e+02] [ 9.85192707e-02 9.94762906e-01 -2.72160515e-02 1.20533510e+01] [ 4.35124423e-02 2.30167848e-02 9.98787713e-01 3.93081988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29439141799999 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:106.45, Y:12.03, Z:3.92 [[ 9.94001855e-01 -9.71621345e-02 -5.01979337e-02 1.06445312e+02] [ 9.81891483e-02 9.94997479e-01 1.84094559e-02 1.20338229e+01] [ 4.81581154e-02 -2.32279257e-02 9.98569607e-01 3.92403386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32439141799999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:106.48, Y:12.05, Z:3.93 [[ 9.94358816e-01 -9.47404579e-02 -4.76947631e-02 1.06475109e+02] [ 9.46328907e-02 9.95502007e-01 -4.51342602e-03 1.20450993e+01] [ 4.79078364e-02 -2.55283478e-05 9.98851760e-01 3.93105030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35439141799999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:106.50, Y:12.05, Z:3.93 [[ 9.94546963e-01 -9.27304739e-02 -4.77220851e-02 1.06504267e+02] [ 9.26204650e-02 9.95691244e-01 -4.51612323e-03 1.20458773e+01] [ 4.79352445e-02 7.14549331e-05 9.98850443e-01 3.93139146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38439141799999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:106.53, Y:12.05, Z:3.93 [[ 9.94741009e-01 -9.03041001e-02 -4.83269490e-02 1.06534473e+02] [ 9.01883669e-02 9.95914220e-01 -4.57447089e-03 1.20469746e+01] [ 4.85425891e-02 1.91885190e-04 9.98821095e-01 3.93076672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414391418 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:106.56, Y:12.05, Z:3.93 [[ 9.94778926e-01 -8.92638693e-02 -4.94656524e-02 1.06563791e+02] [ 8.91412274e-02 9.96007981e-01 -4.68429688e-03 1.20495483e+01] [ 4.96863230e-02 2.50410846e-04 9.98764840e-01 3.93272826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:106.59, Y:12.05, Z:3.93 [[ 9.94901422e-01 -8.69722561e-02 -5.10586636e-02 1.06593655e+02] [ 8.68384545e-02 9.96210662e-01 -4.83731780e-03 1.20531930e+01] [ 5.12858976e-02 3.78798920e-04 9.98683941e-01 3.93398301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:106.62, Y:12.06, Z:3.94 [[ 9.94893069e-01 -8.71725938e-02 -5.08794749e-02 1.06621231e+02] [ 8.70397577e-02 9.96193154e-01 -4.82492272e-03 1.20565846e+01] [ 5.11063856e-02 3.71745004e-04 9.98693146e-01 3.93652575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504391418 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:106.65, Y:12.06, Z:3.94 [[ 9.94858621e-01 -8.75034748e-02 -5.09849568e-02 1.06649251e+02] [ 8.73696625e-02 9.96164145e-01 -4.85167048e-03 1.20592617e+01] [ 5.12139239e-02 3.72187735e-04 9.98687637e-01 3.93867501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.534391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:106.68, Y:12.06, Z:3.94 [[ 9.94776729e-01 -8.89894593e-02 -5.00013537e-02 1.06676988e+02] [ 8.88618272e-02 9.96032521e-01 -4.77422590e-03 1.20581518e+01] [ 5.02278302e-02 3.06077178e-04 9.98737739e-01 3.94001061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:106.70, Y:12.06, Z:3.94 [[ 9.94650245e-01 -9.05551747e-02 -4.97056348e-02 1.06704806e+02] [ 9.04302802e-02 9.95891411e-01 -4.76043156e-03 1.20581018e+01] [ 4.99324965e-02 2.40069937e-04 9.98752566e-01 3.94145149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59439141799999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:106.73, Y:12.06, Z:3.94 [[ 9.94449465e-01 -9.23933261e-02 -5.03362263e-02 1.06732838e+02] [ 9.20175887e-02 9.95709779e-01 -9.73645830e-03 1.20604682e+01] [ 5.10198565e-02 5.05059757e-03 9.98684868e-01 3.94414333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62439141799999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:106.76, Y:12.06, Z:3.94 [[ 9.93978227e-01 -9.75082730e-02 -4.99942075e-02 1.06762362e+02] [ 9.76231847e-02 9.95223439e-01 -1.43991172e-04 1.20558197e+01] [ 4.97694474e-02 -4.73746966e-03 9.98749497e-01 3.94182642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65439141799999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:106.79, Y:12.06, Z:3.94 [[ 9.93718817e-01 -1.00181702e-01 -4.98652085e-02 1.06792187e+02] [ 1.00066931e-01 9.94969134e-01 -4.79912273e-03 1.20595770e+01] [ 5.00951277e-02 -2.20879827e-04 9.98744426e-01 3.94394658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68439141799999 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:106.82, Y:12.06, Z:3.95 [[ 9.93418963e-01 -1.03166988e-01 -4.97527565e-02 1.06820477e+02] [ 1.03056365e-01 9.94663982e-01 -4.79049430e-03 1.20609287e+01] [ 4.99814958e-02 -3.68370334e-04 9.98750076e-01 3.94563196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71439141799999 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:106.85, Y:12.06, Z:3.95 [[ 9.92844862e-01 -1.08998071e-01 -4.87698759e-02 1.06850312e+02] [ 1.08898666e-01 9.94041751e-01 -4.69865234e-03 1.20582620e+01] [ 4.89914369e-02 -6.45941584e-04 9.98798990e-01 3.94559704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74439141799999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:106.88, Y:12.06, Z:3.95 [[ 9.92521273e-01 -1.11894131e-01 -4.87978117e-02 1.06879964e+02] [ 1.11798011e-01 9.93719821e-01 -4.70331576e-03 1.20582114e+01] [ 4.90176262e-02 -7.87357336e-04 9.98797603e-01 3.94658507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:106.91, Y:12.06, Z:3.95 [[ 9.92197351e-01 -1.14663151e-01 -4.89568987e-02 1.06908910e+02] [ 1.14569666e-01 9.93403999e-01 -4.72075768e-03 1.20586824e+01] [ 4.91752759e-02 -9.25052281e-04 9.98789736e-01 3.94793481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:106.94, Y:12.06, Z:3.95 [[ 9.91579927e-01 -1.19985646e-01 -4.87103030e-02 1.06939475e+02] [ 1.19899388e-01 9.92774925e-01 -4.69950323e-03 1.20607095e+01] [ 4.89222403e-02 -1.18040247e-03 9.98801893e-01 3.95065151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:106.97, Y:12.06, Z:3.95 [[ 9.91261202e-01 -1.22526451e-01 -4.88722590e-02 1.06969170e+02] [ 1.22442709e-01 9.92464383e-01 -4.71499456e-03 1.20643628e+01] [ 4.90816879e-02 -1.31026058e-03 9.98793908e-01 3.95287512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.864391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:107.00, Y:12.07, Z:3.95 [[ 9.90993953e-01 -1.24837037e-01 -4.84427338e-02 1.06998788e+02] [ 1.24757552e-01 9.92176253e-01 -4.67281963e-03 1.20676101e+01] [ 4.86470711e-02 -1.41286088e-03 9.98815031e-01 3.95402813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.894391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:107.03, Y:12.07, Z:3.95 [[ 9.90679082e-01 -1.27331214e-01 -4.83913078e-02 1.07029112e+02] [ 1.27254827e-01 9.91859069e-01 -4.66869326e-03 1.20698281e+01] [ 4.85918278e-02 -1.53285075e-03 9.98817543e-01 3.95495524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:107.06, Y:12.07, Z:3.95 [[ 9.90135159e-01 -1.31770724e-01 -4.76323716e-02 1.07059480e+02] [ 1.31701839e-01 9.91278723e-01 -4.59547267e-03 1.20683600e+01] [ 4.78225053e-02 -1.72313188e-03 9.98854363e-01 3.95390878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:107.09, Y:12.07, Z:3.95 [[ 9.89865285e-01 -1.33996805e-01 -4.70273731e-02 1.07090436e+02] [ 1.33932166e-01 9.90980116e-01 -4.53710366e-03 1.20695687e+01] [ 4.72111490e-02 -1.80735653e-03 9.98883297e-01 3.95428037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98439141799999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:107.12, Y:12.07, Z:3.96 [[ 9.89437089e-01 -1.37059092e-01 -4.72128468e-02 1.07121968e+02] [ 1.36997428e-01 9.90560931e-01 -4.55479716e-03 1.20724523e+01] [ 4.73914778e-02 -1.96135334e-03 9.98874467e-01 3.95576154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01439141799999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:107.15, Y:12.08, Z:3.96 [[ 9.89281116e-01 -1.38013036e-01 -4.76998497e-02 1.07151805e+02] [ 1.37951290e-01 9.90428333e-01 -4.59991905e-03 1.20770528e+01] [ 4.78781314e-02 -2.02964275e-03 9.98851123e-01 3.95763824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04439141799999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:107.18, Y:12.08, Z:3.96 [[ 9.89232544e-01 -1.38216845e-01 -4.81152635e-02 1.07181780e+02] [ 1.38154306e-01 9.90399852e-01 -4.63899842e-03 1.20818736e+01] [ 4.82945376e-02 -2.05828265e-03 9.98831017e-01 3.95955329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07439141799999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:107.21, Y:12.10, Z:3.96 [[ 9.89713809e-01 -1.37745640e-01 -3.86356815e-02 1.07214627e+02] [ 1.36214666e-01 9.89879227e-01 -3.98080450e-02 1.21018733e+01] [ 4.37280431e-02 3.41358253e-02 9.98460116e-01 3.96282754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10439141799999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:107.24, Y:12.07, Z:3.95 [[ 9.89386002e-01 -1.35675035e-01 -5.20348343e-02 1.07244180e+02] [ 1.37437245e-01 9.89996161e-01 3.19155924e-02 1.20726691e+01] [ 4.71841371e-02 -3.87283647e-02 9.98135147e-01 3.95298185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13439141799999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:107.28, Y:12.11, Z:3.96 [[ 9.89862088e-01 -1.36358903e-01 -3.97403650e-02 1.07275543e+02] [ 1.35121204e-01 9.90301292e-01 -3.23359220e-02 1.21051903e+01] [ 4.37642256e-02 2.66383373e-02 9.98686683e-01 3.96382615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:107.31, Y:12.08, Z:3.96 [[ 9.89556909e-01 -1.34992588e-01 -5.05383518e-02 1.07305477e+02] [ 1.36340256e-01 9.90365780e-01 2.42271888e-02 1.20834993e+01] [ 4.67809633e-02 -3.08645939e-02 9.98428224e-01 3.95760854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:107.34, Y:12.10, Z:3.97 [[ 9.89542604e-01 -1.36114089e-01 -4.77324869e-02 1.07335227e+02] [ 1.36049762e-01 9.90691283e-01 -4.60914290e-03 1.21021989e+01] [ 4.79155280e-02 -1.93305020e-03 9.98849521e-01 3.96701947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:107.37, Y:12.11, Z:3.97 [[ 9.89577553e-01 -1.35820551e-01 -4.78439505e-02 1.07366315e+02] [ 1.35755757e-01 9.90731581e-01 -4.61624362e-03 1.21071318e+01] [ 4.80274934e-02 -1.92696067e-03 9.98844155e-01 3.96834782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.254391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:107.40, Y:12.11, Z:3.97 [[ 9.89751603e-01 -1.34007854e-01 -4.93321300e-02 1.07397907e+02] [ 1.33936835e-01 9.90978451e-01 -4.75751348e-03 1.21134193e+01] [ 4.95246219e-02 -1.89863275e-03 9.98771098e-01 3.96928005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.284391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:107.43, Y:12.12, Z:3.97 [[ 9.89962753e-01 -1.32184964e-01 -5.00088343e-02 1.07428908e+02] [ 1.32109856e-01 9.91223367e-01 -4.81891490e-03 1.21173707e+01] [ 5.02069132e-02 -1.83611364e-03 9.98737150e-01 3.97019392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314391418 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:107.46, Y:12.12, Z:3.97 [[ 9.90539299e-01 -1.27746683e-01 -5.01266512e-02 1.07460044e+02] [ 1.27665648e-01 9.91805510e-01 -4.82822515e-03 1.21233915e+01] [ 5.03326786e-02 -1.61690465e-03 9.98731199e-01 3.97137798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34439141799999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:107.49, Y:12.13, Z:3.97 [[ 9.90546959e-01 -1.27687199e-01 -5.01268587e-02 1.07491725e+02] [ 1.27606197e-01 9.91813172e-01 -4.82606986e-03 1.21263995e+01] [ 5.03327060e-02 -1.61604898e-03 9.98731199e-01 3.97274697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37439141799999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:107.52, Y:12.14, Z:3.98 [[ 9.91139122e-01 -1.22705258e-01 -5.08592192e-02 1.07521549e+02] [ 1.22382728e-01 9.92438277e-01 -9.41983679e-03 1.21370249e+01] [ 5.16304994e-02 3.11207877e-03 9.98661407e-01 3.97776588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40439141799999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:107.55, Y:12.14, Z:3.98 [[ 9.91599691e-01 -1.19344804e-01 -4.98685359e-02 1.07551689e+02] [ 1.19486738e-01 9.92835787e-01 -1.35941011e-04 1.21385478e+01] [ 4.95274909e-02 -5.82382964e-03 9.98755781e-01 3.97704114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43439141799999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:107.58, Y:12.15, Z:3.98 [[ 9.92267549e-01 -1.14375208e-01 -4.82018959e-02 1.07582737e+02] [ 1.14284773e-01 9.93437209e-01 -4.63708144e-03 1.21482687e+01] [ 4.84159241e-02 -9.07517302e-04 9.98826849e-01 3.98030203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46439141799999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:107.61, Y:12.15, Z:3.98 [[ 9.92508181e-01 -1.12289244e-01 -4.81522152e-02 1.07613578e+02] [ 1.12196722e-01 9.93675235e-01 -4.62857299e-03 1.21525212e+01] [ 4.83674027e-02 -8.08624152e-04 9.98829285e-01 3.98131864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49439141799999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:107.64, Y:12.16, Z:3.98 [[ 9.92758600e-01 -1.10284737e-01 -4.76197384e-02 1.07643595e+02] [ 1.10192033e-01 9.93899784e-01 -4.57557623e-03 1.21561195e+01] [ 4.78338639e-02 -7.04873112e-04 9.98855057e-01 3.98163976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:107.67, Y:12.16, Z:3.98 [[ 9.92905576e-01 -1.08660894e-01 -4.82838229e-02 1.07674507e+02] [ 1.08330779e-01 9.94070369e-01 -9.40978676e-03 1.21622833e+01] [ 4.90199934e-02 4.11240560e-03 9.98789331e-01 3.98408307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:107.70, Y:12.16, Z:3.98 [[ 9.93110156e-01 -1.06793805e-01 -4.82421116e-02 1.07704734e+02] [ 1.06923076e-01 9.94267291e-01 9.96113696e-05 1.21613569e+01] [ 4.79549157e-02 -5.25712003e-03 9.98835667e-01 3.98143803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:107.73, Y:12.17, Z:3.98 [[ 9.93224663e-01 -1.05321435e-01 -4.91137926e-02 1.07734495e+02] [ 1.05216462e-01 9.94438118e-01 -4.72504874e-03 1.21696534e+01] [ 4.93382764e-02 -4.74544540e-04 9.98782013e-01 3.98481960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.614391418 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:107.76, Y:12.18, Z:3.99 [[ 9.93168272e-01 -1.04876914e-01 -5.11626388e-02 1.07764091e+02] [ 1.04407377e-01 9.94464934e-01 -1.17726402e-02 1.21770678e+01] [ 5.21141284e-02 6.35045583e-03 9.98620944e-01 3.98839947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.644391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:107.79, Y:12.17, Z:3.99 [[ 9.93148482e-01 -1.05154643e-01 -5.09764079e-02 1.07794258e+02] [ 1.05384520e-01 9.94429854e-01 1.83535176e-03 1.21747622e+01] [ 5.04994661e-02 -7.19490109e-03 9.98698171e-01 3.98561516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:107.82, Y:12.18, Z:3.99 [[ 9.92981624e-01 -1.06885545e-01 -5.06258269e-02 1.07824486e+02] [ 1.06775518e-01 9.94271174e-01 -4.88069985e-03 1.21816381e+01] [ 5.08574766e-02 -5.59153624e-04 9.98705765e-01 3.98924189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:107.86, Y:12.18, Z:3.99 [[ 9.92835878e-01 -1.08334535e-01 -5.04038459e-02 1.07855764e+02] [ 1.08227352e-01 9.94114295e-01 -4.85899569e-03 1.21845172e+01] [ 5.06335807e-02 -6.30889497e-04 9.98717098e-01 3.99058610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73439141799999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:107.89, Y:12.19, Z:3.99 [[ 9.92436793e-01 -1.12179109e-01 -4.98503772e-02 1.07885780e+02] [ 1.12079220e-01 9.93687665e-01 -4.80347453e-03 1.21873030e+01] [ 5.00745544e-02 -8.20046551e-04 9.98745146e-01 3.99144860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76439141799999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:107.92, Y:12.19, Z:3.99 [[ 9.92186915e-01 -1.14317764e-01 -4.99657339e-02 1.07917239e+02] [ 1.14220279e-01 9.93443797e-01 -4.81144016e-03 1.21904143e+01] [ 5.01881815e-02 -9.33252119e-04 9.98739343e-01 3.99254676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79439141799999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:107.95, Y:12.20, Z:4.00 [[ 9.91958510e-01 -1.15798793e-01 -5.10779204e-02 1.07946851e+02] [ 1.15416187e-01 9.93262907e-01 -1.03876034e-02 1.21956792e+01] [ 5.19366756e-02 4.40885275e-03 9.98640648e-01 3.99614448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82439141799999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:107.98, Y:12.19, Z:3.99 [[ 9.91679805e-01 -1.18010486e-01 -5.14265445e-02 1.07977150e+02] [ 1.18011004e-01 9.93007643e-01 -3.03704525e-03 1.21949334e+01] [ 5.14253550e-02 -3.05712173e-03 9.98672162e-01 3.99480315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85439141799999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:108.01, Y:12.20, Z:4.00 [[ 9.91561898e-01 -1.19157971e-01 -5.10527316e-02 1.08009139e+02] [ 1.19239973e-01 9.92864409e-01 -1.44741462e-03 1.21973162e+01] [ 5.08609112e-02 -4.65232513e-03 9.98694910e-01 3.99550961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88439141799999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:108.04, Y:12.20, Z:4.00 [[ 9.91567966e-01 -1.19246964e-01 -5.07260398e-02 1.08040619e+02] [ 1.19154198e-01 9.92863868e-01 -4.85976371e-03 1.22019499e+01] [ 5.09435642e-02 -1.22543457e-03 9.98700782e-01 3.99794796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914391418 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:108.07, Y:12.21, Z:4.00 [[ 9.91554521e-01 -1.19189666e-01 -5.11219725e-02 1.08071927e+02] [ 1.19095530e-01 9.92870736e-01 -4.89457107e-03 1.22051915e+01] [ 5.13408927e-02 -1.23516436e-03 9.98680423e-01 3.99921602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:108.10, Y:12.21, Z:4.00 [[ 9.91751248e-01 -1.16924290e-01 -5.25183155e-02 1.08104272e+02] [ 1.16821949e-01 9.93140163e-01 -5.02481676e-03 1.22096047e+01] [ 5.27455716e-02 -1.15192368e-03 9.98607319e-01 4.00132071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:108.14, Y:12.21, Z:4.00 [[ 9.91958950e-01 -1.14878027e-01 -5.31081963e-02 1.08135249e+02] [ 1.14770655e-01 9.93379040e-01 -5.07730077e-03 1.22137862e+01] [ 5.33398394e-02 -1.05878852e-03 9.98575856e-01 4.00348950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.004391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:108.17, Y:12.22, Z:4.01 [[ 9.92561188e-01 -1.09767287e-01 -5.26633803e-02 1.08165570e+02] [ 1.09654619e-01 9.93957009e-01 -5.03281257e-03 1.22193885e+01] [ 5.28975742e-02 -7.79408487e-04 9.98599639e-01 4.00586135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.034391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:108.20, Y:12.22, Z:4.01 [[ 9.92892495e-01 -1.06550500e-01 -5.30234330e-02 1.08196413e+02] [ 1.06431771e-01 9.94307103e-01 -5.06592978e-03 1.22231889e+01] [ 5.32613534e-02 -6.13454205e-04 9.98580418e-01 4.00766955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:108.23, Y:12.22, Z:4.01 [[ 9.93385528e-01 -1.02036268e-01 -5.26668078e-02 1.08225400e+02] [ 1.02193201e-01 9.94764528e-01 2.88357759e-04 1.22240968e+01] [ 5.23616493e-02 -5.66864011e-03 9.98612099e-01 4.00682312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09439141799999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:108.26, Y:12.23, Z:4.01 [[ 9.93487724e-01 -1.00826803e-01 -5.30669170e-02 1.08256476e+02] [ 1.00393602e-01 9.94889470e-01 -1.07734472e-02 1.22331920e+01] [ 5.38819692e-02 5.37570860e-03 9.98532841e-01 4.01182254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12439141799999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:108.29, Y:12.23, Z:4.01 [[ 9.93932912e-01 -9.54105400e-02 -5.47192472e-02 1.08286181e+02] [ 9.52670238e-02 9.95438008e-01 -5.23120332e-03 1.22349907e+01] [ 5.49687304e-02 -1.34746803e-05 9.98488076e-01 4.01110587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15439141799999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:108.31, Y:12.24, Z:4.01 [[ 9.94113293e-01 -9.36095309e-02 -5.45528739e-02 1.08314215e+02] [ 9.34639086e-02 9.95608983e-01 -5.22018290e-03 1.22386707e+01] [ 5.48019902e-02 9.07283925e-05 9.98497238e-01 4.01217029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18439141799999 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:108.34, Y:12.24, Z:4.01 [[ 9.94288007e-01 -9.19136522e-02 -5.42516332e-02 1.08341332e+02] [ 9.17663895e-02 9.95766962e-01 -5.20459408e-03 1.22424347e+01] [ 5.45003572e-02 1.96388977e-04 9.98513732e-01 4.01348440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21439141799999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:108.37, Y:12.25, Z:4.02 [[ 9.94472778e-01 -8.96021447e-02 -5.47297823e-02 1.08368494e+02] [ 8.94484727e-02 9.95977583e-01 -5.25593931e-03 1.22474578e+01] [ 5.49805798e-02 3.31393124e-04 9.98487369e-01 4.01546921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24439141799999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:108.40, Y:12.25, Z:4.02 [[ 9.94514607e-01 -8.89577596e-02 -5.50201220e-02 1.08396587e+02] [ 8.88010537e-02 9.96035328e-01 -5.29126870e-03 1.22507358e+01] [ 5.52726847e-02 3.76399200e-04 9.98471226e-01 4.01718182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:108.43, Y:12.26, Z:4.02 [[ 9.94617448e-01 -8.85829737e-02 -5.37511748e-02 1.08425206e+02] [ 8.82401725e-02 9.96061039e-01 -8.72229678e-03 1.22563885e+01] [ 5.43120980e-02 3.93233563e-03 9.98516266e-01 4.01909914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:108.45, Y:12.25, Z:4.02 [[ 9.94435629e-01 -8.93847580e-02 -5.57507342e-02 1.08454810e+02] [ 8.94021764e-02 9.95993208e-01 -2.18655991e-03 1.22545019e+01] [ 5.57227978e-02 -2.80984390e-03 9.98442324e-01 4.01910626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:108.48, Y:12.26, Z:4.02 [[ 9.94297914e-01 -9.11142850e-02 -5.54061859e-02 1.08482920e+02] [ 9.09574329e-02 9.95840403e-01 -5.35139668e-03 1.22583162e+01] [ 5.56633072e-02 2.81278121e-04 9.98449557e-01 4.02131100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.364391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:108.51, Y:12.26, Z:4.02 [[ 9.93936190e-01 -9.48705733e-02 -5.55915931e-02 1.08511981e+02] [ 9.47176466e-02 9.95489612e-01 -5.38522724e-03 1.22601803e+01] [ 5.58517530e-02 8.70673771e-05 9.98439069e-01 4.02279775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.394391418 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:108.54, Y:12.26, Z:4.02 [[ 9.93463862e-01 -9.94537895e-02 -5.60223045e-02 1.08541078e+02] [ 9.93048590e-02 9.95042170e-01 -5.44293352e-03 1.22611118e+01] [ 5.62858758e-02 -1.55929295e-04 9.98414681e-01 4.02368588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424391418 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:108.57, Y:12.26, Z:4.03 [[ 9.93461883e-01 -9.94742356e-02 -5.60210960e-02 1.08571063e+02] [ 9.93246378e-02 9.95040128e-01 -5.45534408e-03 1.22640732e+01] [ 5.62859047e-02 -1.44598668e-04 9.98414681e-01 4.02500087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:108.60, Y:12.27, Z:4.03 [[ 9.93613592e-01 -1.02348884e-01 -4.75051167e-02 1.08601436e+02] [ 1.00897230e-01 9.94381540e-01 -3.20172205e-02 1.22744546e+01] [ 5.05151379e-02 2.70196108e-02 9.98357732e-01 4.02604610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48439141799999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:108.63, Y:12.26, Z:4.02 [[ 9.93332451e-01 -1.03703237e-01 -5.03615003e-02 1.08631980e+02] [ 1.03577866e-01 9.94608273e-01 -5.09997152e-03 1.22634683e+01] [ 5.06188484e-02 -1.50369514e-04 9.98718033e-01 4.01870299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51439141799999 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:108.66, Y:12.25, Z:4.02 [[ 9.92629734e-01 -1.06828960e-01 -5.72170018e-02 1.08661203e+02] [ 1.08189684e-01 9.93903596e-01 2.12281233e-02 1.22548603e+01] [ 5.46004055e-02 -2.72619557e-02 9.98136054e-01 4.01857053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54439141799999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:108.69, Y:12.27, Z:4.03 [[ 9.92320245e-01 -1.11353482e-01 -5.38603119e-02 1.08690539e+02] [ 1.11232531e-01 9.93780553e-01 -5.24751433e-03 1.22695522e+01] [ 5.41096595e-02 -7.83804091e-04 9.98534692e-01 4.02869468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57439141799999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:108.72, Y:12.27, Z:4.03 [[ 9.92139669e-01 -1.13093518e-01 -5.35605633e-02 1.08722016e+02] [ 1.12976560e-01 9.93583962e-01 -5.21613416e-03 1.22725492e+01] [ 5.38068277e-02 -8.75954554e-04 9.98550979e-01 4.03069076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60439141799999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:108.75, Y:12.28, Z:4.03 [[ 9.91979714e-01 -1.14756204e-01 -5.29835935e-02 1.08752036e+02] [ 1.14644226e-01 9.93393224e-01 -5.15799747e-03 1.22750773e+01] [ 5.32254549e-02 -9.57634205e-04 9.98582062e-01 4.03226388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63439141799999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:108.78, Y:12.28, Z:4.03 [[ 9.91802661e-01 -1.16551991e-01 -5.23747525e-02 1.08782983e+02] [ 1.16445139e-01 9.93184044e-01 -5.09747605e-03 1.22772880e+01] [ 5.26118894e-02 -1.04309504e-03 9.98614491e-01 4.03358927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664391418 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:108.81, Y:12.28, Z:4.03 [[ 9.91426990e-01 -1.20453669e-01 -5.06303989e-02 1.08814805e+02] [ 1.20358999e-01 9.92718212e-01 -4.92570662e-03 1.22777798e+01] [ 5.08550385e-02 -1.21034564e-03 9.98705312e-01 4.03389684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694391418 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:108.85, Y:12.28, Z:4.03 [[ 9.91252722e-01 -1.22209614e-01 -4.98282176e-02 1.08845930e+02] [ 1.22120245e-01 9.92503485e-01 -4.84549353e-03 1.22797969e+01] [ 5.00468455e-02 -1.28192548e-03 9.98746049e-01 4.03478687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724391418 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:108.88, Y:12.28, Z:4.04 [[ 9.90736160e-01 -1.26231683e-01 -5.00741801e-02 1.08878067e+02] [ 1.26146720e-01 9.91999660e-01 -4.86615830e-03 1.22821824e+01] [ 5.02878330e-02 -1.49561460e-03 9.98733647e-01 4.03521225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.754391418 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:108.91, Y:12.28, Z:4.04 [[ 9.90452223e-01 -1.28255920e-01 -5.05451602e-02 1.08908831e+02] [ 1.28172188e-01 9.91739786e-01 -4.90790594e-03 1.22849659e+01] [ 5.07571144e-02 -1.61743741e-03 9.98709717e-01 4.03600500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.784391418 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:108.94, Y:12.29, Z:4.04 [[ 9.90120809e-01 -1.30658759e-01 -5.08829347e-02 1.08940300e+02] [ 1.30577230e-01 9.91425846e-01 -4.93757522e-03 1.22879738e+01] [ 5.10917940e-02 -1.75535669e-03 9.98692419e-01 4.03663487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814391418 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:108.97, Y:12.29, Z:4.04 [[ 9.89320761e-01 -1.35920302e-01 -5.26317654e-02 1.08970993e+02] [ 1.35475633e-01 9.90708697e-01 -1.19427737e-02 1.22938815e+01] [ 5.37660131e-02 4.68491225e-03 9.98542572e-01 4.03918379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84439141799999 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:109.00, Y:12.29, Z:4.04 [[ 9.89031999e-01 -1.38410343e-01 -5.15585264e-02 1.09003459e+02] [ 1.38684776e-01 9.90335000e-01 1.76643831e-03 1.22901270e+01] [ 5.08157199e-02 -8.89744672e-03 9.98668412e-01 4.03596819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87439141799999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:109.03, Y:12.30, Z:4.04 [[ 9.88666984e-01 -1.41305874e-01 -5.06975840e-02 1.09034959e+02] [ 1.41239467e-01 9.89963294e-01 -4.90813559e-03 1.22961524e+01] [ 5.08822956e-02 -2.30798812e-03 9.98701990e-01 4.03940815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90439141799999 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:109.07, Y:12.30, Z:4.04 [[ 9.88335467e-01 -1.43756913e-01 -5.02688239e-02 1.09067277e+02] [ 1.43694984e-01 9.89610078e-01 -4.86267375e-03 1.22994056e+01] [ 5.04455777e-02 -2.41742493e-03 9.98723886e-01 4.04061531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93439141799999 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:109.10, Y:12.30, Z:4.04 [[ 9.87774161e-01 -1.47808620e-01 -4.95461264e-02 1.09098050e+02] [ 1.47753720e-01 9.89012590e-01 -4.78904690e-03 1.23035085e+01] [ 4.97096052e-02 -2.59012771e-03 9.98760355e-01 4.04273778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96439141799999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:109.13, Y:12.31, Z:4.04 [[ 9.87558925e-01 -1.49041450e-01 -5.01399671e-02 1.09130165e+02] [ 1.48986968e-01 9.88827298e-01 -4.84333747e-03 1.23076388e+01] [ 5.03016262e-02 -2.68712052e-03 9.98730457e-01 4.04443523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99439141799999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:109.16, Y:12.31, Z:4.04 [[ 9.87436676e-01 -1.49968307e-01 -4.97827131e-02 1.09162086e+02] [ 1.49915964e-01 9.88687067e-01 -4.80497197e-03 1.23124922e+01] [ 4.99401181e-02 -2.71861790e-03 9.98748514e-01 4.04498328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024391418 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:109.19, Y:12.32, Z:4.05 [[ 9.87494330e-01 -1.49564300e-01 -4.98544789e-02 1.09194234e+02] [ 1.49511491e-01 9.88748298e-01 -4.80794008e-03 1.23161852e+01] [ 5.00126274e-02 -2.70600392e-03 9.98744920e-01 4.04620029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054391418 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:109.23, Y:12.33, Z:4.05 [[ 9.88207016e-01 -1.47465694e-01 -4.12402948e-02 1.09227239e+02] [ 1.46132207e-01 9.88691398e-01 -3.36852673e-02 1.23328904e+01] [ 4.57413460e-02 2.72614822e-02 9.98581264e-01 4.04816137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084391418 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:109.26, Y:12.31, Z:4.04 [[ 9.88161072e-01 -1.44168926e-01 -5.24691953e-02 1.09258479e+02] [ 1.45634357e-01 9.89016240e-01 2.52489672e-02 1.23124142e+01] [ 4.82527698e-02 -3.25913640e-02 9.98303297e-01 4.03990408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.114391418 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:109.29, Y:12.33, Z:4.05 [[ 9.88399493e-01 -1.43542885e-01 -4.96173523e-02 1.09288415e+02] [ 1.43483809e-01 9.89641174e-01 -4.76900051e-03 1.23325748e+01] [ 4.97879309e-02 -2.40560902e-03 9.98756915e-01 4.05124885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.144391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:109.32, Y:12.34, Z:4.05 [[ 9.88700968e-01 -1.41463831e-01 -4.95820504e-02 1.09319881e+02] [ 1.41402423e-01 9.89940746e-01 -4.76177619e-03 1.23380130e+01] [ 4.97569111e-02 -2.30304932e-03 9.98758702e-01 4.05305202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:109.35, Y:12.34, Z:4.05 [[ 9.89041833e-01 -1.39082650e-01 -4.95203936e-02 1.09350287e+02] [ 1.39018601e-01 9.90278368e-01 -4.75212583e-03 1.23430215e+01] [ 4.96999128e-02 -2.18420462e-03 9.98761807e-01 4.05493942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204391418 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:109.38, Y:12.35, Z:4.05 [[ 9.89889988e-01 -1.33312604e-01 -4.84310018e-02 1.09382046e+02] [ 1.33244585e-01 9.91072302e-01 -4.64471872e-03 1.23493967e+01] [ 4.86178240e-02 -1.85540819e-03 9.98815731e-01 4.05436220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23439141799999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:109.41, Y:12.35, Z:4.06 [[ 9.90261990e-01 -1.30699322e-01 -4.79466193e-02 1.09413563e+02] [ 1.30629803e-01 9.91420571e-01 -4.59402866e-03 1.23546182e+01] [ 4.81357012e-02 -1.71396546e-03 9.98839335e-01 4.05771538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26439141799999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:109.44, Y:12.36, Z:4.06 [[ 9.90667655e-01 -1.27576047e-01 -4.79786328e-02 1.09444898e+02] [ 1.27503177e-01 9.91827547e-01 -4.58879341e-03 1.23598621e+01] [ 4.81719498e-02 -1.57145890e-03 9.98837822e-01 4.05910025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29439141799999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:109.48, Y:12.37, Z:4.06 [[ 9.91115534e-01 -1.24216643e-01 -4.75418099e-02 1.09476941e+02] [ 1.24141410e-01 9.92254135e-01 -4.54331726e-03 1.23655192e+01] [ 4.77379131e-02 -1.39895500e-03 9.98858916e-01 4.06027947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:109.51, Y:12.37, Z:4.06 [[ 9.91589261e-01 -1.20472571e-01 -4.72979672e-02 1.09507542e+02] [ 1.20394023e-01 9.92715912e-01 -4.51643419e-03 1.23708671e+01] [ 4.74975511e-02 -1.21594491e-03 9.98870614e-01 4.06149084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35439141799999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:109.54, Y:12.38, Z:4.06 [[ 9.92504629e-01 -1.12842492e-01 -4.69162421e-02 1.09538723e+02] [ 1.12756814e-01 9.93612528e-01 -4.47721133e-03 1.23783864e+01] [ 4.71217856e-02 -8.46473022e-04 9.98888793e-01 4.06272582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38439141799999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:109.57, Y:12.38, Z:4.06 [[ 9.92936628e-01 -1.08956415e-01 -4.69611717e-02 1.09570104e+02] [ 1.08866397e-01 9.94046305e-01 -4.47791271e-03 1.23833559e+01] [ 4.71694765e-02 -6.66210027e-04 9.98886679e-01 4.06427429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:109.60, Y:12.39, Z:4.07 [[ 9.93742328e-01 -1.01522345e-01 -4.65768102e-02 1.09601740e+02] [ 1.01425793e-01 9.94833210e-01 -4.43776495e-03 1.23903071e+01] [ 4.67866899e-02 -3.14095040e-04 9.98904854e-01 4.06552473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:109.63, Y:12.41, Z:4.08 [[ 9.93643310e-01 -9.97950181e-02 -5.20953603e-02 1.09631398e+02] [ 9.80214418e-02 9.94548686e-01 -3.55627476e-02 1.24096842e+01] [ 5.53603571e-02 3.02302239e-02 9.98008700e-01 4.07980667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:109.67, Y:12.39, Z:4.06 [[ 9.94238706e-01 -9.39939076e-02 -5.15222453e-02 1.09665970e+02] [ 9.53124839e-02 9.95163871e-01 2.37571105e-02 1.23863700e+01] [ 4.90400535e-02 -2.85309520e-02 9.98389232e-01 4.05982569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.504391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:109.70, Y:12.40, Z:4.07 [[ 9.94513295e-01 -9.26358843e-02 -4.85993708e-02 1.09696145e+02] [ 9.25202847e-02 9.95700046e-01 -4.62765526e-03 1.24045827e+01] [ 4.88190827e-02 1.05837054e-04 9.98807632e-01 4.07120425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.534391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:109.73, Y:12.41, Z:4.07 [[ 9.94983175e-01 -8.76127128e-02 -4.82958975e-02 1.09725958e+02] [ 8.74928132e-02 9.96154553e-01 -4.59512380e-03 1.24086485e+01] [ 4.85127695e-02 3.46526931e-04 9.98822502e-01 4.07210438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:109.76, Y:12.41, Z:4.07 [[ 9.95178064e-01 -8.55981680e-02 -4.78912835e-02 1.09757296e+02] [ 8.54779863e-02 9.96329644e-01 -4.55563929e-03 1.24118306e+01] [ 4.81054598e-02 4.40021816e-04 9.98842165e-01 4.07269096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59439141799999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:109.79, Y:12.42, Z:4.07 [[ 9.95580017e-01 -8.39124912e-02 -4.21796593e-02 1.09786272e+02] [ 8.30482545e-02 9.96306105e-01 -2.18433428e-02 1.24238665e+01] [ 4.38567814e-02 1.82438485e-02 9.98871235e-01 4.07449799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62439141799999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:109.82, Y:12.41, Z:4.07 [[ 9.95585573e-01 -8.01202643e-02 -4.88887499e-02 1.09820222e+02] [ 8.08359509e-02 9.96644730e-01 1.28386863e-02 1.24087022e+01] [ 4.76960760e-02 -1.67339795e-02 9.98721712e-01 4.06847047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65439141799999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:109.85, Y:12.42, Z:4.08 [[ 9.95728499e-01 -7.93522437e-02 -4.72014564e-02 1.09849833e+02] [ 7.92288169e-02 9.96846376e-01 -4.48303139e-03 1.24197494e+01] [ 4.74083393e-02 7.24166573e-04 9.98875330e-01 4.07583882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68439141799999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:109.88, Y:12.42, Z:4.08 [[ 9.95854577e-01 -7.77428234e-02 -4.72198500e-02 1.09878929e+02] [ 7.76175322e-02 9.96973126e-01 -4.48393879e-03 1.24219982e+01] [ 4.74255155e-02 8.00262748e-04 9.98874457e-01 4.07720862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71439141799999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:109.91, Y:12.42, Z:4.08 [[ 9.95803508e-01 -7.81339676e-02 -4.76493139e-02 1.09908535e+02] [ 7.80067888e-02 9.96942556e-01 -4.52563629e-03 1.24232734e+01] [ 4.78572347e-02 7.89674527e-04 9.98853874e-01 4.07889487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74439141799999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:109.94, Y:12.42, Z:4.08 [[ 9.95772539e-01 -7.87432189e-02 -4.72922343e-02 1.09939307e+02] [ 7.86185869e-02 9.96894646e-01 -4.49256459e-03 1.24248223e+01] [ 4.74991341e-02 7.55523817e-04 9.98870993e-01 4.07976896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:109.97, Y:12.43, Z:4.08 [[ 9.95774108e-01 -7.87233819e-02 -4.72922382e-02 1.09970144e+02] [ 7.85987295e-02 9.96896212e-01 -4.49252356e-03 1.24277496e+01] [ 4.74991197e-02 7.56428799e-04 9.98870993e-01 4.08117791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:110.00, Y:12.43, Z:4.08 [[ 9.95704686e-01 -7.95952429e-02 -4.72945550e-02 1.09999768e+02] [ 7.94716022e-02 9.96827010e-01 -4.49187460e-03 1.24291834e+01] [ 4.75020217e-02 7.14006532e-04 9.98870887e-01 4.08228291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:110.03, Y:12.43, Z:4.08 [[ 9.95608488e-01 -8.06662507e-02 -4.75046819e-02 1.10029389e+02] [ 8.05426809e-02 9.96740945e-01 -4.51278009e-03 1.24300653e+01] [ 4.77138906e-02 6.66807725e-04 9.98860821e-01 4.08325449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.864391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:110.06, Y:12.43, Z:4.08 [[ 9.95359485e-01 -8.35374114e-02 -4.77597718e-02 1.10060057e+02] [ 8.34157721e-02 9.96504499e-01 -4.53784433e-03 1.24285142e+01] [ 4.79719073e-02 5.32868154e-04 9.98848543e-01 4.08334404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.894391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:110.09, Y:12.43, Z:4.08 [[ 9.95263126e-01 -8.44423200e-02 -4.81747239e-02 1.10090306e+02] [ 8.43196155e-02 9.96428247e-01 -4.57727056e-03 1.24287462e+01] [ 4.83891710e-02 4.93514412e-04 9.98828436e-01 4.08450391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:110.12, Y:12.43, Z:4.09 [[ 9.95194175e-01 -8.51473682e-02 -4.83578216e-02 1.10120611e+02] [ 8.50245603e-02 9.96368262e-01 -4.59466740e-03 1.24290499e+01] [ 4.85734225e-02 4.60983710e-04 9.98819508e-01 4.08520426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:110.15, Y:12.43, Z:4.09 [[ 9.95165626e-01 -8.53530437e-02 -4.85822564e-02 1.10149905e+02] [ 8.52293380e-02 9.96350668e-01 -4.61597736e-03 1.24290863e+01] [ 4.87989513e-02 4.53028442e-04 9.98808519e-01 4.08644854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98439141799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:110.18, Y:12.43, Z:4.09 [[ 9.95195399e-01 -8.50917440e-02 -4.84304898e-02 1.10178666e+02] [ 8.49684996e-02 9.96373012e-01 -4.60159362e-03 1.24271610e+01] [ 4.86463906e-02 4.64418748e-04 9.98815956e-01 4.08770102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01439141799999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:110.21, Y:12.43, Z:4.09 [[ 9.95252080e-01 -8.45641068e-02 -4.81893048e-02 1.10208070e+02] [ 8.44413063e-02 9.96417920e-01 -4.58204635e-03 1.24282279e+01] [ 4.84041635e-02 4.91123309e-04 9.98827711e-01 4.08961517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04439141799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:110.24, Y:12.43, Z:4.09 [[ 9.95322041e-01 -8.38540588e-02 -4.79847081e-02 1.10236294e+02] [ 8.37313816e-02 9.96477908e-01 -4.56452710e-03 1.24288536e+01] [ 4.81984557e-02 5.25348524e-04 9.98837641e-01 4.09158751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07439141799999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:110.27, Y:12.43, Z:4.09 [[ 9.95412548e-01 -8.30847335e-02 -4.74424548e-02 1.10266288e+02] [ 8.29637836e-02 9.96542329e-01 -4.51626313e-03 1.24293120e+01] [ 4.76536469e-02 5.59539434e-04 9.98863763e-01 4.09299496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10439141799999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:110.30, Y:12.43, Z:4.09 [[ 9.95555411e-01 -8.16280187e-02 -4.69711610e-02 1.10296189e+02] [ 8.15077581e-02 9.96662669e-01 -4.47315682e-03 1.24265179e+01] [ 4.71795377e-02 6.24761444e-04 9.98886230e-01 4.09389686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13439141799999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:110.33, Y:12.43, Z:4.09 [[ 9.95574458e-01 -8.12165427e-02 -4.72797173e-02 1.10325919e+02] [ 8.10941447e-02 9.96696268e-01 -4.50437846e-03 1.24266000e+01] [ 4.74893478e-02 6.50335908e-04 9.98871533e-01 4.09481159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:110.35, Y:12.43, Z:4.10 [[ 9.95552458e-01 -8.11410490e-02 -4.78689120e-02 1.10354726e+02] [ 8.10153945e-02 9.96702407e-01 -4.56253686e-03 1.24265801e+01] [ 4.80812689e-02 6.64125992e-04 9.98843206e-01 4.09574541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:110.38, Y:12.42, Z:4.10 [[ 9.95418319e-01 -8.21143902e-02 -4.89856745e-02 1.10382909e+02] [ 8.19837797e-02 9.96622708e-01 -4.67299328e-03 1.24237035e+01] [ 4.92039555e-02 6.35552374e-04 9.98788550e-01 4.09590055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:110.41, Y:12.42, Z:4.10 [[ 9.95255624e-01 -8.35878893e-02 -4.97926548e-02 1.10410664e+02] [ 8.34539621e-02 9.96500235e-01 -4.76629007e-03 1.24239292e+01] [ 5.00167963e-02 5.88282676e-04 9.98748204e-01 4.09687585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.254391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:110.44, Y:12.42, Z:4.10 [[ 9.95121310e-01 -8.48344247e-02 -5.03656538e-02 1.10438817e+02] [ 8.46981585e-02 9.96394912e-01 -4.83755668e-03 1.24239581e+01] [ 5.05944725e-02 5.48077614e-04 9.98719129e-01 4.09785254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.284391418 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:110.47, Y:12.42, Z:4.10 [[ 9.94835825e-01 -8.74001194e-02 -5.16032894e-02 1.10467374e+02] [ 8.72596337e-02 9.96173188e-01 -4.97344123e-03 1.24214491e+01] [ 5.18404927e-02 4.44873379e-04 9.98655279e-01 4.09950607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:110.49, Y:12.42, Z:4.10 [[ 9.94730491e-01 -8.84318729e-02 -5.18753776e-02 1.10493854e+02] [ 8.82904534e-02 9.96082143e-01 -5.01593383e-03 1.24217272e+01] [ 5.21157057e-02 4.09401708e-04 9.98640969e-01 4.10105574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34439141799999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:110.52, Y:12.42, Z:4.10 [[ 9.94608869e-01 -8.95526984e-02 -5.22830015e-02 1.10521451e+02] [ 8.94099133e-02 9.95982018e-01 -5.06827291e-03 1.24223766e+01] [ 5.25268069e-02 3.66330548e-04 9.98619447e-01 4.10288173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37439141799999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:110.55, Y:12.42, Z:4.10 [[ 9.94538491e-01 -9.05738482e-02 -5.18610352e-02 1.10548861e+02] [ 9.04338819e-02 9.95889688e-01 -5.04396048e-03 1.24233619e+01] [ 5.21047211e-02 3.26418117e-04 9.98641573e-01 4.10422023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40439141799999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:110.58, Y:12.42, Z:4.11 [[ 9.94469948e-01 -9.13105217e-02 -5.18836272e-02 1.10575809e+02] [ 9.11706258e-02 9.95822422e-01 -5.06166066e-03 1.24226589e+01] [ 5.21290622e-02 3.03406647e-04 9.98640310e-01 4.10644884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43439141799999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:110.60, Y:12.42, Z:4.11 [[ 9.94448266e-01 -9.18163634e-02 -5.14042915e-02 1.10604007e+02] [ 9.16792942e-02 9.95775916e-01 -5.02308706e-03 1.24236037e+01] [ 5.16483571e-02 2.82491049e-04 9.98665293e-01 4.10780845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46439141799999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:110.63, Y:12.42, Z:4.11 [[ 9.94439206e-01 -9.21269531e-02 -5.10224543e-02 1.10631789e+02] [ 9.19914988e-02 9.95747230e-01 -5.00182406e-03 1.24241247e+01] [ 5.12662703e-02 2.80377897e-04 9.98684981e-01 4.10871704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49439141799999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:110.66, Y:12.42, Z:4.11 [[ 9.94385402e-01 -9.28323067e-02 -5.07920729e-02 1.10658973e+02] [ 9.26981730e-02 9.95681724e-01 -4.99529049e-03 1.24218212e+01] [ 5.10364631e-02 2.58911577e-04 9.98696757e-01 4.10940971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:110.69, Y:12.42, Z:4.11 [[ 9.94345424e-01 -9.33834040e-02 -5.05639905e-02 1.10687267e+02] [ 9.32505810e-02 9.95630193e-01 -4.98473529e-03 1.24223832e+01] [ 5.08085272e-02 2.41427235e-04 9.98708384e-01 4.11066112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:110.71, Y:12.42, Z:4.11 [[ 9.94274346e-01 -9.43051099e-02 -5.02500798e-02 1.10714298e+02] [ 9.41743313e-02 9.95543320e-01 -4.96915798e-03 1.24214471e+01] [ 5.04947483e-02 2.08438635e-04 9.98724305e-01 4.11220657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:110.74, Y:12.42, Z:4.11 [[ 9.94157726e-01 -9.55977036e-02 -5.01148115e-02 1.10742348e+02] [ 9.54688712e-02 9.95420040e-01 -4.96368303e-03 1.24205991e+01] [ 5.03598044e-02 1.50279352e-04 9.98731129e-01 4.11412665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.614391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:110.77, Y:12.42, Z:4.12 [[ 9.94063340e-01 -9.64467342e-02 -5.03597349e-02 1.10770236e+02] [ 9.63169236e-02 9.95338140e-01 -5.00380464e-03 1.24210345e+01] [ 5.06075654e-02 1.23604026e-04 9.98718609e-01 4.11585632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.644391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:110.80, Y:12.42, Z:4.12 [[ 9.94035516e-01 -9.67338791e-02 -5.03582050e-02 1.10798460e+02] [ 9.66036589e-02 9.95310274e-01 -5.01915665e-03 1.24240028e+01] [ 5.06075613e-02 1.24433119e-04 9.98718609e-01 4.11715083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:110.82, Y:12.42, Z:4.12 [[ 9.94037383e-01 -9.65371029e-02 -5.06978224e-02 1.10824882e+02] [ 9.63056795e-02 9.95327235e-01 -6.99363507e-03 1.24224434e+01] [ 5.11360687e-02 2.06944647e-03 9.98689551e-01 4.11903200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:110.86, Y:12.42, Z:4.12 [[ 9.93794026e-01 -9.90581630e-02 -5.06054787e-02 1.10855272e+02] [ 9.90050150e-02 9.95080559e-01 -3.56205971e-03 1.24216822e+01] [ 5.07093792e-02 -1.47024253e-03 9.98712370e-01 4.11944123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73439141799999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:110.88, Y:12.42, Z:4.12 [[ 9.93676948e-01 -1.00129439e-01 -5.07958463e-02 1.10883653e+02] [ 9.99994854e-02 9.94974419e-01 -5.09977451e-03 1.24228041e+01] [ 5.10512052e-02 -1.20301108e-05 9.98696037e-01 4.12069476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76439141799999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:110.91, Y:12.42, Z:4.12 [[ 9.93447543e-01 -1.01860757e-01 -5.18301520e-02 1.10911027e+02] [ 1.01727000e-01 9.94798662e-01 -5.21909691e-03 1.24206702e+01] [ 5.20921871e-02 -8.76268886e-05 9.98642276e-01 4.12135410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79439141799999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:110.94, Y:12.42, Z:4.12 [[ 9.93614783e-01 -1.00023106e-01 -5.22019295e-02 1.10935302e+02] [ 9.99775869e-02 9.94983572e-01 -3.48912453e-03 1.24194889e+01] [ 5.22890554e-02 -1.75217723e-03 9.98630454e-01 4.12137038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82439141799999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:110.97, Y:12.42, Z:4.12 [[ 9.93205070e-01 -1.03838564e-01 -5.25475103e-02 1.10967887e+02] [ 1.03577939e-01 9.94591794e-01 -7.66639604e-03 1.24233276e+01] [ 5.30593901e-02 2.17154063e-03 9.98588997e-01 4.12356514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85439141799999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:111.00, Y:12.42, Z:4.12 [[ 9.92937972e-01 -1.05883599e-01 -5.35055759e-02 1.10995859e+02] [ 1.05745434e-01 9.94378491e-01 -5.41469996e-03 1.24220575e+01] [ 5.37781217e-02 -2.81509144e-04 9.98552870e-01 4.12456253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88439141799999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:111.02, Y:12.42, Z:4.13 [[ 9.92876538e-01 -1.06650283e-01 -5.31215354e-02 1.11022641e+02] [ 1.06514402e-01 9.94296547e-01 -5.39060984e-03 1.24235760e+01] [ 5.33934693e-02 -3.05998528e-04 9.98573504e-01 4.12589864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:111.05, Y:12.43, Z:4.13 [[ 9.92763737e-01 -1.07702550e-01 -5.31067193e-02 1.11050286e+02] [ 1.07567802e-01 9.94183099e-01 -5.39747705e-03 1.24255768e+01] [ 5.33791248e-02 -3.54153564e-04 9.98574255e-01 4.12765804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:111.08, Y:12.43, Z:4.13 [[ 9.92788782e-01 -1.07792829e-01 -5.24513125e-02 1.11078152e+02] [ 1.07660679e-01 9.94173320e-01 -5.34668581e-03 1.24257072e+01] [ 5.27220299e-02 -3.38814232e-04 9.98609169e-01 4.12938819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:111.10, Y:12.43, Z:4.13 [[ 9.92824050e-01 -1.07414538e-01 -5.25597079e-02 1.11104840e+02] [ 1.07280479e-01 9.94214275e-01 -5.37344198e-03 1.24267906e+01] [ 5.28327977e-02 -3.03748240e-04 9.98603326e-01 4.13054507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.004391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:111.13, Y:12.43, Z:4.13 [[ 9.92854965e-01 -1.07254795e-01 -5.23013141e-02 1.11131953e+02] [ 1.07121449e-01 9.94231526e-01 -5.35427959e-03 1.24283537e+01] [ 5.25738875e-02 -2.86569500e-04 9.98616996e-01 4.13171881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.034391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:111.16, Y:12.43, Z:4.13 [[ 9.93002487e-01 -1.05814011e-01 -5.24352477e-02 1.11159644e+02] [ 1.05677532e-01 9.94385918e-01 -5.37633983e-03 1.24284332e+01] [ 5.27097640e-02 -2.02508767e-04 9.98609854e-01 4.13287931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:111.19, Y:12.43, Z:4.13 [[ 9.93084092e-01 -1.05141343e-01 -5.22425542e-02 1.11187015e+02] [ 1.05004111e-01 9.94457277e-01 -5.37227013e-03 1.24301965e+01] [ 5.25178359e-02 -1.50566955e-04 9.98619975e-01 4.13395490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09439141799999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:111.21, Y:12.43, Z:4.14 [[ 9.93221998e-01 -1.03987177e-01 -5.19300458e-02 1.11214093e+02] [ 1.03849451e-01 9.94578635e-01 -5.35075292e-03 1.24305005e+01] [ 5.22049237e-02 -7.84212588e-05 9.98636390e-01 4.13564027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12439141799999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:111.24, Y:12.43, Z:4.14 [[ 9.93293780e-01 -1.02669269e-01 -5.31647149e-02 1.11240842e+02] [ 1.02137467e-01 9.94690084e-01 -1.26323123e-02 1.24346240e+01] [ 5.41793650e-02 7.11748794e-03 9.98505853e-01 4.13970219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15439141799999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:111.27, Y:12.43, Z:4.14 [[ 9.93244813e-01 -1.03467348e-01 -5.25285619e-02 1.11270340e+02] [ 1.03683095e-01 9.94609410e-01 1.39159565e-03 1.24294274e+01] [ 5.21014173e-02 -6.82851902e-03 9.98618452e-01 4.13736837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18439141799999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:111.30, Y:12.43, Z:4.14 [[ 9.93220274e-01 -1.04079703e-01 -5.17774388e-02 1.11297101e+02] [ 1.03941357e-01 9.94568958e-01 -5.36487610e-03 1.24335703e+01] [ 5.20546081e-02 -5.33135195e-05 9.98644238e-01 4.14043506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21439141799999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:111.32, Y:12.43, Z:4.14 [[ 9.93083475e-01 -1.05205266e-01 -5.21254697e-02 1.11324324e+02] [ 1.05065989e-01 9.94450522e-01 -5.41260414e-03 1.24330399e+01] [ 5.24056351e-02 -1.01446298e-04 9.98625875e-01 4.14163555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24439141799999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:111.35, Y:12.43, Z:4.14 [[ 9.92942820e-01 -1.06035350e-01 -5.31136489e-02 1.11352367e+02] [ 1.05891007e-01 9.94362352e-01 -5.53237809e-03 1.24347230e+01] [ 5.34008405e-02 -1.30922686e-04 9.98573149e-01 4.14330153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:111.38, Y:12.44, Z:4.14 [[ 9.92838794e-01 -1.06674565e-01 -5.37742182e-02 1.11380388e+02] [ 1.06526566e-01 9.94293978e-01 -5.61923034e-03 1.24363335e+01] [ 5.40668103e-02 -1.49392939e-04 9.98537309e-01 4.14444160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:111.41, Y:12.44, Z:4.15 [[ 9.92740533e-01 -1.07348642e-01 -5.42448471e-02 1.11407653e+02] [ 1.07198147e-01 9.94221424e-01 -5.68485243e-03 1.24358743e+01] [ 5.45416503e-02 -1.71363655e-04 9.98511482e-01 4.14525915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:111.44, Y:12.44, Z:4.15 [[ 9.92666887e-01 -1.07999844e-01 -5.42999529e-02 1.11435679e+02] [ 1.07849505e-01 9.94150891e-01 -5.69998012e-03 1.24370783e+01] [ 5.45979435e-02 -1.98041516e-04 9.98508400e-01 4.14637516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.364391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:111.46, Y:12.44, Z:4.15 [[ 9.92583111e-01 -1.08642990e-01 -5.45478512e-02 1.11463877e+02] [ 1.08491283e-01 9.94080808e-01 -5.74350796e-03 1.24380141e+01] [ 5.48489639e-02 -2.17057385e-04 9.98494639e-01 4.14805105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.394391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:111.49, Y:12.44, Z:4.15 [[ 9.92560379e-01 -1.08883883e-01 -5.44811284e-02 1.11491070e+02] [ 1.08731959e-01 9.94054453e-01 -5.75381616e-03 1.24388895e+01] [ 5.47837061e-02 -2.12829872e-04 9.98498222e-01 4.14895544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:111.52, Y:12.44, Z:4.15 [[ 9.92410645e-01 -1.09818314e-01 -5.53267544e-02 1.11518509e+02] [ 1.09662612e-01 9.93951644e-01 -5.85161163e-03 1.24389431e+01] [ 5.56347326e-02 -2.60074711e-04 9.98451155e-01 4.15098386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:111.54, Y:12.44, Z:4.15 [[ 9.92338555e-01 -1.10275234e-01 -5.57096451e-02 1.11544962e+02] [ 1.10117619e-01 9.93901049e-01 -5.90044788e-03 1.24408002e+01] [ 5.60205479e-02 -2.79371560e-04 9.98429577e-01 4.15262394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48439141799999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:111.57, Y:12.44, Z:4.15 [[ 9.92239057e-01 -1.11225408e-01 -5.55928187e-02 1.11573099e+02] [ 1.11069369e-01 9.93795152e-01 -5.89833942e-03 1.24431377e+01] [ 5.59039190e-02 -3.22096573e-04 9.98436101e-01 4.15434375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51439141799999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:111.60, Y:12.44, Z:4.16 [[ 9.92124497e-01 -1.12151236e-01 -5.57770727e-02 1.11600433e+02] [ 1.11994637e-01 9.93691085e-01 -5.93542133e-03 1.24435659e+01] [ 5.60908448e-02 -3.58056120e-04 9.98425605e-01 4.15608047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54439141799999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:111.63, Y:12.45, Z:4.16 [[ 9.91976696e-01 -1.13233542e-01 -5.62174262e-02 1.11627424e+02] [ 1.13075665e-01 9.93568314e-01 -5.99164308e-03 1.24450487e+01] [ 5.65343083e-02 -4.13252519e-04 9.98400572e-01 4.15713213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57439141799999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:111.66, Y:12.45, Z:4.16 [[ 9.91895633e-01 -1.14107339e-01 -5.58799543e-02 1.11655735e+02] [ 1.13951963e-01 9.93468327e-01 -5.96944555e-03 1.24463925e+01] [ 5.61961222e-02 -4.46563529e-04 9.98419649e-01 4.15847578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60439141799999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:111.68, Y:12.45, Z:4.16 [[ 9.91723284e-01 -1.16056816e-01 -5.49157921e-02 1.11682720e+02] [ 1.15908822e-01 9.93242435e-01 -5.88312551e-03 1.24455351e+01] [ 5.52274718e-02 -5.30792226e-04 9.98473657e-01 4.15959889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63439141799999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:111.71, Y:12.45, Z:4.16 [[ 9.91620492e-01 -1.17108580e-01 -5.45378784e-02 1.11709705e+02] [ 1.16963766e-01 9.93118949e-01 -5.85066724e-03 1.24466584e+01] [ 5.48477638e-02 -5.77314097e-04 9.98494562e-01 4.16104445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:111.74, Y:12.45, Z:4.16 [[ 9.91486852e-01 -1.18392816e-01 -5.41937538e-02 1.11737996e+02] [ 1.18251218e-01 9.92966635e-01 -5.82332250e-03 1.24482969e+01] [ 5.45020289e-02 -6.34729718e-04 9.98513458e-01 4.16224372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:111.77, Y:12.45, Z:4.16 [[ 9.91450226e-01 -1.18700017e-01 -5.41918465e-02 1.11766207e+02] [ 1.18557911e-01 9.92929959e-01 -5.84102283e-03 1.24515523e+01] [ 5.45020374e-02 -6.33788705e-04 9.98513458e-01 4.16353777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:111.79, Y:12.45, Z:4.17 [[ 9.91178049e-01 -1.20995596e-01 -5.40938145e-02 1.11794414e+02] [ 1.20856482e-01 9.92652767e-01 -5.84764613e-03 1.24527587e+01] [ 5.44039141e-02 -7.41529639e-04 9.98518735e-01 4.16582918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.754391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:111.82, Y:12.45, Z:4.17 [[ 9.91071459e-01 -1.21830006e-01 -5.41739058e-02 1.11820859e+02] [ 1.21690800e-01 9.92550681e-01 -5.87325479e-03 1.24548645e+01] [ 5.44858858e-02 -7.71650717e-04 9.98514243e-01 4.16758133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.784391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:111.85, Y:12.46, Z:4.17 [[ 9.90933347e-01 -1.23042468e-01 -5.39597411e-02 1.11848288e+02] [ 1.22905635e-01 9.92401063e-01 -5.85962559e-03 1.24571674e+01] [ 5.42706872e-02 -8.25457854e-04 9.98525919e-01 4.16884653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:111.87, Y:12.46, Z:4.17 [[ 9.90800385e-01 -1.23571554e-01 -5.51785210e-02 1.11874850e+02] [ 1.23428371e-01 9.92335294e-01 -6.00842844e-03 1.24586470e+01] [ 5.54980647e-02 -8.57441772e-04 9.98458427e-01 4.16918480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84439141799999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:111.90, Y:12.46, Z:4.17 [[ 9.90566595e-01 -1.25166603e-01 -5.57776229e-02 1.11903003e+02] [ 1.25022253e-01 9.92135285e-01 -6.08374001e-03 1.24598905e+01] [ 5.61004289e-02 -9.47094437e-04 9.98424682e-01 4.17002032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87439141799999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:111.93, Y:12.46, Z:4.17 [[ 9.90442373e-01 -1.26502771e-01 -5.49632131e-02 1.11930482e+02] [ 1.26363619e-01 9.91965761e-01 -6.01374895e-03 1.24628706e+01] [ 5.52823815e-02 -9.89078747e-04 9.98470270e-01 4.17211487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90439141799999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:111.96, Y:12.47, Z:4.17 [[ 9.90367875e-01 -1.27021323e-01 -5.51094816e-02 1.11957367e+02] [ 1.26881243e-01 9.91899479e-01 -6.04754952e-03 1.24653133e+01] [ 5.54312339e-02 -1.00306074e-03 9.98462003e-01 4.17295217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93439141799999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:111.99, Y:12.47, Z:4.17 [[ 9.90315743e-01 -1.27100943e-01 -5.58576734e-02 1.11985133e+02] [ 1.26956544e-01 9.91889273e-01 -6.14057667e-03 1.24676564e+01] [ 5.61851001e-02 -1.01038742e-03 9.98419858e-01 4.17415854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96439141799999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:112.01, Y:12.47, Z:4.18 [[ 9.90420078e-01 -1.26382262e-01 -5.56380477e-02 1.12011514e+02] [ 1.26236870e-01 9.91981162e-01 -6.13414261e-03 1.24708176e+01] [ 5.59671420e-02 -9.48195022e-04 9.98432161e-01 4.17541216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99439141799999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:112.04, Y:12.47, Z:4.18 [[ 9.90565580e-01 -1.25396360e-01 -5.52773466e-02 1.12039305e+02] [ 1.25250730e-01 9.92106338e-01 -6.10488124e-03 1.24743181e+01] [ 5.56065358e-02 -8.76242801e-04 9.98452375e-01 4.17695882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:112.07, Y:12.48, Z:4.18 [[ 9.91074693e-01 -1.21597428e-01 -5.46353209e-02 1.12066722e+02] [ 1.21448343e-01 9.92579297e-01 -6.05305066e-03 1.24776135e+01] [ 5.49659238e-02 -6.36343855e-04 9.98488028e-01 4.17869938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:112.09, Y:12.48, Z:4.18 [[ 9.91330601e-01 -1.19582533e-01 -5.44394808e-02 1.12093970e+02] [ 1.19430427e-01 9.92824136e-01 -6.05053912e-03 1.24809350e+01] [ 5.47723692e-02 -5.03645863e-04 9.98498740e-01 4.18040502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084391418 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:112.12, Y:12.48, Z:4.18 [[ 9.91627975e-01 -1.17132128e-01 -5.43509397e-02 1.12121311e+02] [ 1.16975775e-01 9.93116279e-01 -6.06008988e-03 1.24846137e+01] [ 5.46866342e-02 -3.48388667e-04 9.98503506e-01 4.18220988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.114391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:112.15, Y:12.49, Z:4.18 [[ 9.92242162e-01 -1.11970026e-01 -5.40204110e-02 1.12147482e+02] [ 1.11806959e-01 9.93711583e-01 -6.04092669e-03 1.24887317e+01] [ 5.43571109e-02 -4.57957123e-05 9.98521558e-01 4.18411887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.144391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:112.18, Y:12.49, Z:4.19 [[ 9.92479597e-01 -1.09857067e-01 -5.39969766e-02 1.12175143e+02] [ 1.09690457e-01 9.93947392e-01 -6.04857690e-03 1.24922494e+01] [ 5.43346330e-02 8.01361327e-05 9.98522780e-01 4.18539929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.174391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:112.20, Y:12.50, Z:4.19 [[ 9.92680006e-01 -1.08084223e-01 -5.38906959e-02 1.12202585e+02] [ 1.07914604e-01 9.94141721e-01 -6.05606319e-03 1.24956706e+01] [ 5.42295541e-02 1.96139734e-04 9.98528476e-01 4.18652573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:112.23, Y:12.50, Z:4.19 [[ 9.92895785e-01 -1.06251061e-01 -5.35599792e-02 1.12229891e+02] [ 1.06079824e-01 9.94339285e-01 -6.03796660e-03 1.24988036e+01] [ 5.38983318e-02 3.13438412e-04 9.98546379e-01 4.18747758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23439141799999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:112.26, Y:12.50, Z:4.19 [[ 9.92867608e-01 -1.06704860e-01 -5.31788132e-02 1.12258083e+02] [ 1.06535685e-01 9.94290692e-01 -6.01400962e-03 1.25017916e+01] [ 5.35169230e-02 3.05674032e-04 9.98566896e-01 4.18854644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26439141799999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:112.29, Y:12.50, Z:4.19 [[ 9.92533025e-01 -1.09482983e-01 -5.37742604e-02 1.12285731e+02] [ 1.09312994e-01 9.93988654e-01 -6.10117252e-03 1.25036558e+01] [ 5.41189793e-02 1.77389804e-04 9.98534478e-01 4.18935619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29439141799999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:112.31, Y:12.51, Z:4.19 [[ 9.92230130e-01 -1.12015731e-01 -5.41465134e-02 1.12312781e+02] [ 1.11846165e-01 9.93706432e-01 -6.16138086e-03 1.25063032e+01] [ 5.44959102e-02 5.74278623e-05 9.98513992e-01 4.19066394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32439141799999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:112.34, Y:12.51, Z:4.19 [[ 9.91914146e-01 -1.14644947e-01 -5.44321957e-02 1.12340625e+02] [ 1.14476966e-01 9.93406528e-01 -6.20436887e-03 1.25091081e+01] [ 5.47845981e-02 -7.70313695e-05 9.98498193e-01 4.19233293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35439141799999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:112.37, Y:12.51, Z:4.19 [[ 9.91238243e-01 -1.20335111e-01 -5.44628997e-02 1.12368443e+02] [ 1.20174443e-01 9.92733259e-01 -6.22741730e-03 1.25126064e+01] [ 5.48165088e-02 -3.72194441e-04 9.98496375e-01 4.19418599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38439141799999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:112.40, Y:12.52, Z:4.19 [[ 9.90902603e-01 -1.22748462e-01 -5.51801295e-02 1.12396388e+02] [ 1.22586159e-01 9.92437692e-01 -6.32938959e-03 1.25157948e+01] [ 5.55397632e-02 -4.92511515e-04 9.98456355e-01 4.19402127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:112.42, Y:12.52, Z:4.20 [[ 9.90350412e-01 -1.27661991e-01 -5.39303003e-02 1.12423359e+02] [ 1.27513297e-01 9.91817462e-01 -6.20328572e-03 1.25188760e+01] [ 5.42809374e-02 -7.33403852e-04 9.98525434e-01 4.19680995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:112.45, Y:12.52, Z:4.20 [[ 9.89828032e-01 -1.31922315e-01 -5.32632066e-02 1.12450908e+02] [ 1.31782912e-01 9.91259607e-01 -6.13635182e-03 1.25215033e+01] [ 5.36071870e-02 -9.45247392e-04 9.98561654e-01 4.19727990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:112.48, Y:12.52, Z:4.20 [[ 9.89784633e-01 -1.32248398e-01 -5.32610721e-02 1.12479095e+02] [ 1.32108473e-01 9.91216157e-01 -6.15482740e-03 1.25249596e+01] [ 5.36072012e-02 -9.44285325e-04 9.98561654e-01 4.19857394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.504391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:112.51, Y:12.53, Z:4.20 [[ 9.89659018e-01 -1.33221449e-01 -5.31702294e-02 1.12505437e+02] [ 1.33141114e-01 9.91084143e-01 -5.06600936e-03 1.25267454e+01] [ 5.33710723e-02 -2.06552173e-03 9.98572612e-01 4.19867763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.534391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:112.53, Y:12.53, Z:4.20 [[ 9.89198120e-01 -1.36921229e-01 -5.23417332e-02 1.12534870e+02] [ 1.36719775e-01 9.90581920e-01 -7.42715068e-03 1.25316912e+01] [ 5.28657092e-02 1.90773499e-04 9.98601612e-01 4.20063217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:112.56, Y:12.53, Z:4.20 [[ 9.88514186e-01 -1.41765534e-01 -5.23663754e-02 1.12562559e+02] [ 1.41641410e-01 9.89899282e-01 -6.09278347e-03 1.25346442e+01] [ 5.27011841e-02 -1.39444435e-03 9.98609353e-01 4.20143744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59439141799999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:112.59, Y:12.54, Z:4.20 [[ 9.88140715e-01 -1.44358586e-01 -5.23309299e-02 1.12589863e+02] [ 1.44237282e-01 9.89524284e-01 -6.10721553e-03 1.25386445e+01] [ 5.26643549e-02 -1.51328274e-03 9.98611123e-01 4.20277647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62439141799999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:112.62, Y:12.54, Z:4.20 [[ 9.87794751e-01 -1.46755648e-01 -5.21949287e-02 1.12616622e+02] [ 1.46637421e-01 9.89171449e-01 -6.10828718e-03 1.25425063e+01] [ 5.25261589e-02 -1.61999574e-03 9.98618234e-01 4.20414659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65439141799999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:112.64, Y:12.55, Z:4.21 [[ 9.87114488e-01 -1.51535480e-01 -5.14002489e-02 1.12643912e+02] [ 1.51426828e-01 9.88450112e-01 -6.02422271e-03 1.25463057e+01] [ 5.17194653e-02 -1.83677913e-03 9.98659964e-01 4.20535456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68439141799999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:112.67, Y:12.55, Z:4.21 [[ 9.86683862e-01 -1.54302048e-01 -5.14376702e-02 1.12671969e+02] [ 1.54196067e-01 9.88021768e-01 -6.04636726e-03 1.25502447e+01] [ 5.17545047e-02 -1.96563345e-03 9.98657903e-01 4.20669671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71439141799999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:112.70, Y:12.55, Z:4.21 [[ 9.86318315e-01 -1.56636032e-01 -5.13939156e-02 1.12698395e+02] [ 1.56532537e-01 9.87654225e-01 -6.05773535e-03 1.25542804e+01] [ 5.17082775e-02 -2.06996466e-03 9.98660087e-01 4.20775715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74439141799999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:112.72, Y:12.56, Z:4.21 [[ 9.85741964e-01 -1.60361172e-01 -5.09615032e-02 1.12724927e+02] [ 1.60263988e-01 9.87055866e-01 -6.01429631e-03 1.25600562e+01] [ 5.12663103e-02 -2.23874947e-03 9.98682509e-01 4.20821067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:112.75, Y:12.57, Z:4.21 [[ 9.85504781e-01 -1.61894433e-01 -5.07002788e-02 1.12752072e+02] [ 1.61799828e-01 9.86805407e-01 -5.99204551e-03 1.25653455e+01] [ 5.10013881e-02 -2.29810688e-03 9.98695938e-01 4.20899172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:112.78, Y:12.57, Z:4.21 [[ 9.85363436e-01 -1.62777549e-01 -5.06198395e-02 1.12779966e+02] [ 1.62683506e-01 9.86660060e-01 -6.00017927e-03 1.25710527e+01] [ 5.09212684e-02 -2.32265570e-03 9.98699970e-01 4.21012611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:112.81, Y:12.58, Z:4.21 [[ 9.85434614e-01 -1.61998759e-01 -5.17206292e-02 1.12806563e+02] [ 1.61898672e-01 9.86788243e-01 -6.14677320e-03 1.25786582e+01] [ 5.20330785e-02 -2.31625813e-03 9.98642676e-01 4.20999569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:112.83, Y:12.58, Z:4.21 [[ 9.85580165e-01 -1.61376515e-01 -5.08857383e-02 1.12834245e+02] [ 1.61278385e-01 9.86890374e-01 -6.05574484e-03 1.25844141e+01] [ 5.11959003e-02 -2.23834772e-03 9.98686122e-01 4.21241169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.894391418 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:112.86, Y:12.59, Z:4.21 [[ 9.85794588e-01 -1.60177107e-01 -5.05205333e-02 1.12862072e+02] [ 1.60077986e-01 9.87085962e-01 -6.02847223e-03 1.25905103e+01] [ 5.08337325e-02 -2.14438992e-03 9.98704828e-01 4.21371366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924391418 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:112.89, Y:12.60, Z:4.22 [[ 9.86512038e-01 -1.55821601e-01 -5.01360862e-02 1.12887919e+02] [ 1.55717603e-01 9.87783405e-01 -5.99770848e-03 1.26007145e+01] [ 5.04581665e-02 -1.89025954e-03 9.98724387e-01 4.21581678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:112.92, Y:12.61, Z:4.22 [[ 9.86824938e-01 -1.53850797e-01 -5.00647042e-02 1.12915187e+02] [ 1.53744168e-01 9.88092489e-01 -5.99700174e-03 1.26081678e+01] [ 5.03912017e-02 -1.77916543e-03 9.98727972e-01 4.21731895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98439141799999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:112.94, Y:12.62, Z:4.22 [[ 9.87187904e-01 -1.51493583e-01 -5.00972780e-02 1.12942082e+02] [ 1.51382989e-01 9.88456873e-01 -6.01664864e-03 1.26154134e+01] [ 5.04304825e-02 -1.64431296e-03 9.98726220e-01 4.21902107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01439141799999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:112.97, Y:12.62, Z:4.22 [[ 9.87468394e-01 -1.49594546e-01 -5.02756686e-02 1.12969085e+02] [ 1.49479908e-01 9.88746231e-01 -6.05379365e-03 1.26224936e+01] [ 5.06154923e-02 -1.53727241e-03 9.98717031e-01 4.22037727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04439141799999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:113.00, Y:12.63, Z:4.22 [[ 9.87760655e-01 -1.47586376e-01 -5.04692996e-02 1.12995461e+02] [ 1.47467482e-01 9.89048144e-01 -6.09190411e-03 1.26290816e+01] [ 5.08156491e-02 -1.42523734e-03 9.98707033e-01 4.22162148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07439141799999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:113.02, Y:12.64, Z:4.22 [[ 9.88180949e-01 -1.44793202e-01 -5.03323078e-02 1.13021267e+02] [ 1.44670991e-01 9.89461122e-01 -6.08212812e-03 1.26374631e+01] [ 5.06825125e-02 -1.27138169e-03 9.98714006e-01 4.22174527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10439141799999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:113.05, Y:12.65, Z:4.22 [[ 9.88335815e-01 -1.43978259e-01 -4.96243748e-02 1.13048890e+02] [ 1.43858072e-01 9.89580117e-01 -6.00385590e-03 1.26452122e+01] [ 4.99717194e-02 -1.20504107e-03 9.98749906e-01 4.22200700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13439141799999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:113.08, Y:12.65, Z:4.22 [[ 9.88281841e-01 -1.44496270e-01 -4.91917732e-02 1.13076730e+02] [ 1.44378147e-01 9.89504609e-01 -5.96489858e-03 1.26511563e+01] [ 4.95373919e-02 -1.20721614e-03 9.98771540e-01 4.22379559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:113.10, Y:12.66, Z:4.23 [[ 9.88150817e-01 -1.45388108e-01 -4.91961442e-02 1.13103617e+02] [ 1.45270901e-01 9.89373913e-01 -5.96879778e-03 1.26570750e+01] [ 4.95411739e-02 -1.24869577e-03 9.98771302e-01 4.22528946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:113.13, Y:12.67, Z:4.23 [[ 9.87700729e-01 -1.48338927e-01 -4.94250134e-02 1.13131828e+02] [ 1.48223942e-01 9.88935597e-01 -6.00402263e-03 1.26652344e+01] [ 4.97687854e-02 -1.39579281e-03 9.98759791e-01 4.22674135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:113.16, Y:12.67, Z:4.23 [[ 9.87441869e-01 -1.49993147e-01 -4.96045418e-02 1.13161404e+02] [ 1.49878753e-01 9.88685941e-01 -6.03894928e-03 1.26706961e+01] [ 4.99491142e-02 -1.47155551e-03 9.98750680e-01 4.22811650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.254391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:113.19, Y:12.68, Z:4.23 [[ 9.87103227e-01 -1.52071054e-01 -5.00161364e-02 1.13190480e+02] [ 1.51957313e-01 9.88368288e-01 -6.09111413e-03 1.26760964e+01] [ 5.03606453e-02 -1.58775927e-03 9.98729836e-01 4.22968858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:113.22, Y:12.68, Z:4.23 [[ 9.86449854e-01 -1.56261924e-01 -4.99889625e-02 1.13220692e+02] [ 1.56153582e-01 9.87714015e-01 -6.08963053e-03 1.26835385e+01] [ 5.03263763e-02 -1.79884040e-03 9.98731205e-01 4.23121583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:113.25, Y:12.69, Z:4.23 [[ 9.86199483e-01 -1.57951815e-01 -4.96165606e-02 1.13249977e+02] [ 1.57847210e-01 9.87445049e-01 -6.04435774e-03 1.26889819e+01] [ 4.99483444e-02 -1.87089319e-03 9.98750050e-01 4.23253178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34439141799999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:113.28, Y:12.69, Z:4.23 [[ 9.85942740e-01 -1.59639890e-01 -4.93154986e-02 1.13278682e+02] [ 1.59538608e-01 9.87173403e-01 -6.00868618e-03 1.26946425e+01] [ 4.96421746e-02 -1.94350550e-03 9.98765176e-01 4.23396757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37439141799999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:113.31, Y:12.71, Z:4.24 [[ 9.85493011e-01 -1.62060058e-01 -5.03990437e-02 1.13305949e+02] [ 1.61581130e-01 9.86767590e-01 -1.34633160e-02 1.27052972e+01] [ 5.19140086e-02 5.12446934e-03 9.98638411e-01 4.23731445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40439141799999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:113.34, Y:12.70, Z:4.23 [[ 9.85409803e-01 -1.62803878e-01 -4.96227475e-02 1.13335704e+02] [ 1.63050227e-01 9.86617331e-01 9.30317550e-04 1.27039655e+01] [ 4.88072034e-02 -9.00774430e-03 9.98767599e-01 4.23443458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43439141799999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:113.37, Y:12.71, Z:4.24 [[ 9.85212367e-01 -1.64436197e-01 -4.81386336e-02 1.13366148e+02] [ 1.64344721e-01 9.86385445e-01 -5.87927907e-03 1.27146599e+01] [ 4.84500138e-02 -2.11899184e-03 9.98823361e-01 4.23722358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46439141799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:113.40, Y:12.72, Z:4.24 [[ 9.85084565e-01 -1.65137208e-01 -4.83539343e-02 1.13397964e+02] [ 1.65045856e-01 9.86268226e-01 -5.90347227e-03 1.27207222e+01] [ 4.86648319e-02 -2.16519707e-03 9.98812818e-01 4.23932349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49439141799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:113.43, Y:12.73, Z:4.24 [[ 9.85056087e-01 -1.65358482e-01 -4.81775739e-02 1.13429155e+02] [ 1.65268250e-01 9.86231137e-01 -5.87799156e-03 1.27269335e+01] [ 4.84861993e-02 -2.17207199e-03 9.98821491e-01 4.24124949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:113.46, Y:12.73, Z:4.24 [[ 9.85004661e-01 -1.65603682e-01 -4.83863341e-02 1.13459855e+02] [ 1.65513154e-01 9.86189937e-01 -5.89953951e-03 1.27334840e+01] [ 4.86951012e-02 -2.19750083e-03 9.98811273e-01 4.24313316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:113.49, Y:12.74, Z:4.25 [[ 9.84880677e-01 -1.66113129e-01 -4.91577163e-02 1.13491554e+02] [ 1.66020479e-01 9.86104110e-01 -5.99047060e-03 1.27421216e+01] [ 4.94697219e-02 -2.26128885e-03 9.98773064e-01 4.24554975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:113.52, Y:12.75, Z:4.25 [[ 9.84890511e-01 -1.66054671e-01 -4.91581817e-02 1.13523145e+02] [ 1.65962138e-01 9.86113953e-01 -5.98664924e-03 1.27459241e+01] [ 4.94696800e-02 -2.26220290e-03 9.98773064e-01 4.24700361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.614391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:113.55, Y:12.75, Z:4.25 [[ 9.84880964e-01 -1.66096146e-01 -4.92093097e-02 1.13554936e+02] [ 1.66003623e-01 9.86106951e-01 -5.98983596e-03 1.27515220e+01] [ 4.95205310e-02 -2.26964827e-03 9.98770527e-01 4.24836064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.644391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:113.59, Y:12.76, Z:4.25 [[ 9.84851030e-01 -1.66277297e-01 -4.91966462e-02 1.13586851e+02] [ 1.66185244e-01 9.86076393e-01 -5.98432698e-03 1.27570208e+01] [ 4.95067091e-02 -2.28208606e-03 9.98771184e-01 4.24959958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.674391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:113.62, Y:12.76, Z:4.25 [[ 9.84795043e-01 -1.66397352e-01 -4.99063671e-02 1.13617750e+02] [ 1.66302984e-01 9.86056040e-01 -6.06654226e-03 1.27622246e+01] [ 5.02199313e-02 -2.32527705e-03 9.98735476e-01 4.25108354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:113.65, Y:12.77, Z:4.25 [[ 9.84711310e-01 -1.66695742e-01 -5.05585394e-02 1.13647947e+02] [ 1.66599463e-01 9.86005523e-01 -6.14232285e-03 1.27694783e+01] [ 5.08748981e-02 -2.37461072e-03 9.98702211e-01 4.25234313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73439141799999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:113.68, Y:12.78, Z:4.25 [[ 9.84676346e-01 -1.66713865e-01 -5.11759885e-02 1.13679887e+02] [ 1.66615562e-01 9.86002371e-01 -6.21117550e-03 1.27756833e+01] [ 5.14951351e-02 -2.41071849e-03 9.98670336e-01 4.25409896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76439141799999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:113.71, Y:12.78, Z:4.26 [[ 9.84676296e-01 -1.66668452e-01 -5.13246362e-02 1.13711735e+02] [ 1.66569733e-01 9.86010027e-01 -6.22503996e-03 1.27819512e+01] [ 5.16441237e-02 -2.41948164e-03 9.98662621e-01 4.25581125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79439141799999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:113.74, Y:12.79, Z:4.26 [[ 9.84819189e-01 -1.65600711e-01 -5.20343142e-02 1.13741690e+02] [ 1.65497975e-01 9.86189963e-01 -6.30694164e-03 1.27896671e+01] [ 5.23601524e-02 -2.40037651e-03 9.98625382e-01 4.25735426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82439141799999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:113.77, Y:12.79, Z:4.26 [[ 9.84932277e-01 -1.64649318e-01 -5.29056905e-02 1.13773706e+02] [ 1.64541928e-01 9.86349267e-01 -6.40911637e-03 1.27949636e+01] [ 5.32387457e-02 -2.39265871e-03 9.98578946e-01 4.25928390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85439141799999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:113.80, Y:12.80, Z:4.26 [[ 9.85060445e-01 -1.63711124e-01 -5.34283394e-02 1.13804115e+02] [ 1.63600458e-01 9.86505476e-01 -6.46811246e-03 1.28007764e+01] [ 5.37662513e-02 -2.36941907e-03 9.98550738e-01 4.26099657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88439141799999 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:113.83, Y:12.81, Z:4.26 [[ 9.85574034e-01 -1.60342922e-01 -5.41661453e-02 1.13834957e+02] [ 1.60224297e-01 9.87058874e-01 -6.55385447e-03 1.28090967e+01] [ 5.45160386e-02 -2.21942379e-03 9.98510428e-01 4.26391876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:113.87, Y:12.82, Z:4.27 [[ 9.85895433e-01 -1.58332073e-01 -5.42323755e-02 1.13865496e+02] [ 1.58210357e-01 9.87383655e-01 -6.55757971e-03 1.28153532e+01] [ 5.45864363e-02 -2.11503558e-03 9.98506809e-01 4.26591497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944391418 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:113.90, Y:12.82, Z:4.27 [[ 9.86806699e-01 -1.52769026e-01 -5.36112196e-02 1.13895702e+02] [ 1.52642057e-01 9.88260301e-01 -6.47922578e-03 1.28238476e+01] [ 5.39716650e-02 -1.78958342e-03 9.98540864e-01 4.26808357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974391418 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:113.93, Y:12.83, Z:4.27 [[ 9.87325576e-01 -1.49375489e-01 -5.36206068e-02 1.13926117e+02] [ 1.49243651e-01 9.88779237e-01 -6.47714869e-03 1.28294521e+01] [ 5.39864700e-02 -1.60748057e-03 9.98540373e-01 4.27000857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.004391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:113.96, Y:12.83, Z:4.27 [[ 9.87838313e-01 -1.45912623e-01 -5.37119529e-02 1.13958267e+02] [ 1.45775401e-01 9.89296457e-01 -6.48486711e-03 1.28347959e+01] [ 5.40832687e-02 -1.42388129e-03 9.98535414e-01 4.27114984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.034391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:113.99, Y:12.84, Z:4.27 [[ 9.88808074e-01 -1.38954902e-01 -5.43150859e-02 1.13989536e+02] [ 1.38804319e-01 9.90298144e-01 -6.55342413e-03 1.28418326e+01] [ 5.46987592e-02 -1.05908982e-03 9.98502341e-01 4.27236863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:114.02, Y:12.85, Z:4.27 [[ 9.89247526e-01 -1.35847157e-01 -5.41745563e-02 1.14020742e+02] [ 1.35692939e-01 9.90729408e-01 -6.53202901e-03 1.28480365e+01] [ 5.45596837e-02 -8.89311209e-04 9.98510115e-01 4.27418589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09439141799999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:114.05, Y:12.86, Z:4.28 [[ 9.89742556e-01 -1.32170309e-01 -5.42280551e-02 1.14051343e+02] [ 1.31757995e-01 9.91219483e-01 -1.11250664e-02 1.28560448e+01] [ 5.52223082e-02 3.86597190e-03 9.98466600e-01 4.27793498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12439141799999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:114.08, Y:12.86, Z:4.28 [[ 9.90044302e-01 -1.30226085e-01 -5.34176600e-02 1.14083809e+02] [ 1.30302595e-01 9.91472127e-01 -2.06282596e-03 1.28576846e+01] [ 5.32307547e-02 -4.91817064e-03 9.98570127e-01 4.27698668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15439141799999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:114.11, Y:12.87, Z:4.28 [[ 9.90590619e-01 -1.26558890e-01 -5.20871726e-02 1.14114667e+02] [ 1.26403676e-01 9.91959028e-01 -6.27674954e-03 1.28660496e+01] [ 5.24627195e-02 -3.66320886e-04 9.98622816e-01 4.27967970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18439141799999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:114.15, Y:12.87, Z:4.28 [[ 9.90746733e-01 -1.25205610e-01 -5.23876544e-02 1.14145982e+02] [ 1.25046933e-01 9.92130770e-01 -6.30869682e-03 1.28703547e+01] [ 5.27652881e-02 -3.00594761e-04 9.98606897e-01 4.28099784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21439141799999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:114.17, Y:12.88, Z:4.28 [[ 9.90675450e-01 -1.25979289e-01 -5.18784269e-02 1.14173087e+02] [ 1.25675644e-01 9.92029765e-01 -9.08717763e-03 1.28781798e+01] [ 5.26097398e-02 2.48258906e-03 9.98612063e-01 4.28277025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24439141799999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:114.21, Y:12.88, Z:4.28 [[ 9.90876234e-01 -1.23899503e-01 -5.30396330e-02 1.14207375e+02] [ 1.23851951e-01 9.92291839e-01 -4.19518582e-03 1.28767715e+01] [ 5.31505764e-02 -2.41215210e-03 9.98583596e-01 4.28226387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:114.24, Y:12.88, Z:4.28 [[ 9.90703909e-01 -1.25073927e-01 -5.35002658e-02 1.14237974e+02] [ 1.24908898e-01 9.92147376e-01 -6.43052920e-03 1.28819159e+01] [ 5.38844398e-02 -3.11908815e-04 9.98547130e-01 4.28438029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:114.27, Y:12.89, Z:4.29 [[ 9.90606227e-01 -1.25736659e-01 -5.37549692e-02 1.14270199e+02] [ 1.25571211e-01 9.92063591e-01 -6.45777886e-03 1.28857846e+01] [ 5.41403273e-02 -3.52960615e-04 9.98533275e-01 4.28579239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:114.30, Y:12.89, Z:4.29 [[ 9.90421370e-01 -1.26936943e-01 -5.43371108e-02 1.14301688e+02] [ 1.26769963e-01 9.91910696e-01 -6.52280451e-03 1.28891743e+01] [ 5.47255462e-02 -4.27988559e-04 9.98501343e-01 4.28691503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.364391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:114.33, Y:12.89, Z:4.29 [[ 9.89979326e-01 -1.29830838e-01 -5.55417662e-02 1.14332681e+02] [ 1.29661301e-01 9.91535972e-01 -6.66056754e-03 1.28913851e+01] [ 5.59364062e-02 -6.07793479e-04 9.98434149e-01 4.28823998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.394391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:114.36, Y:12.89, Z:4.29 [[ 9.89757806e-01 -1.31444448e-01 -5.56941853e-02 1.14364309e+02] [ 1.31276705e-01 9.91323288e-01 -6.67572667e-03 1.28945630e+01] [ 5.60884301e-02 -7.03996546e-04 9.98425557e-01 4.28949619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.424391418 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:114.40, Y:12.90, Z:4.29 [[ 9.89367338e-01 -1.34304645e-01 -5.58080004e-02 1.14396210e+02] [ 1.34140909e-01 9.90939708e-01 -6.68671217e-03 1.28970457e+01] [ 5.62004201e-02 -8.70521251e-04 9.98419128e-01 4.29066335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:114.43, Y:12.90, Z:4.29 [[ 9.89150740e-01 -1.35735441e-01 -5.61845432e-02 1.14427670e+02] [ 1.35572083e-01 9.90744650e-01 -6.72667852e-03 1.29001338e+01] [ 5.65775843e-02 -9.63356530e-04 9.98397741e-01 4.29241238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48439141799999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:114.46, Y:12.90, Z:4.29 [[ 9.88932384e-01 -1.37200096e-01 -5.64701191e-02 1.14459247e+02] [ 1.37037858e-01 9.90542786e-01 -6.75384259e-03 1.29033000e+01] [ 5.68626969e-02 -1.05945050e-03 9.98381446e-01 4.29402350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51439141799999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:114.49, Y:12.91, Z:4.30 [[ 9.88508490e-01 -1.40031391e-01 -5.69401074e-02 1.14491354e+02] [ 1.39871394e-01 9.90146292e-01 -6.80543043e-03 1.29056070e+01] [ 5.73320101e-02 -1.23706642e-03 9.98354401e-01 4.29541717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54439141799999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:114.52, Y:12.91, Z:4.30 [[ 9.88404517e-01 -1.40205280e-01 -5.83008533e-02 1.14520167e+02] [ 1.39620323e-01 9.90106012e-01 -1.40089194e-02 1.29110903e+01] [ 5.96881498e-02 5.70649522e-03 9.98200762e-01 4.29883426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57439141799999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:114.55, Y:12.91, Z:4.30 [[ 9.88083402e-01 -1.42731089e-01 -5.76109950e-02 1.14552677e+02] [ 1.42957460e-01 9.89728815e-01 -1.94030783e-04 1.29080876e+01] [ 5.70469561e-02 -8.04420292e-03 9.98339088e-01 4.29561159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60439141799999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:114.58, Y:12.91, Z:4.30 [[ 9.87919756e-01 -1.44179333e-01 -5.68055936e-02 1.14584282e+02] [ 1.44027000e-01 9.89550475e-01 -6.78821632e-03 1.29144141e+01] [ 5.71907227e-02 -1.47532624e-03 9.98362181e-01 4.29955673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63439141799999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:114.62, Y:12.92, Z:4.30 [[ 9.87641385e-01 -1.46108196e-01 -5.67176299e-02 1.14615942e+02] [ 1.45959766e-01 9.89267340e-01 -6.77321881e-03 1.29175632e+01] [ 5.70985216e-02 -1.58898079e-03 9.98367284e-01 4.30167634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664391418 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:114.65, Y:12.92, Z:4.30 [[ 9.87260945e-01 -1.48928458e-01 -5.60012532e-02 1.14647124e+02] [ 1.48788529e-01 9.88846453e-01 -6.68330385e-03 1.29210733e+01] [ 5.63719747e-02 -1.73417920e-03 9.98408330e-01 4.30352498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:114.68, Y:12.92, Z:4.31 [[ 9.87043419e-01 -1.50216773e-01 -5.63933483e-02 1.14679573e+02] [ 1.50077187e-01 9.88651402e-01 -6.72638222e-03 1.29244382e+01] [ 5.67637783e-02 -1.82412378e-03 9.98385970e-01 4.30514476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:114.71, Y:12.93, Z:4.31 [[ 9.86757667e-01 -1.52107435e-01 -5.63261512e-02 1.14711401e+02] [ 1.51971515e-01 9.88362071e-01 -6.71378128e-03 1.29278894e+01] [ 5.66918475e-02 -1.93509539e-03 9.98389849e-01 4.30652043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.754391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:114.74, Y:12.93, Z:4.31 [[ 9.86447766e-01 -1.54101466e-01 -5.63342090e-02 1.14741990e+02] [ 1.53968998e-01 9.88052892e-01 -6.71040660e-03 1.29309644e+01] [ 5.66952616e-02 -2.05425609e-03 9.98389417e-01 4.30761468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.784391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:114.77, Y:12.93, Z:4.31 [[ 9.86072086e-01 -1.56382212e-01 -5.66254810e-02 1.14773121e+02] [ 1.56252316e-01 9.87694165e-01 -6.74168103e-03 1.29340242e+01] [ 5.69829362e-02 -2.20007909e-03 9.98372728e-01 4.30871836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:114.81, Y:12.94, Z:4.31 [[ 9.85266196e-01 -1.61300863e-01 -5.68555639e-02 1.14805368e+02] [ 1.61178282e-01 9.86902118e-01 -6.76540626e-03 1.29370544e+01] [ 5.72021423e-02 -2.49815600e-03 9.98359491e-01 4.30996499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84439141799999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:114.84, Y:12.94, Z:4.31 [[ 9.84830748e-01 -1.63834200e-01 -5.71555213e-02 1.14836250e+02] [ 1.63714832e-01 9.86484293e-01 -6.79661192e-03 1.29410077e+01] [ 5.74965415e-02 -2.66369419e-03 9.98342152e-01 4.31171987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87439141799999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:114.87, Y:12.95, Z:4.31 [[ 9.84042441e-01 -1.68509037e-01 -5.71417441e-02 1.14867681e+02] [ 1.68397792e-01 9.85695725e-01 -6.79122213e-03 1.29452430e+01] [ 5.74687552e-02 -2.93969277e-03 9.98342977e-01 4.31293502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90439141799999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:114.90, Y:12.95, Z:4.31 [[ 9.83661518e-01 -1.70667561e-01 -5.72939984e-02 1.14899766e+02] [ 1.70559641e-01 9.85323858e-01 -6.80463468e-03 1.29489500e+01] [ 5.76144740e-02 -3.07858651e-03 9.98334160e-01 4.31456509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93439141799999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:114.93, Y:12.95, Z:4.32 [[ 9.83336456e-01 -1.72437690e-01 -5.75730601e-02 1.14931070e+02] [ 1.72331997e-01 9.85015223e-01 -6.83331218e-03 1.29526288e+01] [ 5.78886611e-02 -3.20223540e-03 9.98317910e-01 4.31600346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96439141799999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:114.96, Y:12.96, Z:4.32 [[ 9.82866526e-01 -1.75206585e-01 -5.72367352e-02 1.14962513e+02] [ 1.75107009e-01 9.84525995e-01 -6.78969328e-03 1.29573020e+01] [ 5.75406527e-02 -3.34919122e-03 9.98337546e-01 4.31784004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99439141799999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:114.99, Y:12.96, Z:4.32 [[ 9.82715017e-01 -1.76065285e-01 -5.72032339e-02 1.14993270e+02] [ 1.75967525e-01 9.84372614e-01 -6.78135939e-03 1.29616575e+01] [ 5.75032588e-02 -3.40176775e-03 9.98339523e-01 4.31947156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:115.02, Y:12.97, Z:4.32 [[ 9.82585539e-01 -1.76822970e-01 -5.70902443e-02 1.15024801e+02] [ 1.76727079e-01 9.84236650e-01 -6.76430144e-03 1.29662788e+01] [ 5.73863947e-02 -3.44288731e-03 9.98346106e-01 4.32116015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:115.06, Y:12.97, Z:4.32 [[ 9.82488760e-01 -1.77287757e-01 -5.73139413e-02 1.15055732e+02] [ 1.77192155e-01 9.84152877e-01 -6.78640425e-03 1.29712952e+01] [ 5.76088266e-02 -3.48801488e-03 9.98333139e-01 4.32287247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:115.09, Y:12.98, Z:4.32 [[ 9.82510051e-01 -1.77006000e-01 -5.78176069e-02 1.15086891e+02] [ 1.76908445e-01 9.84203528e-01 -6.84227549e-03 1.29775941e+01] [ 5.81154166e-02 -3.50581852e-03 9.98303715e-01 4.32423630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.114391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:115.12, Y:12.98, Z:4.33 [[ 9.82659278e-01 -1.76258281e-01 -5.75652864e-02 1.15118837e+02] [ 1.76160567e-01 9.84337904e-01 -6.80778182e-03 1.29823627e+01] [ 5.78636213e-02 -3.45100351e-03 9.98318532e-01 4.32520109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.144391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:115.15, Y:12.99, Z:4.33 [[ 9.83212627e-01 -1.73210667e-01 -5.73672009e-02 1.15149189e+02] [ 1.73108706e-01 9.84879387e-01 -6.78000270e-03 1.29881495e+01] [ 5.76741425e-02 -3.26457767e-03 9.98330124e-01 4.32682407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.174391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:115.18, Y:12.99, Z:4.33 [[ 9.83647603e-01 -1.70941007e-01 -5.67147784e-02 1.15180821e+02] [ 1.70837796e-01 9.85276391e-01 -6.69930656e-03 1.29938700e+01] [ 5.70249184e-02 -3.09927090e-03 9.98367945e-01 4.32895367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20439141799999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:115.21, Y:13.00, Z:4.33 [[ 9.84220084e-01 -1.67819944e-01 -5.61007286e-02 1.15212216e+02] [ 1.67714150e-01 9.85813425e-01 -6.62236011e-03 1.30001220e+01] [ 5.64162155e-02 -2.89102615e-03 9.98403151e-01 4.33153044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23439141799999 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:115.24, Y:13.01, Z:4.33 [[ 9.85509292e-01 -1.60619653e-01 -5.45230473e-02 1.15242633e+02] [ 1.60508944e-01 9.87013428e-01 -6.43211107e-03 1.30090361e+01] [ 5.48481033e-02 -2.41253154e-03 9.98491795e-01 4.33484183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26439141799999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:115.28, Y:13.02, Z:4.34 [[ 9.86168614e-01 -1.56736319e-01 -5.38998208e-02 1.15275650e+02] [ 1.56622537e-01 9.87638090e-01 -6.35490649e-03 1.30151177e+01] [ 5.42295607e-02 -2.17491734e-03 9.98526126e-01 4.33651068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29439141799999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:115.31, Y:13.02, Z:4.34 [[ 9.86813803e-01 -1.52411144e-01 -5.44918504e-02 1.15307216e+02] [ 1.52288624e-01 9.88315224e-01 -6.41815802e-03 1.30198712e+01] [ 5.48333241e-02 -1.96496202e-03 9.98493588e-01 4.33720545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32439141799999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:115.34, Y:13.03, Z:4.34 [[ 9.87321545e-01 -1.49597841e-01 -5.30721472e-02 1.15339833e+02] [ 1.49477854e-01 9.88745349e-01 -6.24552835e-03 1.30253223e+01] [ 5.34091563e-02 -1.76676598e-03 9.98571149e-01 4.33917780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35439141799999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:115.37, Y:13.03, Z:4.34 [[ 9.88242625e-01 -1.43173527e-01 -5.36456464e-02 1.15371781e+02] [ 1.43041818e-01 9.89696552e-01 -6.30664186e-03 1.30303272e+01] [ 5.39958554e-02 -1.44107852e-03 9.98540120e-01 4.33980956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38439141799999 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:115.40, Y:13.03, Z:4.34 [[ 9.88687492e-01 -1.40038477e-01 -5.37239934e-02 1.15404092e+02] [ 1.39902039e-01 9.90145239e-01 -6.31068244e-03 1.30348695e+01] [ 5.40782947e-02 -1.27680346e-03 9.98535882e-01 4.34058360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:115.44, Y:13.04, Z:4.34 [[ 9.89098691e-01 -1.36973737e-01 -5.40552926e-02 1.15437067e+02] [ 1.36831282e-01 9.90574046e-01 -6.34510900e-03 1.30394685e+01] [ 5.44148831e-02 -1.12051600e-03 9.98517784e-01 4.34183615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:115.47, Y:13.05, Z:4.34 [[ 9.89913770e-01 -1.30433577e-01 -5.52974700e-02 1.15468287e+02] [ 1.30274724e-01 9.91456738e-01 -6.48321126e-03 1.30453348e+01] [ 5.56706777e-02 -7.86042562e-04 9.98448876e-01 4.34350224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:115.50, Y:13.05, Z:4.35 [[ 9.90324150e-01 -1.27174204e-01 -5.55409787e-02 1.15499963e+02] [ 1.27009370e-01 9.91880206e-01 -6.50204100e-03 1.30500029e+01] [ 5.59168893e-02 -6.15096456e-04 9.98435237e-01 4.34508336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:115.53, Y:13.05, Z:4.35 [[ 9.90336755e-01 -1.27075774e-01 -5.55415193e-02 1.15532422e+02] [ 1.26911044e-01 9.91892822e-01 -6.49741976e-03 1.30537189e+01] [ 5.59168990e-02 -6.14198580e-04 9.98435237e-01 4.34657472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.534391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:115.56, Y:13.07, Z:4.35 [[ 9.91119086e-01 -1.24045446e-01 -4.79133008e-02 1.15562817e+02] [ 1.22825634e-01 9.92043673e-01 -2.76263471e-02 1.30685571e+01] [ 5.09590094e-02 2.14960183e-02 9.98469379e-01 4.34892724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:115.60, Y:13.05, Z:4.34 [[ 9.91492463e-01 -1.16428906e-01 -5.81979818e-02 1.15597192e+02] [ 1.17485474e-01 9.92960346e-01 1.50636769e-02 1.30517651e+01] [ 5.60344407e-02 -2.17729396e-02 9.98191405e-01 4.34210495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59439141799999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:115.63, Y:13.07, Z:4.35 [[ 9.91830895e-01 -1.14693794e-01 -5.58283886e-02 1.15626142e+02] [ 1.14509167e-01 9.93400891e-01 -6.50542118e-03 1.30655875e+01] [ 5.62061024e-02 5.94154137e-05 9.98419186e-01 4.35106478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62439141799999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:115.66, Y:13.07, Z:4.35 [[ 9.92042543e-01 -1.12718249e-01 -5.60909033e-02 1.15658022e+02] [ 1.12192764e-01 9.93608578e-01 -1.24409470e-02 1.30722185e+01] [ 5.71347244e-02 6.04895519e-03 9.98348152e-01 4.35465046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65439141799999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:115.69, Y:13.07, Z:4.35 [[ 9.92511276e-01 -1.09172914e-01 -5.47963630e-02 1.15688575e+02] [ 1.09313934e-01 9.94007184e-01 -4.26090970e-04 1.30700371e+01] [ 5.45144960e-02 -5.56710592e-03 9.98497460e-01 4.35197216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68439141799999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:115.72, Y:13.08, Z:4.35 [[ 9.92685420e-01 -1.08254579e-01 -5.34472021e-02 1.15719298e+02] [ 1.08076607e-01 9.94123126e-01 -6.21751243e-03 1.30758934e+01] [ 5.38061738e-02 3.95641678e-04 9.98551320e-01 4.35485621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71439141799999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:115.75, Y:13.08, Z:4.36 [[ 9.92761533e-01 -1.07606675e-01 -5.33417552e-02 1.15749482e+02] [ 1.07428571e-01 9.94193452e-01 -6.20336209e-03 1.30787223e+01] [ 5.36995469e-02 4.28030695e-04 9.98557047e-01 4.35638080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74439141799999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.78, Y:13.08, Z:4.36 [[ 9.92797780e-01 -1.06844330e-01 -5.41927781e-02 1.15779824e+02] [ 1.06366414e-01 9.94258915e-01 -1.16360027e-02 1.30835459e+01] [ 5.51248936e-02 5.78790612e-03 9.98462691e-01 4.35962941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:115.81, Y:13.08, Z:4.36 [[ 9.92716021e-01 -1.07417075e-01 -5.45570770e-02 1.15813008e+02] [ 1.07509994e-01 9.94203234e-01 -1.23741539e-03 1.30800894e+01] [ 5.43737419e-02 -4.63702894e-03 9.98509887e-01 4.35702880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:115.84, Y:13.09, Z:4.36 [[ 9.92576546e-01 -1.08856463e-01 -5.42408536e-02 1.15844215e+02] [ 1.08674313e-01 9.94057412e-01 -6.30520040e-03 1.30853390e+01] [ 5.46048844e-02 3.63806510e-04 9.98507974e-01 4.36036965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834391418 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:115.88, Y:13.09, Z:4.36 [[ 9.92193382e-01 -1.12015540e-01 -5.48161696e-02 1.15875080e+02] [ 1.11834594e-01 9.93706437e-01 -6.36707723e-03 1.30860272e+01] [ 5.51843922e-02 1.87027793e-04 9.98476163e-01 4.36238951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:115.91, Y:13.09, Z:4.36 [[ 9.91914553e-01 -1.14456502e-01 -5.48199610e-02 1.15905649e+02] [ 1.14279594e-01 9.93428260e-01 -6.36138955e-03 1.30875035e+01] [ 5.51878008e-02 4.51519872e-05 9.98475991e-01 4.36360216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.894391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:115.94, Y:13.09, Z:4.36 [[ 9.91604857e-01 -1.16927063e-01 -5.52075084e-02 1.15936219e+02] [ 1.16751529e-01 9.93140500e-01 -6.40526280e-03 1.30884911e+01] [ 5.55777611e-02 -9.40713381e-05 9.98454357e-01 4.36480246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:115.97, Y:13.09, Z:4.37 [[ 9.91298500e-01 -1.19499686e-01 -5.52006224e-02 1.15966882e+02] [ 1.19328226e-01 9.92834210e-01 -6.40363556e-03 1.30894974e+01] [ 5.55702988e-02 -2.39078032e-04 9.98454748e-01 4.36559320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95439141799999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:116.00, Y:13.09, Z:4.37 [[ 9.90802621e-01 -1.23850553e-01 -5.45087773e-02 1.15996793e+02] [ 1.23689933e-01 9.92300768e-01 -6.32353720e-03 1.30880351e+01] [ 5.48722751e-02 -4.76809800e-04 9.98493268e-01 4.36609299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98439141799999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:116.03, Y:13.09, Z:4.37 [[ 9.90639804e-01 -1.25251460e-01 -5.42664699e-02 1.16027262e+02] [ 1.25094321e-01 9.92124875e-01 -6.29624099e-03 1.30896345e+01] [ 5.46277281e-02 -5.51120282e-04 9.98506639e-01 4.36771814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01439141799999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:116.06, Y:13.10, Z:4.37 [[ 9.90608097e-01 -1.24842099e-01 -5.57678103e-02 1.16056908e+02] [ 1.24016641e-01 9.92116163e-01 -1.80386324e-02 1.30963697e+01] [ 5.75801267e-02 1.09530788e-02 9.98280802e-01 4.37304062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04439141799999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:116.09, Y:13.09, Z:4.37 [[ 9.90858110e-01 -1.23136057e-01 -5.51154886e-02 1.16091413e+02] [ 1.23578351e-01 9.92323797e-01 4.67693367e-03 1.30864473e+01] [ 5.41165117e-02 -1.14452588e-02 9.98469033e-01 4.36698959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07439141799999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:116.12, Y:13.09, Z:4.37 [[ 9.91096591e-01 -1.21713502e-01 -5.39756483e-02 1.16122913e+02] [ 1.21553596e-01 9.92565206e-01 -6.24786414e-03 1.30937748e+01] [ 5.43347999e-02 -3.68697277e-04 9.98522706e-01 4.37173165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10439141799999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:116.15, Y:13.10, Z:4.37 [[ 9.91344713e-01 -1.19664535e-01 -5.40005556e-02 1.16153868e+02] [ 1.19501662e-01 9.92814349e-01 -6.24670810e-03 1.30959414e+01] [ 5.43600358e-02 -2.60515121e-04 9.98521366e-01 4.37304639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13439141799999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:116.18, Y:13.10, Z:4.37 [[ 9.91614260e-01 -1.17376713e-01 -5.40727997e-02 1.16184610e+02] [ 1.17210113e-01 9.93087453e-01 -6.25306540e-03 1.30978536e+01] [ 5.44329832e-02 -1.37250172e-04 9.98517417e-01 4.37449331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:116.21, Y:13.10, Z:4.38 [[ 9.92080979e-01 -1.13417935e-01 -5.39601943e-02 1.16214789e+02] [ 1.13246253e-01 9.93547365e-01 -6.23860899e-03 1.30979486e+01] [ 5.43195790e-02 7.84154868e-05 9.98523599e-01 4.37544771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:116.24, Y:13.10, Z:4.38 [[ 9.92221730e-01 -1.12106125e-01 -5.41133554e-02 1.16244100e+02] [ 1.11931683e-01 9.93696229e-01 -6.25327619e-03 1.30993652e+01] [ 5.44732678e-02 1.47637579e-04 9.98515218e-01 4.37679647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:116.27, Y:13.10, Z:4.38 [[ 9.92290718e-01 -1.11421466e-01 -5.42622231e-02 1.16273308e+02] [ 1.11245032e-01 9.93773225e-01 -6.27059600e-03 1.31007342e+01] [ 5.46230234e-02 1.85851458e-04 9.98507031e-01 4.37794772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.254391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:116.30, Y:13.10, Z:4.38 [[ 9.92239171e-01 -1.11554147e-01 -5.49281407e-02 1.16301790e+02] [ 1.11373420e-01 9.93758340e-01 -6.35001417e-03 1.30997370e+01] [ 5.52936683e-02 1.83197935e-04 9.98470118e-01 4.37839349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.284391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:116.33, Y:13.10, Z:4.38 [[ 9.92126403e-01 -1.12518547e-01 -5.49979707e-02 1.16330914e+02] [ 1.12338516e-01 9.93649615e-01 -6.36393808e-03 1.31007643e+01] [ 5.53647735e-02 1.35440596e-04 9.98466185e-01 4.37906412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:116.36, Y:13.10, Z:4.38 [[ 9.91773504e-01 -1.15666643e-01 -5.48319722e-02 1.16359982e+02] [ 1.15491702e-01 9.93288089e-01 -6.35923102e-03 1.30994615e+01] [ 5.51994957e-02 -2.57209555e-05 9.98475345e-01 4.37935595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34439141799999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:116.39, Y:13.10, Z:4.38 [[ 9.91524045e-01 -1.17753510e-01 -5.49015390e-02 1.16390070e+02] [ 1.17580628e-01 9.93042846e-01 -6.37980919e-03 1.31008571e+01] [ 5.52708254e-02 -1.29623210e-04 9.98471391e-01 4.38056805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37439141799999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:116.42, Y:13.10, Z:4.38 [[ 9.91256348e-01 -1.19856256e-01 -5.51845084e-02 1.16419692e+02] [ 1.19684716e-01 9.92791225e-01 -6.41494183e-03 1.31021867e+01] [ 5.55555667e-02 -2.45890392e-04 9.98455567e-01 4.38227954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40439141799999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:116.45, Y:13.10, Z:4.38 [[ 9.90951343e-01 -1.22533894e-01 -5.47802874e-02 1.16447949e+02] [ 1.22368804e-01 9.92464252e-01 -6.37050924e-03 1.31035874e+01] [ 5.51480803e-02 -3.90533566e-04 9.98478110e-01 4.38334629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43439141799999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:116.48, Y:13.10, Z:4.39 [[ 9.90218555e-01 -1.28477322e-01 -5.44131586e-02 1.16477690e+02] [ 1.28323181e-01 9.91712191e-01 -6.33176202e-03 1.31029451e+01] [ 5.47756806e-02 -7.12641385e-04 9.98498431e-01 4.38528383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46439141799999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:116.51, Y:13.10, Z:4.39 [[ 9.89813524e-01 -1.31624755e-01 -5.42596733e-02 1.16507570e+02] [ 1.31476096e-01 9.91299221e-01 -6.31591389e-03 1.31041728e+01] [ 5.46189025e-02 -8.82273038e-04 9.98506884e-01 4.38714203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49439141799999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:116.54, Y:13.10, Z:4.39 [[ 9.88965734e-01 -1.38430657e-01 -5.27610678e-02 1.16537743e+02] [ 1.38299703e-01 9.90371375e-01 -6.14263966e-03 1.31031295e+01] [ 5.31033809e-02 -1.22197988e-03 9.98588272e-01 4.38891571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:116.57, Y:13.11, Z:4.39 [[ 9.88538197e-01 -1.41584167e-01 -5.24037824e-02 1.16567288e+02] [ 1.41325753e-01 9.89925590e-01 -8.62314053e-03 1.31056144e+01] [ 5.30967453e-02 1.11829979e-03 9.98588747e-01 4.39122500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554391418 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:116.60, Y:13.11, Z:4.39 [[ 9.88151680e-01 -1.44572351e-01 -5.15275983e-02 1.16598572e+02] [ 1.44574693e-01 9.89486966e-01 -3.70153427e-03 1.31050982e+01] [ 5.15210264e-02 -3.79190942e-03 9.98664711e-01 4.39127339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:116.63, Y:13.11, Z:4.39 [[ 9.87815262e-01 -1.47103704e-01 -5.08085499e-02 1.16629354e+02] [ 1.46993738e-01 9.89119738e-01 -5.91475588e-03 1.31079933e+01] [ 5.11258221e-02 -1.62585254e-03 9.98690897e-01 4.39288956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.614391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:116.66, Y:13.11, Z:4.39 [[ 9.87218417e-01 -1.51025686e-01 -5.09022443e-02 1.16661197e+02] [ 1.50920622e-01 9.88528137e-01 -5.92355864e-03 1.31084267e+01] [ 5.12129102e-02 -1.83435221e-03 9.98686073e-01 4.39336988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.644391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:116.69, Y:13.11, Z:4.39 [[ 9.86997127e-01 -1.52374618e-01 -5.11727184e-02 1.16692571e+02] [ 1.52270353e-01 9.88320951e-01 -5.95290930e-03 1.31105566e+01] [ 5.14821420e-02 -1.91658354e-03 9.98672076e-01 4.39453681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.674391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:116.72, Y:13.11, Z:4.40 [[ 9.86727325e-01 -1.53980265e-01 -5.15680564e-02 1.16724105e+02] [ 1.53876681e-01 9.88071863e-01 -5.99676679e-03 1.31126226e+01] [ 5.18763293e-02 -2.01794769e-03 9.98651478e-01 4.39635805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70439141799999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:116.75, Y:13.12, Z:4.40 [[ 9.86688581e-01 -1.54186336e-01 -5.16935006e-02 1.16753794e+02] [ 1.54082634e-01 9.88039690e-01 -6.00935586e-03 1.31155379e+01] [ 5.20017909e-02 -2.03570792e-03 9.98644917e-01 4.39798343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73439141799999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:116.78, Y:13.12, Z:4.40 [[ 9.86667960e-01 -1.54339666e-01 -5.16294859e-02 1.16784517e+02] [ 1.54236490e-01 9.88015737e-01 -6.00074816e-03 1.31187522e+01] [ 5.19368980e-02 -2.04240476e-03 9.98648280e-01 4.39952064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76439141799999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:116.81, Y:13.12, Z:4.40 [[ 9.86744035e-01 -1.53889320e-01 -5.15197766e-02 1.16814693e+02] [ 1.53786076e-01 9.88086034e-01 -5.98595268e-03 1.31219452e+01] [ 5.18271459e-02 -2.01642118e-03 9.98654035e-01 4.40143278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79439141799999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:116.85, Y:13.12, Z:4.40 [[ 9.86670630e-01 -1.53653081e-01 -5.35891610e-02 1.16846656e+02] [ 1.53889238e-01 9.88088064e-01 2.83934499e-04 1.31231042e+01] [ 5.29071829e-02 -8.52694498e-03 9.98563028e-01 4.40311691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82439141799999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:116.88, Y:13.13, Z:4.41 [[ 9.86863089e-01 -1.53121182e-01 -5.15281164e-02 1.16876374e+02] [ 1.52675938e-01 9.88197350e-01 -1.24921910e-02 1.31322314e+01] [ 5.28327672e-02 4.46097876e-03 9.98593410e-01 4.40556841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85439141799999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:116.91, Y:13.13, Z:4.40 [[ 9.86874193e-01 -1.52668792e-01 -5.26456777e-02 1.16906529e+02] [ 1.52559443e-01 9.88275389e-01 -6.11318547e-03 1.31325766e+01] [ 5.29617202e-02 -1.99865029e-03 9.98594543e-01 4.40452408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88439141799999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:116.94, Y:13.14, Z:4.41 [[ 9.86940405e-01 -1.52076579e-01 -5.31163852e-02 1.16936736e+02] [ 1.51964360e-01 9.88366723e-01 -6.16878635e-03 1.31354806e+01] [ 5.34365955e-02 -1.98357297e-03 9.98569274e-01 4.40505459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:116.97, Y:13.14, Z:4.41 [[ 9.87006582e-01 -1.51561367e-01 -5.33587726e-02 1.16965803e+02] [ 1.51447361e-01 9.88445898e-01 -6.19708698e-03 1.31389069e+01] [ 5.36814988e-02 -1.96447964e-03 9.98556176e-01 4.40638594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:117.00, Y:13.14, Z:4.41 [[ 9.87204714e-01 -1.49935944e-01 -5.42776765e-02 1.16995900e+02] [ 1.49815474e-01 9.88693873e-01 -6.30475302e-03 1.31432868e+01] [ 5.46093153e-02 -1.90755394e-03 9.98505976e-01 4.40808100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:117.03, Y:13.15, Z:4.41 [[ 9.87374936e-01 -1.48781956e-01 -5.43568405e-02 1.17026430e+02] [ 1.48659388e-01 9.88868303e-01 -6.31394850e-03 1.31478550e+01] [ 5.46911582e-02 -1.84642015e-03 9.98501611e-01 4.40968127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.004391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:117.06, Y:13.15, Z:4.41 [[ 9.87590834e-01 -1.47289802e-01 -5.44982487e-02 1.17056567e+02] [ 1.47164328e-01 9.89091799e-01 -6.33037411e-03 1.31523933e+01] [ 5.48361704e-02 -1.76837869e-03 9.98493799e-01 4.41189588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.034391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:117.09, Y:13.16, Z:4.41 [[ 9.87829594e-01 -1.45691841e-01 -5.44663308e-02 1.17086415e+02] [ 1.45564089e-01 9.89328595e-01 -6.32666661e-03 1.31569122e+01] [ 5.48068422e-02 -1.67867329e-03 9.98495564e-01 4.41410707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:117.11, Y:13.16, Z:4.42 [[ 9.88381553e-01 -1.42282677e-01 -5.34560227e-02 1.17114075e+02] [ 1.41957886e-01 9.89823750e-01 -9.84391540e-03 1.31629613e+01] [ 5.43126595e-02 2.14104039e-03 9.98521683e-01 4.41715714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09439141799999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:117.14, Y:13.16, Z:4.42 [[ 9.88540955e-01 -1.41520177e-01 -5.25244651e-02 1.17143440e+02] [ 1.41585369e-01 9.89922901e-01 -2.49651063e-03 1.31636571e+01] [ 5.23484775e-02 -4.96879276e-03 9.98616517e-01 4.41691625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:117.17, Y:13.17, Z:4.42 [[ 9.88706307e-01 -1.40674589e-01 -5.16768694e-02 1.17174547e+02] [ 1.40551470e-01 9.90055028e-01 -6.02705941e-03 1.31692976e+01] [ 5.20107985e-02 -1.30426829e-03 9.98645671e-01 4.41959652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15439141799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:117.21, Y:13.17, Z:4.42 [[ 9.88828703e-01 -1.40038564e-01 -5.10587619e-02 1.17205435e+02] [ 1.39917633e-01 9.90145251e-01 -5.95290725e-03 1.31732170e+01] [ 5.13892272e-02 -1.25761554e-03 9.98677909e-01 4.42097477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18439141799999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:117.24, Y:13.18, Z:4.42 [[ 9.88862504e-01 -1.39729652e-01 -5.12501028e-02 1.17235175e+02] [ 1.39607501e-01 9.90188904e-01 -5.97320589e-03 1.31771640e+01] [ 5.15819171e-02 -1.24821946e-03 9.98667987e-01 4.42224773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21439141799999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:117.27, Y:13.18, Z:4.42 [[ 9.88908084e-01 -1.39297216e-01 -5.15469465e-02 1.17266166e+02] [ 1.39173121e-01 9.90249849e-01 -6.00662097e-03 1.31807375e+01] [ 5.18810616e-02 -1.23395340e-03 9.98652509e-01 4.42325103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24439141799999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:117.30, Y:13.18, Z:4.42 [[ 9.88984733e-01 -1.38621271e-01 -5.18974118e-02 1.17297184e+02] [ 1.38494666e-01 9.90344729e-01 -6.04528926e-03 1.31843754e+01] [ 5.22343339e-02 -1.20881592e-03 9.98634124e-01 4.42449012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:117.33, Y:13.19, Z:4.43 [[ 9.89254108e-01 -1.36335699e-01 -5.28099203e-02 1.17327238e+02] [ 1.36201459e-01 9.90662075e-01 -6.14949920e-03 1.31879290e+01] [ 5.31551815e-02 -1.10937083e-03 9.98585648e-01 4.42561614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:117.36, Y:13.19, Z:4.43 [[ 9.89433756e-01 -1.34896840e-01 -5.31383588e-02 1.17357401e+02] [ 1.34758902e-01 9.90859103e-01 -6.18679469e-03 1.31917795e+01] [ 5.34872056e-02 -1.03944336e-03 9.98567994e-01 4.42724257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:117.39, Y:13.20, Z:4.43 [[ 9.89853284e-01 -1.31866774e-01 -5.29304203e-02 1.17387379e+02] [ 1.31725584e-01 9.91267064e-01 -6.16258482e-03 1.31959173e+01] [ 5.32808225e-02 -8.72235684e-04 9.98579187e-01 4.42952907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.364391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:117.42, Y:13.20, Z:4.43 [[ 9.90063139e-01 -1.30472511e-01 -5.24586048e-02 1.17416823e+02] [ 1.30331865e-01 9.91451612e-01 -6.10779032e-03 1.31995005e+01] [ 5.28070670e-02 -7.89929756e-04 9.98604421e-01 4.43138162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.394391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:117.45, Y:13.20, Z:4.43 [[ 9.90060545e-01 -1.30492238e-01 -5.24584808e-02 1.17446745e+02] [ 1.30351563e-01 9.91449016e-01 -6.10885450e-03 1.32030214e+01] [ 5.28070673e-02 -7.89909150e-04 9.98604421e-01 4.43277146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.424391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:117.48, Y:13.21, Z:4.43 [[ 9.90242951e-01 -1.29385304e-01 -5.17526892e-02 1.17476855e+02] [ 1.29246833e-01 9.91594133e-01 -6.02757460e-03 1.32061744e+01] [ 5.20975425e-02 -7.20107926e-04 9.98641741e-01 4.43410853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45439141799999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:117.51, Y:13.21, Z:4.44 [[ 9.90453153e-01 -1.27877479e-01 -5.14771988e-02 1.17506617e+02] [ 1.27738437e-01 9.91789768e-01 -5.99560658e-03 1.32082360e+01] [ 5.18212621e-02 -6.37249478e-04 9.98656172e-01 4.43501489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48439141799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:117.54, Y:13.21, Z:4.44 [[ 9.90370913e-01 -1.27901361e-01 -5.29782722e-02 1.17536635e+02] [ 1.27754070e-01 9.91786676e-01 -6.17141100e-03 1.32106047e+01] [ 5.33324763e-02 -6.56203965e-04 9.98576595e-01 4.43550614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51439141799999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:117.57, Y:13.21, Z:4.44 [[ 9.90250792e-01 -1.28560486e-01 -5.36243428e-02 1.17566034e+02] [ 1.28410547e-01 9.91701422e-01 -6.24663649e-03 1.32138336e+01] [ 5.39824076e-02 -7.00194433e-04 9.98541641e-01 4.43622869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54439141799999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:117.60, Y:13.22, Z:4.44 [[ 9.90217495e-01 -1.28816791e-01 -5.36241286e-02 1.17595046e+02] [ 1.28667128e-01 9.91668154e-01 -6.24847222e-03 1.32173138e+01] [ 5.39822488e-02 -7.12316094e-04 9.98541641e-01 4.43757632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57439141799999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:117.62, Y:13.22, Z:4.44 [[ 9.89794147e-01 -1.31377066e-01 -5.52051941e-02 1.17624275e+02] [ 1.31221709e-01 9.91332093e-01 -6.44545208e-03 1.32197618e+01] [ 5.55734652e-02 -8.64449158e-04 9.98454227e-01 4.43847106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60439141799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:117.65, Y:13.22, Z:4.44 [[ 9.89476003e-01 -1.33597544e-01 -5.55781925e-02 1.17653500e+02] [ 1.33443451e-01 9.91035170e-01 -6.49125680e-03 1.32224303e+01] [ 5.59471595e-02 -9.93602974e-04 9.98433237e-01 4.43959283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63439141799999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:117.68, Y:13.22, Z:4.44 [[ 9.89111330e-01 -1.36280999e-01 -5.55541782e-02 1.17682386e+02] [ 1.36131005e-01 9.90669566e-01 -6.49311125e-03 1.32248459e+01] [ 5.59207213e-02 -1.14023619e-03 9.98434561e-01 4.44092595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:117.71, Y:13.23, Z:4.44 [[ 9.88290488e-01 -1.41922247e-01 -5.60355889e-02 1.17710075e+02] [ 1.41777888e-01 9.89876735e-01 -6.56354679e-03 1.32270452e+01] [ 5.63998391e-02 -1.45791658e-03 9.98407198e-01 4.44248139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:117.74, Y:13.23, Z:4.44 [[ 9.87861106e-01 -1.44658662e-01 -5.66065894e-02 1.17739119e+02] [ 1.44515539e-01 9.89480282e-01 -6.63551680e-03 1.32303750e+01] [ 5.69709891e-02 -1.62556279e-03 9.98374511e-01 4.44427948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:117.77, Y:13.23, Z:4.45 [[ 9.87410219e-01 -1.47643467e-01 -5.67667750e-02 1.17766255e+02] [ 1.47504283e-01 9.89039012e-01 -6.65728198e-03 1.32341335e+01] [ 5.71274592e-02 -1.79987419e-03 9.98365271e-01 4.44556089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.754391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:117.79, Y:13.24, Z:4.45 [[ 9.86712713e-01 -1.52215535e-01 -5.68194802e-02 1.17794991e+02] [ 1.52083211e-01 9.88345179e-01 -6.67116120e-03 1.32381355e+01] [ 5.71727137e-02 -2.05876945e-03 9.98362180e-01 4.44717619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.784391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:117.82, Y:13.24, Z:4.45 [[ 9.86394291e-01 -1.54446567e-01 -5.63254798e-02 1.17823729e+02] [ 1.54319404e-01 9.87998791e-01 -6.62652793e-03 1.32421143e+01] [ 5.66729504e-02 -2.15574516e-03 9.98390469e-01 4.44883542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:117.85, Y:13.24, Z:4.45 [[ 9.85926535e-01 -1.57578542e-01 -5.58378939e-02 1.17852312e+02] [ 1.57458233e-01 9.87503757e-01 -6.57530663e-03 1.32449468e+01] [ 5.61762573e-02 -2.30936685e-03 9.98418196e-01 4.44922751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84439141799999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:117.88, Y:13.25, Z:4.45 [[ 9.85656112e-01 -1.59556073e-01 -5.49898865e-02 1.17880233e+02] [ 1.59441738e-01 9.87186017e-01 -6.48848248e-03 1.32491899e+01] [ 5.53205238e-02 -2.37227066e-03 9.98465829e-01 4.45019682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87439141799999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:117.91, Y:13.25, Z:4.45 [[ 9.85630046e-01 -1.59792383e-01 -5.47704905e-02 1.17909883e+02] [ 1.59679136e-01 9.87147793e-01 -6.46595349e-03 1.32540085e+01] [ 5.50997789e-02 -2.37266656e-03 9.98478034e-01 4.45194034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90439141799999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:117.94, Y:13.26, Z:4.45 [[ 9.85633202e-01 -1.59772907e-01 -5.47705115e-02 1.17940643e+02] [ 1.59659640e-01 9.87150947e-01 -6.46577521e-03 1.32576368e+01] [ 5.50998180e-02 -2.37175744e-03 9.98478034e-01 4.45336889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93439141799999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:117.97, Y:13.26, Z:4.45 [[ 9.85625727e-01 -1.59895773e-01 -5.45460265e-02 1.17970489e+02] [ 1.59783671e-01 9.87131058e-01 -6.43836082e-03 1.32626924e+01] [ 5.48735435e-02 -2.36975028e-03 9.98490500e-01 4.45473560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96439141799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:118.00, Y:13.27, Z:4.46 [[ 9.85628243e-01 -1.59760196e-01 -5.48966923e-02 1.17999695e+02] [ 1.59646429e-01 9.87152991e-01 -6.47993271e-03 1.32676162e+01] [ 5.52266693e-02 -2.37725618e-03 9.98471013e-01 4.45666980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99439141799999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:118.03, Y:13.27, Z:4.46 [[ 9.85827059e-01 -1.58679453e-01 -5.44595290e-02 1.18030145e+02] [ 1.58565815e-01 9.87327480e-01 -6.42886687e-03 1.32736375e+01] [ 5.47895186e-02 -2.29766868e-03 9.98495283e-01 4.45859840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:118.06, Y:13.28, Z:4.46 [[ 9.85990206e-01 -1.57677288e-01 -5.44167943e-02 1.18060115e+02] [ 1.57562419e-01 9.87488149e-01 -6.42174345e-03 1.32780068e+01] [ 5.47485026e-02 -2.24226562e-03 9.98497658e-01 4.46002189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:118.09, Y:13.28, Z:4.46 [[ 9.86159871e-01 -1.56652662e-01 -5.43015026e-02 1.18089932e+02] [ 1.56536781e-01 9.87651347e-01 -6.40719628e-03 1.32822875e+01] [ 5.46346566e-02 -2.18166257e-03 9.98504028e-01 4.46137180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:118.12, Y:13.29, Z:4.46 [[ 9.86309644e-01 -1.55682750e-01 -5.43706490e-02 1.18120770e+02] [ 1.55565123e-01 9.87804809e-01 -6.41500431e-03 1.32873376e+01] [ 5.47062940e-02 -2.13099607e-03 9.98500215e-01 4.46304557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.114391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:118.15, Y:13.29, Z:4.47 [[ 9.86590702e-01 -1.53405254e-01 -5.57280369e-02 1.18151825e+02] [ 1.53278209e-01 9.88161219e-01 -6.57240732e-03 1.32948527e+01] [ 5.60765267e-02 -2.05761771e-03 9.98424353e-01 4.46503123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.144391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:118.18, Y:13.28, Z:4.47 [[ 9.85415519e-01 -1.54088609e-01 -7.22007998e-02 1.18177771e+02] [ 1.57474137e-01 9.86552145e-01 4.37808266e-02 1.32822798e+01] [ 6.44837273e-02 -5.45120646e-02 9.96428765e-01 4.46774595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.174391418 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:118.21, Y:13.33, Z:4.48 [[ 9.87099711e-01 -1.51618046e-01 -5.14405295e-02 1.18208327e+02] [ 1.48494467e-01 9.87095799e-01 -5.99272683e-02 1.33316514e+01] [ 5.98627859e-02 5.15155552e-02 9.96876419e-01 4.48239337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20439141799999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:118.24, Y:13.31, Z:4.47 [[ 9.87222194e-01 -1.48292306e-01 -5.83243638e-02 1.18242379e+02] [ 1.48144905e-01 9.88941823e-01 -6.86719763e-03 1.33116494e+01] [ 5.86977553e-02 -1.86100744e-03 9.98274066e-01 4.46773795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23439141799999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:118.27, Y:13.32, Z:4.47 [[ 9.87384542e-01 -1.47111950e-01 -5.85648459e-02 1.18273713e+02] [ 1.46961290e-01 9.89118213e-01 -6.89497265e-03 1.33163390e+01] [ 5.89418886e-02 -1.79877592e-03 9.98259795e-01 4.46926960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26439141799999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:118.30, Y:13.31, Z:4.47 [[ 9.86751785e-01 -1.46102111e-01 -7.05342978e-02 1.18299509e+02] [ 1.48804345e-01 9.88258246e-01 3.46829426e-02 1.33086943e+01] [ 6.46388502e-02 -4.47192655e-02 9.96906217e-01 4.47324602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29439141799999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:118.33, Y:13.35, Z:4.49 [[ 9.87918025e-01 -1.45778654e-01 -5.25981012e-02 1.18331236e+02] [ 1.43166259e-01 9.88412594e-01 -5.04377498e-02 1.33491852e+01] [ 5.93413729e-02 4.22980888e-02 9.97341202e-01 4.48741927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32439141799999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:118.36, Y:13.34, Z:4.48 [[ 9.88280037e-01 -1.41657345e-01 -5.68837875e-02 1.18364193e+02] [ 1.41506314e-01 9.89914715e-01 -6.69478719e-03 1.33363738e+01] [ 5.72584641e-02 -1.43309059e-03 9.98358360e-01 4.47730143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35439141799999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:118.39, Y:13.34, Z:4.48 [[ 9.88456504e-01 -1.40564046e-01 -5.65286473e-02 1.18394940e+02] [ 1.40413136e-01 9.90070652e-01 -6.65254230e-03 1.33410606e+01] [ 5.69024630e-02 -1.36161592e-03 9.98378814e-01 4.47895275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38439141799999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:118.43, Y:13.35, Z:4.48 [[ 9.88584285e-01 -1.39709461e-01 -5.64125637e-02 1.18426115e+02] [ 1.39557908e-01 9.90191671e-01 -6.63664126e-03 1.33455162e+01] [ 5.67864522e-02 -1.31194012e-03 9.98385485e-01 4.48050436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:118.46, Y:13.35, Z:4.48 [[ 9.88758888e-01 -1.38611674e-01 -5.60594802e-02 1.18456045e+02] [ 1.38460363e-01 9.90346030e-01 -6.59310577e-03 1.33505961e+01] [ 5.64321651e-02 -1.24302407e-03 9.98405662e-01 4.48217128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:118.49, Y:13.35, Z:4.48 [[ 9.88766838e-01 -1.38554884e-01 -5.60596562e-02 1.18487653e+02] [ 1.38403567e-01 9.90353979e-01 -6.59160897e-03 1.33542688e+01] [ 5.64322032e-02 -1.24129205e-03 9.98405662e-01 4.48362339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:118.52, Y:13.36, Z:4.49 [[ 9.88723960e-01 -1.38595167e-01 -5.67125267e-02 1.18517191e+02] [ 1.38440534e-01 9.90348317e-01 -6.66548791e-03 1.33595487e+01] [ 5.70889598e-02 -1.26098490e-03 9.98368299e-01 4.48582225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.504391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:118.55, Y:13.36, Z:4.49 [[ 9.88604399e-01 -1.39161895e-01 -5.74047777e-02 1.18548104e+02] [ 1.39004495e-01 9.90268776e-01 -6.74550184e-03 1.33638295e+01] [ 5.77848758e-02 -1.31088933e-03 9.98328197e-01 4.48748862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.534391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:118.58, Y:13.37, Z:4.49 [[ 9.88366757e-01 -1.40547748e-01 -5.81161294e-02 1.18578389e+02] [ 1.40388930e-01 9.90072896e-01 -6.82709049e-03 1.33683245e+01] [ 5.84987367e-02 -1.41119193e-03 9.98286485e-01 4.48906873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564391418 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:118.61, Y:13.37, Z:4.49 [[ 9.88332366e-01 -1.40701498e-01 -5.83285733e-02 1.18608560e+02] [ 1.40541835e-01 9.90051036e-01 -6.85118276e-03 1.33719427e+01] [ 5.87122362e-02 -1.42635904e-03 9.98273930e-01 4.49051826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59439141799999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:118.64, Y:13.38, Z:4.49 [[ 9.88368695e-01 -1.40275898e-01 -5.87366612e-02 1.18637273e+02] [ 1.40113227e-01 9.90111449e-01 -6.89936751e-03 1.33758079e+01] [ 5.91236557e-02 -1.41066428e-03 9.98249670e-01 4.49175779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62439141799999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:118.67, Y:13.38, Z:4.49 [[ 9.88496429e-01 -1.39300887e-01 -5.89073294e-02 1.18667221e+02] [ 1.39135489e-01 9.90249174e-01 -6.92026307e-03 1.33799598e+01] [ 5.92969330e-02 -1.35544477e-03 9.98239469e-01 4.49339732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65439141799999 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:118.70, Y:13.39, Z:4.50 [[ 9.88763512e-01 -1.37018039e-01 -5.97726920e-02 1.18697719e+02] [ 1.36641265e-01 9.90566366e-01 -1.03653417e-02 1.33859584e+01] [ 6.06290570e-02 2.08145549e-03 9.98158196e-01 4.49634792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68439141799999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:118.72, Y:13.38, Z:4.50 [[ 9.88286817e-01 -1.35894500e-01 -6.94395639e-02 1.18722696e+02] [ 1.37142708e-01 9.90459115e-01 1.35136760e-02 1.33825502e+01] [ 6.69406147e-02 -2.28785176e-02 9.97494625e-01 4.50015900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71439141799999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:118.76, Y:13.40, Z:4.51 [[ 9.88770200e-01 -1.37687513e-01 -5.81002688e-02 1.18757693e+02] [ 1.36198801e-01 9.90260838e-01 -2.88679627e-02 1.34038566e+01] [ 6.15091789e-02 2.06305944e-02 9.97893281e-01 4.50510332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74439141799999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:118.79, Y:13.40, Z:4.50 [[ 9.89265615e-01 -1.33095982e-01 -6.03241500e-02 1.18789698e+02] [ 1.32902770e-01 9.91102769e-01 -7.22189959e-03 1.33980269e+01] [ 6.07486379e-02 -8.72869717e-04 9.98152714e-01 4.49896784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:118.82, Y:13.40, Z:4.50 [[ 9.89430664e-01 -1.31919172e-01 -6.02020945e-02 1.18820364e+02] [ 1.31724599e-01 9.91260154e-01 -7.20674396e-03 1.34017830e+01] [ 6.06266451e-02 -7.99523322e-04 9.98160193e-01 4.50026789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804391418 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:118.85, Y:13.40, Z:4.50 [[ 9.88794085e-01 -1.32669754e-01 -6.84470115e-02 1.18847889e+02] [ 1.34238042e-01 9.90770285e-01 1.88252453e-02 1.33971047e+01] [ 6.53177245e-02 -2.78024840e-02 9.97477126e-01 4.50205853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834391418 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:118.88, Y:13.42, Z:4.51 [[ 9.89552883e-01 -1.32710208e-01 -5.63302167e-02 1.18880197e+02] [ 1.30889794e-01 9.90783226e-01 -3.48778124e-02 1.34210014e+01] [ 6.04396755e-02 2.71403894e-02 9.97802809e-01 4.51158384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.864391418 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:118.91, Y:13.41, Z:4.50 [[ 9.89401215e-01 -1.32286254e-01 -5.98797288e-02 1.18911927e+02] [ 1.32094599e-01 9.91211216e-01 -7.16540336e-03 1.34113348e+01] [ 6.03013432e-02 -8.20329959e-04 9.98179881e-01 4.50442931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.894391418 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:118.94, Y:13.41, Z:4.51 [[ 9.88997335e-01 -1.35124127e-01 -6.02141321e-02 1.18942875e+02] [ 1.34935550e-01 9.90828175e-01 -7.20583558e-03 1.34145946e+01] [ 6.06355409e-02 -9.98474857e-04 9.98159473e-01 4.50650781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.924391418 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:118.97, Y:13.42, Z:4.51 [[ 9.88763806e-01 -1.36814849e-01 -6.02314958e-02 1.18974085e+02] [ 1.36629447e-01 9.90596021e-01 -7.20541800e-03 1.34179494e+01] [ 6.06508882e-02 -1.10493943e-03 9.98158429e-01 4.50830795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95439141799999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:119.00, Y:13.42, Z:4.51 [[ 9.88472431e-01 -1.39024866e-01 -5.99528212e-02 1.19004662e+02] [ 1.38845368e-01 9.90288118e-01 -7.16987932e-03 1.34211675e+01] [ 6.03673580e-02 -1.23694348e-03 9.98175462e-01 4.50983434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98439141799999 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:119.04, Y:13.42, Z:4.51 [[ 9.88143770e-01 -1.41502550e-01 -5.95728032e-02 1.19035725e+02] [ 1.41329905e-01 9.89936928e-01 -7.12295542e-03 1.34241703e+01] [ 5.99812341e-02 -1.38091460e-03 9.98198550e-01 4.51112019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01439141799999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:119.07, Y:13.43, Z:4.51 [[ 9.87390721e-01 -1.46544214e-01 -5.98695061e-02 1.19067485e+02] [ 1.46379239e-01 9.89202664e-01 -7.15597572e-03 1.34268081e+01] [ 6.02717418e-02 -1.69790873e-03 9.98180562e-01 4.51179335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04439141799999 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:119.10, Y:13.43, Z:4.51 [[ 9.87053075e-01 -1.48673865e-01 -6.01856154e-02 1.19097305e+02] [ 1.48511226e-01 9.88884572e-01 -7.19157046e-03 1.34300280e+01] [ 6.05858251e-02 -1.83977780e-03 9.98161296e-01 4.51315459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07439141799999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:119.13, Y:13.43, Z:4.51 [[ 9.86700438e-01 -1.51088139e-01 -5.99551579e-02 1.19128801e+02] [ 1.50931279e-01 9.88518309e-01 -7.16256206e-03 1.34339636e+01] [ 6.03489495e-02 -1.98180554e-03 9.98175374e-01 4.51426659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10439141799999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:119.16, Y:13.44, Z:4.52 [[ 9.86471666e-01 -1.52632583e-01 -5.98075826e-02 1.19159216e+02] [ 1.52479456e-01 9.88280829e-01 -7.14278447e-03 1.34374324e+01] [ 6.01969089e-02 -2.07327315e-03 9.98184369e-01 4.51606565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13439141799999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:119.19, Y:13.44, Z:4.52 [[ 9.86044372e-01 -1.55746051e-01 -5.88189011e-02 1.19190648e+02] [ 1.55603582e-01 9.87794617e-01 -7.02282457e-03 1.34417486e+01] [ 5.91947711e-02 -2.22761506e-03 9.98243967e-01 4.51759214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:119.22, Y:13.45, Z:4.52 [[ 9.85978470e-01 -1.56348260e-01 -5.83239129e-02 1.19222727e+02] [ 1.56209504e-01 9.87699429e-01 -6.95906681e-03 1.34457725e+01] [ 5.86945334e-02 -2.24925944e-03 9.98273456e-01 4.51923883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:119.25, Y:13.45, Z:4.52 [[ 9.85935143e-01 -1.56611267e-01 -5.83507135e-02 1.19254754e+02] [ 1.56473118e-01 9.87657712e-01 -6.95757345e-03 1.34498366e+01] [ 5.87201666e-02 -2.27060191e-03 9.98271900e-01 4.52100794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224391418 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:119.29, Y:13.46, Z:4.52 [[ 9.86156024e-01 -1.55548395e-01 -5.74542613e-02 1.19285871e+02] [ 1.55412910e-01 9.87825873e-01 -6.84634571e-03 1.34552046e+01] [ 5.78197439e-02 -2.17756887e-03 9.98324664e-01 4.52261417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.254391418 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:119.32, Y:13.46, Z:4.52 [[ 9.86403930e-01 -1.54114583e-01 -5.70612122e-02 1.19316899e+02] [ 1.53978746e-01 9.88050787e-01 -6.79612586e-03 1.34602575e+01] [ 5.74267578e-02 -2.08248864e-03 9.98347550e-01 4.52441054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.284391418 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:119.35, Y:13.47, Z:4.53 [[ 9.86718274e-01 -1.52206918e-01 -5.67459380e-02 1.19348514e+02] [ 1.52069631e-01 9.88346699e-01 -6.75505150e-03 1.34654748e+01] [ 5.71128261e-02 -1.96400108e-03 9.98365799e-01 4.52641128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.314391418 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:119.38, Y:13.47, Z:4.53 [[ 9.86732879e-01 -1.52112009e-01 -5.67464804e-02 1.19380959e+02] [ 1.51974827e-01 9.88361312e-01 -6.75049199e-03 1.34692484e+01] [ 5.71128568e-02 -1.96310416e-03 9.98365799e-01 4.52795478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34439141799999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:119.41, Y:13.48, Z:4.53 [[ 9.87506366e-01 -1.47313405e-01 -5.59458432e-02 1.19413030e+02] [ 1.47172670e-01 9.89088460e-01 -6.65002034e-03 1.34750763e+01] [ 5.63150250e-02 -1.66676169e-03 9.98411659e-01 4.52979115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37439141799999 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:119.44, Y:13.48, Z:4.53 [[ 9.88050227e-01 -1.43344827e-01 -5.66481105e-02 1.19441716e+02] [ 1.42708965e-01 9.89648952e-01 -1.51361197e-02 1.34827651e+01] [ 5.82314277e-02 6.87105328e-03 9.98279465e-01 4.53395955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40439141799999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:119.47, Y:13.48, Z:4.53 [[ 9.88826023e-01 -1.37967137e-01 -5.64638379e-02 1.19474904e+02] [ 1.38254598e-01 9.90395997e-01 1.19799590e-03 1.34812107e+01] [ 5.57562750e-02 -8.99099471e-03 9.98403926e-01 4.52965351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43439141799999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:119.50, Y:13.49, Z:4.53 [[ 9.89204499e-01 -1.35232144e-01 -5.64511006e-02 1.19504769e+02] [ 1.34893572e-01 9.90811795e-01 -9.78325002e-03 1.34910051e+01] [ 5.72554261e-02 2.06274434e-03 9.98357432e-01 4.53417521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46439141799999 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:119.54, Y:13.49, Z:4.53 [[ 9.89558051e-01 -1.32711370e-01 -5.62366155e-02 1.19536418e+02] [ 1.32717744e-01 9.91147197e-01 -3.63802764e-03 1.34934295e+01] [ 5.62215714e-02 -3.86355717e-03 9.98410841e-01 4.53327271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49439141799999 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:119.57, Y:13.50, Z:4.54 [[ 9.89852421e-01 -1.30565260e-01 -5.60793781e-02 1.19567401e+02] [ 1.30397631e-01 9.91439451e-01 -6.65375404e-03 1.34999093e+01] [ 5.64680569e-02 -7.26383516e-04 9.98404142e-01 4.53569042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:119.60, Y:13.51, Z:4.54 [[ 9.90371162e-01 -1.26826399e-01 -5.54979775e-02 1.19596352e+02] [ 1.26656518e-01 9.91924797e-01 -6.58198617e-03 1.35056571e+01] [ 5.58845897e-02 -5.10571305e-04 9.98437105e-01 4.53626198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:119.63, Y:13.51, Z:4.54 [[ 9.90236122e-01 -1.27083528e-01 -5.72904767e-02 1.19626537e+02] [ 1.26902919e-01 9.91891871e-01 -6.79457418e-03 1.35103340e+01] [ 5.76894366e-02 -5.42095902e-04 9.98334430e-01 4.53843239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:119.66, Y:13.52, Z:4.54 [[ 9.90250410e-01 -1.27091981e-01 -5.70241449e-02 1.19656389e+02] [ 1.26913073e-01 9.91890789e-01 -6.76279873e-03 1.35153360e+01] [ 5.74212215e-02 -5.40245254e-04 9.98349894e-01 4.54011586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.614391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:119.69, Y:13.52, Z:4.54 [[ 9.90210927e-01 -1.27527182e-01 -5.67374498e-02 1.19687782e+02] [ 1.27350879e-01 9.91834915e-01 -6.72711651e-03 1.35198084e+01] [ 5.71320739e-02 -5.64299821e-04 9.98366470e-01 4.54167503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.644391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:119.72, Y:13.52, Z:4.54 [[ 9.90168733e-01 -1.28121975e-01 -5.61305573e-02 1.19719384e+02] [ 1.27950639e-01 9.91758238e-01 -6.65059933e-03 1.35244980e+01] [ 5.65200305e-02 -5.96725182e-04 9.98401287e-01 4.54312185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.674391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:119.75, Y:13.53, Z:4.54 [[ 9.90151312e-01 -1.28453731e-01 -5.56778170e-02 1.19750300e+02] [ 1.28285957e-01 9.91715312e-01 -6.59191766e-03 1.35288135e+01] [ 5.60633001e-02 -6.15686091e-04 9.98427027e-01 4.54486145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70439141799999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:119.78, Y:13.53, Z:4.55 [[ 9.90116848e-01 -1.28830634e-01 -5.54192690e-02 1.19782181e+02] [ 1.28665403e-01 9.91666404e-01 -6.55418087e-03 1.35333323e+01] [ 5.58018064e-02 -6.41137695e-04 9.98441659e-01 4.54684861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73439141799999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:119.81, Y:13.54, Z:4.55 [[ 9.90033225e-01 -1.29791683e-01 -5.46656375e-02 1.19813648e+02] [ 1.29632624e-01 9.91541044e-01 -6.46065348e-03 1.35377164e+01] [ 5.50417624e-02 -6.90188446e-04 9.98483815e-01 4.54822973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76439141799999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:119.84, Y:13.54, Z:4.55 [[ 9.90002090e-01 -1.30279714e-01 -5.40653063e-02 1.19844498e+02] [ 1.30125098e-01 9.91477023e-01 -6.38530741e-03 1.35409882e+01] [ 5.44363849e-02 -7.13785609e-04 9.98516986e-01 4.54914200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79439141799999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:119.88, Y:13.54, Z:4.55 [[ 9.89761943e-01 -1.32120152e-01 -5.39959474e-02 1.19875392e+02] [ 1.31968854e-01 9.91233372e-01 -6.37371198e-03 1.35434511e+01] [ 5.43646808e-02 -8.17325755e-04 9.98520813e-01 4.55037447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82439141799999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:119.90, Y:13.55, Z:4.55 [[ 9.89455945e-01 -1.34460631e-01 -5.38263030e-02 1.19903392e+02] [ 1.34335252e-01 9.90918035e-01 -5.95713991e-03 1.35487354e+01] [ 5.41384552e-02 -1.33644249e-03 9.98532544e-01 4.55178842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85439141799999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:119.94, Y:13.55, Z:4.55 [[ 9.89410369e-01 -1.35215650e-01 -5.27622077e-02 1.19938241e+02] [ 1.35014729e-01 9.90816178e-01 -7.37046019e-03 1.35497962e+01] [ 5.32742505e-02 1.68734586e-04 9.98579905e-01 4.55372032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88439141799999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:119.97, Y:13.55, Z:4.56 [[ 9.88970784e-01 -1.38519591e-01 -5.24319763e-02 1.19969843e+02] [ 1.38387053e-01 9.90359019e-01 -6.16748226e-03 1.35512878e+01] [ 5.27807977e-02 -1.15644694e-03 9.98605453e-01 4.55527679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:120.00, Y:13.55, Z:4.56 [[ 9.88743661e-01 -1.39951856e-01 -5.29098370e-02 1.20002146e+02] [ 1.39819121e-01 9.90157524e-01 -6.22027378e-03 1.35541145e+01] [ 5.32596121e-02 -1.24755061e-03 9.98579920e-01 4.55716946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:120.03, Y:13.56, Z:4.56 [[ 9.88599296e-01 -1.40876727e-01 -5.31524150e-02 1.20033757e+02] [ 1.40744339e-01 9.90026281e-01 -6.24445332e-03 1.35567927e+01] [ 5.35019860e-02 -1.30763937e-03 9.98566887e-01 4.55834465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:120.07, Y:13.56, Z:4.56 [[ 9.88492597e-01 -1.41603886e-01 -5.32045624e-02 1.20065939e+02] [ 1.41472521e-01 9.89922477e-01 -6.24625658e-03 1.35596259e+01] [ 5.35528864e-02 -1.35260518e-03 9.98564099e-01 4.55942288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.004391418 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:120.10, Y:13.57, Z:4.56 [[ 9.88993247e-01 -1.40439738e-01 -4.65729272e-02 1.20096971e+02] [ 1.38868499e-01 9.89676933e-01 -3.54274951e-02 1.35748048e+01] [ 5.10675799e-02 2.85700409e-02 9.98286459e-01 4.56265287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.034391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:120.13, Y:13.55, Z:4.55 [[ 9.88644820e-01 -1.38726494e-01 -5.77613989e-02 1.20131381e+02] [ 1.40300204e-01 9.89815050e-01 2.41250961e-02 1.35500756e+01] [ 5.38263119e-02 -3.19550874e-02 9.98038877e-01 4.55290156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.064391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:120.16, Y:13.57, Z:4.56 [[ 9.88811979e-01 -1.38837902e-01 -5.45427120e-02 1.20160013e+02] [ 1.38696551e-01 9.90314332e-01 -6.38678725e-03 1.35673813e+01] [ 5.49011576e-02 -1.24955430e-03 9.98491012e-01 4.56383340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09439141799999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:120.19, Y:13.57, Z:4.57 [[ 9.89323806e-01 -1.35068394e-01 -5.47260120e-02 1.20192286e+02] [ 1.34920520e-01 9.90835724e-01 -6.40476897e-03 1.35703914e+01] [ 5.50895696e-02 -1.04727161e-03 9.98480867e-01 4.56548980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12439141799999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:120.22, Y:13.57, Z:4.57 [[ 9.89627722e-01 -1.32642269e-01 -5.51634052e-02 1.20223989e+02] [ 1.32488508e-01 9.91163546e-01 -6.45140825e-03 1.35737389e+01] [ 5.55316857e-02 -9.24024784e-04 9.98456498e-01 4.56734012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15439141799999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:120.25, Y:13.58, Z:4.57 [[ 9.90353351e-01 -1.27466373e-01 -5.43374943e-02 1.20254568e+02] [ 1.27309662e-01 9.91842693e-01 -6.34995782e-03 1.35765666e+01] [ 5.47036528e-02 -6.28986005e-04 9.98502436e-01 4.56893205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18439141799999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:120.29, Y:13.58, Z:4.57 [[ 9.90619443e-01 -1.25344845e-01 -5.44223273e-02 1.20286116e+02] [ 1.25184837e-01 9.92113098e-01 -6.35269558e-03 1.35803002e+01] [ 5.47893814e-02 -5.19746431e-04 9.98497798e-01 4.57102193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21439141799999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:120.32, Y:13.58, Z:4.57 [[ 9.91010925e-01 -1.22458186e-01 -5.38640878e-02 1.20315982e+02] [ 1.22212076e-01 9.92472950e-01 -7.85188790e-03 1.35838541e+01] [ 5.44201781e-02 1.19846470e-03 9.98517405e-01 4.57206821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24439141799999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:120.35, Y:13.59, Z:4.57 [[ 9.91216872e-01 -1.20828916e-01 -5.37539284e-02 1.20347637e+02] [ 1.20744881e-01 9.92671869e-01 -4.82017141e-03 1.35853955e+01] [ 5.39424287e-02 -1.71267645e-03 9.98542579e-01 4.57387168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:120.38, Y:13.59, Z:4.58 [[ 9.91238114e-01 -1.20546740e-01 -5.39952372e-02 1.20378563e+02] [ 1.20382702e-01 9.92707618e-01 -6.29211495e-03 1.35886977e+01] [ 5.43599772e-02 -2.63108403e-04 9.98521369e-01 4.57618154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:120.41, Y:13.59, Z:4.58 [[ 9.91380479e-01 -1.20056535e-01 -5.24516339e-02 1.20409961e+02] [ 1.19788019e-01 9.92765256e-01 -8.24480233e-03 1.35926494e+01] [ 5.30620021e-02 1.89065877e-03 9.98589430e-01 4.57755366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:120.44, Y:13.59, Z:4.58 [[ 9.91160107e-01 -1.21964351e-01 -5.22143598e-02 1.20442744e+02] [ 1.21769984e-01 9.92534365e-01 -6.89961485e-03 1.35928200e+01] [ 5.26660535e-02 4.80481241e-04 9.98612065e-01 4.57852277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.364391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:120.48, Y:13.59, Z:4.58 [[ 9.90887418e-01 -1.23727867e-01 -5.32310118e-02 1.20475456e+02] [ 1.23710280e-01 9.92311711e-01 -3.63794345e-03 1.35925854e+01] [ 5.32718714e-02 -2.98043097e-03 9.98575598e-01 4.57939312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.394391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:120.51, Y:13.60, Z:4.58 [[ 9.90672856e-01 -1.25610266e-01 -5.28143329e-02 1.20506282e+02] [ 1.25462064e-01 9.92079508e-01 -6.12541442e-03 1.35955177e+01] [ 5.31654323e-02 -5.57913428e-04 9.98585562e-01 4.58154834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.424391418 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:120.54, Y:13.60, Z:4.58 [[ 9.90449889e-01 -1.27389338e-01 -5.27349397e-02 1.20538396e+02] [ 1.27244227e-01 9.91852574e-01 -6.11382676e-03 1.35973057e+01] [ 5.30841220e-02 -6.54777607e-04 9.98589829e-01 4.58326049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45439141799999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:120.57, Y:13.60, Z:4.58 [[ 9.89929566e-01 -1.31480378e-01 -5.24629884e-02 1.20569655e+02] [ 1.31342724e-01 9.91318388e-01 -6.07801529e-03 1.35971700e+01] [ 5.28066648e-02 -8.73824746e-04 9.98604372e-01 4.58424109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48439141799999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:120.60, Y:13.60, Z:4.59 [[ 9.89668190e-01 -1.33417680e-01 -5.25032913e-02 1.20601612e+02] [ 1.33282716e-01 9.91059413e-01 -6.07930371e-03 1.35988535e+01] [ 5.28449676e-02 -9.81287747e-04 9.98602246e-01 4.58591756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51439141799999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:120.63, Y:13.61, Z:4.59 [[ 9.89686620e-01 -1.34997655e-01 -4.79168843e-02 1.20633775e+02] [ 1.34246777e-01 9.90773881e-01 -1.85719981e-02 1.36066113e+01] [ 4.99819737e-02 1.19477707e-02 9.98678654e-01 4.58729473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54439141799999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:120.67, Y:13.59, Z:4.58 [[ 9.89048532e-01 -1.37292094e-01 -5.41653338e-02 1.20666418e+02] [ 1.37856582e-01 9.90428797e-01 6.80891913e-03 1.35942052e+01] [ 5.27120956e-02 -1.42013993e-02 9.98508766e-01 4.58434314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57439141799999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:120.70, Y:13.60, Z:4.59 [[ 9.88915899e-01 -1.38757957e-01 -5.28353572e-02 1.20697521e+02] [ 1.38629525e-01 9.90325489e-01 -6.10576368e-03 1.36020479e+01] [ 5.31714243e-02 -1.28645369e-03 9.98584571e-01 4.58924860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60439141799999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:120.73, Y:13.60, Z:4.59 [[ 9.88836194e-01 -1.39070585e-01 -5.35009665e-02 1.20728036e+02] [ 1.38939572e-01 9.90281586e-01 -6.17859752e-03 1.36026222e+01] [ 5.38402831e-02 -1.32378056e-03 9.98548683e-01 4.58999967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63439141799999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:120.76, Y:13.61, Z:4.59 [[ 9.88897466e-01 -1.38463151e-01 -5.39421695e-02 1.20758641e+02] [ 1.38329142e-01 9.90366729e-01 -6.22815948e-03 1.36050751e+01] [ 5.42849006e-02 -1.30276289e-03 9.98524638e-01 4.59141118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:120.79, Y:13.61, Z:4.59 [[ 9.89241396e-01 -1.36042058e-01 -5.37960796e-02 1.20789936e+02] [ 1.35905382e-01 9.90702372e-01 -6.20786824e-03 1.36067900e+01] [ 5.41404348e-02 -1.17009652e-03 9.98532646e-01 4.59261510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:120.82, Y:13.61, Z:4.59 [[ 9.89481747e-01 -1.34469846e-01 -5.33266600e-02 1.20821260e+02] [ 1.34333382e-01 9.90917101e-01 -6.15152293e-03 1.36097294e+01] [ 5.36694937e-02 -1.07673094e-03 9.98558174e-01 4.59436201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:120.85, Y:13.61, Z:4.60 [[ 9.89757579e-01 -1.32605634e-01 -5.28741906e-02 1.20852701e+02] [ 1.32468933e-01 9.91168404e-01 -6.09718714e-03 1.36124910e+01] [ 5.32157485e-02 -9.69450447e-04 9.98582568e-01 4.59610138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.754391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:120.88, Y:13.62, Z:4.60 [[ 9.90034652e-01 -1.30609708e-01 -5.26544678e-02 1.20882985e+02] [ 1.30471430e-01 9.91433489e-01 -6.06978740e-03 1.36152514e+01] [ 5.29961759e-02 -8.60603853e-04 9.98594344e-01 4.59787954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.784391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:120.91, Y:13.62, Z:4.60 [[ 9.90303022e-01 -1.28622443e-01 -5.24994519e-02 1.20914620e+02] [ 1.28482250e-01 9.91693350e-01 -6.05075252e-03 1.36180453e+01] [ 5.28416199e-02 -7.53169192e-04 9.98602622e-01 4.59914689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.814391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:120.94, Y:13.63, Z:4.60 [[ 9.90833450e-01 -1.26105015e-01 -4.84417067e-02 1.20944660e+02] [ 1.25419092e-01 9.91958880e-01 -1.69597140e-02 1.36258209e+01] [ 5.01908861e-02 1.07287370e-02 9.98682016e-01 4.60030038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84439141799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:120.98, Y:13.62, Z:4.60 [[ 9.90627255e-01 -1.25382712e-01 -5.41924041e-02 1.20975604e+02] [ 1.25833255e-01 9.92038958e-01 4.96963954e-03 1.36180987e+01] [ 5.31378692e-02 -1.17422670e-02 9.98518145e-01 4.59867647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87439141799999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:121.00, Y:13.63, Z:4.60 [[ 9.90626400e-01 -1.25799749e-01 -5.32330687e-02 1.21004626e+02] [ 1.25651123e-01 9.92055472e-01 -6.14297755e-03 1.36259668e+01] [ 5.35829421e-02 -6.03399152e-04 9.98563220e-01 4.60333674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90439141799999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:121.04, Y:13.63, Z:4.60 [[ 9.90629133e-01 -1.26691649e-01 -5.10210393e-02 1.21035015e+02] [ 1.26102109e-01 9.91909444e-01 -1.46257409e-02 1.36308310e+01] [ 5.24612100e-02 8.05482438e-03 9.98590477e-01 4.60436184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93439141799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:121.06, Y:13.63, Z:4.60 [[ 9.90190542e-01 -1.28444478e-01 -5.49973402e-02 1.21064803e+02] [ 1.28769767e-01 9.91671618e-01 2.39760213e-03 1.36252514e+01] [ 5.42313426e-02 -9.45607765e-03 9.98483622e-01 4.60298546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96439141799999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:121.09, Y:13.63, Z:4.61 [[ 9.89980997e-01 -1.30580586e-01 -5.37246330e-02 1.21093966e+02] [ 1.30436146e-01 9.91437318e-01 -6.20125180e-03 1.36314302e+01] [ 5.40743692e-02 -8.68512652e-04 9.98536533e-01 4.60661167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99439141799999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:121.12, Y:13.63, Z:4.61 [[ 9.89742636e-01 -1.32446189e-01 -5.35492343e-02 1.21124173e+02] [ 1.32305316e-01 9.91189727e-01 -6.18291309e-03 1.36334400e+01] [ 5.38963543e-02 -9.65355654e-04 9.98546069e-01 4.60785407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:121.15, Y:13.64, Z:4.61 [[ 9.89507086e-01 -1.34376645e-01 -5.30908972e-02 1.21153994e+02] [ 1.34240943e-01 9.90929761e-01 -6.13010182e-03 1.36355669e+01] [ 5.34330926e-02 -1.06119292e-03 9.98570868e-01 4.60895574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:121.18, Y:13.64, Z:4.61 [[ 9.89071567e-01 -1.37946176e-01 -5.20412152e-02 1.21183086e+02] [ 1.37820658e-01 9.90438966e-01 -6.01011321e-03 1.36363378e+01] [ 5.23727195e-02 -1.22792244e-03 9.98626852e-01 4.61054421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:121.21, Y:13.64, Z:4.61 [[ 9.88865906e-01 -1.39644708e-01 -5.14157078e-02 1.21212571e+02] [ 1.39524337e-01 9.90200822e-01 -5.94069292e-03 1.36386834e+01] [ 5.17414624e-02 -1.29919384e-03 9.98659668e-01 4.61194966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.114391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:121.24, Y:13.64, Z:4.61 [[ 9.88684011e-01 -1.41129243e-01 -5.08572736e-02 1.21243760e+02] [ 1.41013448e-01 9.89990243e-01 -5.87590651e-03 1.36413539e+01] [ 5.11774669e-02 -1.36214469e-03 9.98688646e-01 4.61373267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.144391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:121.28, Y:13.64, Z:4.61 [[ 9.88371598e-01 -1.43648078e-01 -4.98679655e-02 1.21275086e+02] [ 1.43540045e-01 9.89627749e-01 -5.75962473e-03 1.36427415e+01] [ 5.01780815e-02 -1.46540049e-03 9.98739212e-01 4.61410171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.174391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:121.31, Y:13.65, Z:4.62 [[ 9.88155209e-01 -1.45127975e-01 -4.98713792e-02 1.21306548e+02] [ 1.45021910e-01 9.89411689e-01 -5.75798869e-03 1.36453047e+01] [ 5.01789708e-02 -1.54265615e-03 9.98739051e-01 4.61562596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20439141799999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:121.34, Y:13.65, Z:4.62 [[ 9.88158117e-01 -1.45108095e-01 -4.98716051e-02 1.21337314e+02] [ 1.45002104e-01 9.89414604e-01 -5.75603122e-03 1.36488522e+01] [ 5.01789411e-02 -1.54361871e-03 9.98739051e-01 4.61711505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23439141799999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:121.37, Y:13.65, Z:4.62 [[ 9.88087853e-01 -1.45719803e-01 -4.94786296e-02 1.21368734e+02] [ 1.45616292e-01 9.89324666e-01 -5.70964252e-03 1.36512644e+01] [ 4.97824367e-02 -1.56326618e-03 9.98758862e-01 4.61792300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26439141799999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:121.40, Y:13.65, Z:4.62 [[ 9.87935321e-01 -1.46687408e-01 -4.96649302e-02 1.21399406e+02] [ 1.46584436e-01 9.89181571e-01 -5.72916570e-03 1.36529703e+01] [ 4.99680302e-02 -1.62006063e-03 9.98749504e-01 4.61851585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29439141799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:121.43, Y:13.66, Z:4.62 [[ 9.87920995e-01 -1.46833039e-01 -4.95193543e-02 1.21430340e+02] [ 1.46730904e-01 9.89159958e-01 -5.71134432e-03 1.36560860e+01] [ 4.98211765e-02 -1.62366267e-03 9.98756834e-01 4.61969265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32439141799999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:121.46, Y:13.66, Z:4.62 [[ 9.87949059e-01 -1.46641386e-01 -4.95273803e-02 1.21461514e+02] [ 1.46539080e-01 9.89188400e-01 -5.71022618e-03 1.36592870e+01] [ 4.98292656e-02 -1.61628415e-03 9.98756443e-01 4.62137472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35439141799999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:121.49, Y:13.66, Z:4.62 [[ 9.88040601e-01 -1.45922838e-01 -4.98226437e-02 1.21491224e+02] [ 1.45818498e-01 9.89294694e-01 -5.74224370e-03 1.36619286e+01] [ 5.01272016e-02 -1.59149315e-03 9.98741574e-01 4.62285182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38439141799999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:121.52, Y:13.68, Z:4.63 [[ 9.88859959e-01 -1.43660529e-01 -3.89568140e-02 1.21524122e+02] [ 1.41971808e-01 9.88930779e-01 -4.31267871e-02 1.36794843e+01] [ 4.47212095e-02 3.71155836e-02 9.98309795e-01 4.62538752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:121.56, Y:13.66, Z:4.62 [[ 9.88848283e-01 -1.41980496e-01 -4.49512183e-02 1.21557468e+02] [ 1.42115143e-01 9.89850112e-01 -2.02317200e-04 1.36629743e+01] [ 4.45236936e-02 -6.18818782e-03 9.98989163e-01 4.61657388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:121.58, Y:13.66, Z:4.62 [[ 9.88457695e-01 -1.41851775e-01 -5.31926688e-02 1.21583374e+02] [ 1.43152267e-01 9.89467703e-01 2.14730679e-02 1.36572481e+01] [ 4.95864350e-02 -2.88398703e-02 9.98353368e-01 4.61889579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:121.61, Y:13.67, Z:4.62 [[ 9.88724647e-01 -1.41534813e-01 -4.89026582e-02 1.21610820e+02] [ 1.41740893e-01 9.89903505e-01 7.54707471e-04 1.36711648e+01] [ 4.83020954e-02 -7.67770432e-03 9.98803264e-01 4.62461928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.504391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:121.64, Y:13.68, Z:4.63 [[ 9.88881701e-01 -1.40686126e-01 -4.81704724e-02 1.21641005e+02] [ 1.40582912e-01 9.90053404e-01 -5.54091494e-03 1.36779161e+01] [ 4.84708701e-02 -1.29263591e-03 9.98823760e-01 4.62789532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.534391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:121.67, Y:13.68, Z:4.63 [[ 9.89148167e-01 -1.38541536e-01 -4.89095741e-02 1.21671931e+02] [ 1.38432516e-01 9.90355890e-01 -5.62582409e-03 1.36817199e+01] [ 4.92172951e-02 -1.20590183e-03 9.98787367e-01 4.62878502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.564391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:121.70, Y:13.69, Z:4.63 [[ 9.89309866e-01 -1.37359216e-01 -4.89738162e-02 1.21702161e+02] [ 1.37248558e-01 9.90520632e-01 -5.63127321e-03 1.36850207e+01] [ 4.92830826e-02 -1.15051150e-03 9.98784188e-01 4.63003128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59439141799999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:121.73, Y:13.69, Z:4.63 [[ 9.89405208e-01 -1.36722108e-01 -4.88303138e-02 1.21731561e+02] [ 1.36611366e-01 9.90608812e-01 -5.61389126e-03 1.36885313e+01] [ 4.91392822e-02 -1.11636260e-03 9.98791312e-01 4.63129389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62439141799999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:121.76, Y:13.69, Z:4.63 [[ 9.89632429e-01 -1.35224841e-01 -4.83931514e-02 1.21761490e+02] [ 1.35114241e-01 9.90814401e-01 -5.56452826e-03 1.36922416e+01] [ 4.87010938e-02 -1.03176632e-03 9.98812865e-01 4.63311094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65439141799999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:121.79, Y:13.70, Z:4.63 [[ 9.89754078e-01 -1.34517119e-01 -4.78749289e-02 1.21791852e+02] [ 1.34408049e-01 9.90910779e-01 -5.50494000e-03 1.36959747e+01] [ 4.81802918e-02 -9.86238981e-04 9.98838168e-01 4.63481608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68439141799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:121.82, Y:13.70, Z:4.64 [[ 9.89840317e-01 -1.33980524e-01 -4.75958633e-02 1.21822544e+02] [ 1.33872105e-01 9.90983505e-01 -5.47279710e-03 1.36997312e+01] [ 4.78999637e-02 -9.54563183e-04 9.98851682e-01 4.63663600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71439141799999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:121.85, Y:13.70, Z:4.64 [[ 9.89907722e-01 -1.33559139e-01 -4.73778315e-02 1.21852350e+02] [ 1.33451320e-01 9.91040407e-01 -5.44582486e-03 1.37033246e+01] [ 4.76806851e-02 -9.31770081e-04 9.98862195e-01 4.63866794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74439141799999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:121.88, Y:13.71, Z:4.64 [[ 9.90034061e-01 -1.32762891e-01 -4.69741665e-02 1.21882689e+02] [ 1.32656052e-01 9.91147430e-01 -5.39845030e-03 1.37071870e+01] [ 4.72750382e-02 -8.86757801e-04 9.98881517e-01 4.64007394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:121.91, Y:13.71, Z:4.64 [[ 9.90084226e-01 -1.32259414e-01 -4.73357347e-02 1.21914179e+02] [ 1.32150500e-01 9.91214753e-01 -5.43684711e-03 1.37108430e+01] [ 4.76389528e-02 -8.72504437e-04 9.98864239e-01 4.64054001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:121.94, Y:13.71, Z:4.64 [[ 9.90036879e-01 -1.32455658e-01 -4.77752700e-02 1.21944451e+02] [ 1.32345033e-01 9.91188530e-01 -5.48537677e-03 1.37144381e+01] [ 4.80808689e-02 -8.92094387e-04 9.98843048e-01 4.64231984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:121.97, Y:13.72, Z:4.64 [[ 9.90012895e-01 -1.32553402e-01 -4.80006559e-02 1.21974443e+02] [ 1.32441891e-01 9.91175455e-01 -5.51030553e-03 1.37180086e+01] [ 4.83074817e-02 -9.02024121e-04 9.98832105e-01 4.64279565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.864391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:122.01, Y:13.72, Z:4.64 [[ 9.89984436e-01 -1.32737644e-01 -4.80784253e-02 1.22005323e+02] [ 1.32625992e-01 9.91150788e-01 -5.51915826e-03 1.37218093e+01] [ 4.83855692e-02 -9.12568087e-04 9.98828316e-01 4.64408454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.894391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:122.04, Y:13.73, Z:4.65 [[ 9.89958696e-01 -1.32912119e-01 -4.81263771e-02 1.22035827e+02] [ 1.32800545e-01 9.91127396e-01 -5.52271039e-03 1.37255431e+01] [ 4.84334059e-02 -9.23953914e-04 9.98825987e-01 4.64568356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.924391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:122.07, Y:13.73, Z:4.65 [[ 9.89937206e-01 -1.33202402e-01 -4.77645002e-02 1.22066012e+02] [ 1.33092883e-01 9.91088418e-01 -5.48024147e-03 1.37287359e+01] [ 4.80688243e-02 -9.32020131e-04 9.98843591e-01 4.64751386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95439141799999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:122.10, Y:13.73, Z:4.65 [[ 9.89998869e-01 -1.32792097e-01 -4.76287510e-02 1.22096818e+02] [ 1.32682729e-01 9.91143497e-01 -5.46461118e-03 1.37319788e+01] [ 4.79325840e-02 -9.09553754e-04 9.98850159e-01 4.64931104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98439141799999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:122.13, Y:13.74, Z:4.65 [[ 9.90169964e-01 -1.31560992e-01 -4.74883967e-02 1.22128392e+02] [ 1.31450944e-01 9.91307714e-01 -5.44658989e-03 1.37353568e+01] [ 4.77921727e-02 -8.49344835e-04 9.98856940e-01 4.65052457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01439141799999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:122.16, Y:13.74, Z:4.65 [[ 9.90296800e-01 -1.30601781e-01 -4.74912806e-02 1.22159809e+02] [ 1.30490711e-01 9.91434580e-01 -5.44497366e-03 1.37392464e+01] [ 4.77956211e-02 -8.05030974e-04 9.98856812e-01 4.65296831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04439141799999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:122.19, Y:13.74, Z:4.65 [[ 9.90830715e-01 -1.26431994e-01 -4.76386925e-02 1.22191191e+02] [ 1.26315508e-01 9.91975091e-01 -5.45990957e-03 1.37432355e+01] [ 4.79467036e-02 -6.07659564e-04 9.98849711e-01 4.65460227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:122.22, Y:13.75, Z:4.66 [[ 9.91096685e-01 -1.24181643e-01 -4.80237491e-02 1.22221456e+02] [ 1.24060718e-01 9.92259374e-01 -5.50213820e-03 1.37473096e+01] [ 4.83352797e-02 -5.04709867e-04 9.98831040e-01 4.65628436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10439141799999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:122.25, Y:13.75, Z:4.66 [[ 9.91371599e-01 -1.21968507e-01 -4.80212139e-02 1.22250288e+02] [ 1.21844997e-01 9.92533892e-01 -5.50188299e-03 1.37507152e+01] [ 4.83337388e-02 -3.96734133e-04 9.98831163e-01 4.65746857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13439141799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:122.28, Y:13.75, Z:4.66 [[ 9.91579318e-01 -1.20151780e-01 -4.83115474e-02 1.22280116e+02] [ 1.20024570e-01 9.92755486e-01 -5.53608230e-03 1.37539492e+01] [ 4.86267239e-02 -3.09108012e-04 9.98816973e-01 4.65854181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:122.31, Y:13.76, Z:4.66 [[ 9.91800018e-01 -1.17983252e-01 -4.91190101e-02 1.22309714e+02] [ 1.17849095e-01 9.93015564e-01 -5.62859720e-03 1.37561261e+01] [ 4.94400218e-02 -2.06188077e-04 9.98777073e-01 4.65904424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:122.34, Y:13.76, Z:4.66 [[ 9.91768553e-01 -1.18005154e-01 -4.96983059e-02 1.22339449e+02] [ 1.17867843e-01 9.93012960e-01 -5.69489817e-03 1.37588371e+01] [ 5.00230893e-02 -2.09811217e-04 9.98748040e-01 4.66025355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:122.37, Y:13.76, Z:4.66 [[ 9.91557647e-01 -1.19435145e-01 -5.04844350e-02 1.22368450e+02] [ 1.19295193e-01 9.92841964e-01 -5.78718273e-03 1.37610054e+01] [ 5.08142586e-02 -2.84225126e-04 9.98708081e-01 4.66123507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.254391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:122.40, Y:13.76, Z:4.66 [[ 9.91364691e-01 -1.20912040e-01 -5.07575416e-02 1.22397459e+02] [ 1.20772256e-01 9.92663161e-01 -5.82333337e-03 1.37642362e+01] [ 5.10892529e-02 -3.57055707e-04 9.98694028e-01 4.66266576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.284391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:122.43, Y:13.77, Z:4.66 [[ 9.91201208e-01 -1.22227920e-01 -5.07986276e-02 1.22426574e+02] [ 1.22088974e-01 9.92501973e-01 -5.84096886e-03 1.37672735e+01] [ 5.11316676e-02 -4.12376952e-04 9.98691836e-01 4.66437656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.314391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:122.45, Y:13.77, Z:4.67 [[ 9.91017105e-01 -1.23738199e-01 -5.07341693e-02 1.22454544e+02] [ 1.23601468e-01 9.92314779e-01 -5.83579528e-03 1.37699652e+01] [ 5.10663768e-02 -4.87444871e-04 9.98695142e-01 4.66618436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34439141799999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:122.49, Y:13.79, Z:4.67 [[ 9.91300497e-01 -1.25832661e-01 -3.85935999e-02 1.22486607e+02] [ 1.24047855e-01 9.91227623e-01 -4.56062387e-02 1.37879502e+01] [ 4.39937966e-02 4.04220338e-02 9.98213707e-01 4.66780156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37439141799999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:122.52, Y:13.75, Z:4.66 [[ 9.90421775e-01 -1.26356466e-01 -5.56664329e-02 1.22517016e+02] [ 1.28440181e-01 9.91078709e-01 3.55824699e-02 1.37537593e+01] [ 5.06737413e-02 -4.23914597e-02 9.97815181e-01 4.65911893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:122.54, Y:13.78, Z:4.67 [[ 9.90223913e-01 -1.29899081e-01 -5.08215605e-02 1.22543600e+02] [ 1.29769295e-01 9.91526903e-01 -5.85921938e-03 1.37761643e+01] [ 5.11520517e-02 -7.93138941e-04 9.98690562e-01 4.67052869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43439141799999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:122.57, Y:13.78, Z:4.67 [[ 9.89896464e-01 -1.32572567e-01 -5.02941774e-02 1.22573755e+02] [ 1.32448804e-01 9.91172875e-01 -5.80046867e-03 1.37776346e+01] [ 5.06192075e-02 -9.19540229e-04 9.98717603e-01 4.67163531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46439141799999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:122.60, Y:13.78, Z:4.67 [[ 9.89699352e-01 -1.34145188e-01 -5.00026177e-02 1.22602323e+02] [ 1.34024755e-01 9.90961192e-01 -5.76894775e-03 1.37799064e+01] [ 5.03245303e-02 -9.92064754e-04 9.98732425e-01 4.67288038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49439141799999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:122.63, Y:13.78, Z:4.67 [[ 9.89478890e-01 -1.35769633e-01 -4.99813215e-02 1.22631545e+02] [ 1.35651222e-01 9.90739854e-01 -5.76945696e-03 1.37822195e+01] [ 5.03018043e-02 -1.07127150e-03 9.98733488e-01 4.67439969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524391418 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:122.66, Y:13.78, Z:4.68 [[ 9.89030697e-01 -1.39099244e-01 -4.96958845e-02 1.22661061e+02] [ 1.38986279e-01 9.90277680e-01 -5.73851182e-03 1.37831434e+01] [ 5.00109479e-02 -1.23148171e-03 9.98747910e-01 4.67521038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:122.69, Y:13.79, Z:4.68 [[ 9.88759282e-01 -1.40839241e-01 -5.01935312e-02 1.22690986e+02] [ 1.40726135e-01 9.90031584e-01 -5.79804147e-03 1.37853715e+01] [ 5.05097729e-02 -1.33067433e-03 9.98722680e-01 4.67673586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:122.72, Y:13.79, Z:4.68 [[ 9.88505148e-01 -1.42469339e-01 -5.05970246e-02 1.22720191e+02] [ 1.42356434e-01 9.89798192e-01 -5.84672654e-03 1.37878694e+01] [ 5.09138227e-02 -1.42329268e-03 9.98702036e-01 4.67809432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.614391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:122.75, Y:13.79, Z:4.68 [[ 9.88176348e-01 -1.44860480e-01 -5.02289445e-02 1.22749659e+02] [ 1.44752192e-01 9.89450904e-01 -5.80623282e-03 1.37902242e+01] [ 5.05401682e-02 -1.53316787e-03 9.98720852e-01 4.67944149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:122.78, Y:13.80, Z:4.68 [[ 9.88051876e-01 -1.45266981e-01 -5.14878010e-02 1.22777441e+02] [ 1.44685948e-01 9.89366070e-01 -1.48578799e-02 1.37970844e+01] [ 5.30986426e-02 7.23079483e-03 9.98563093e-01 4.68330940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.674391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:122.81, Y:13.79, Z:4.68 [[ 9.87964126e-01 -1.45933901e-01 -5.12853059e-02 1.22808187e+02] [ 1.46267392e-01 9.89241155e-01 2.79057053e-03 1.37919779e+01] [ 5.03262964e-02 -1.02583515e-02 9.98680144e-01 4.68023940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70439141799999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:122.84, Y:13.80, Z:4.68 [[ 9.88029089e-01 -1.45939119e-01 -5.00029246e-02 1.22835896e+02] [ 1.45832338e-01 9.89292336e-01 -5.79685795e-03 1.37988014e+01] [ 5.03134985e-02 -1.56457913e-03 9.98732248e-01 4.68359841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:122.86, Y:13.80, Z:4.68 [[ 9.88115924e-01 -1.45469094e-01 -4.96554393e-02 1.22863937e+02] [ 1.45363042e-01 9.89361618e-01 -5.75973005e-03 1.38021269e+01] [ 4.99650485e-02 -1.52678473e-03 9.98749800e-01 4.68489133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76439141799999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:122.89, Y:13.81, Z:4.69 [[ 9.88247616e-01 -1.44185609e-01 -5.07657342e-02 1.22891128e+02] [ 1.43860835e-01 9.89547264e-01 -1.00136054e-02 1.38075133e+01] [ 5.16789112e-02 2.59272081e-03 9.98660387e-01 4.68729129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79439141799999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:122.92, Y:13.81, Z:4.69 [[ 9.88252945e-01 -1.44102400e-01 -5.08980781e-02 1.22920651e+02] [ 1.44185997e-01 9.89548492e-01 -2.04479656e-03 1.38079778e+01] [ 5.06607765e-02 -5.31801391e-03 9.98701760e-01 4.68669074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82439141799999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:122.95, Y:13.81, Z:4.69 [[ 9.88429864e-01 -1.42645569e-01 -5.15620624e-02 1.22948357e+02] [ 1.42526099e-01 9.89772825e-01 -6.00548247e-03 1.38143043e+01] [ 5.18913837e-02 -1.41294139e-03 9.98651735e-01 4.68910995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:122.98, Y:13.82, Z:4.69 [[ 9.88537904e-01 -1.41850945e-01 -5.16829000e-02 1.22977177e+02] [ 1.41729570e-01 9.89887081e-01 -6.02454737e-03 1.38184090e+01] [ 5.20148228e-02 -1.36950177e-03 9.98645374e-01 4.69035395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88439141799999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:123.00, Y:13.82, Z:4.69 [[ 9.88689937e-01 -1.40747435e-01 -5.17915789e-02 1.23004971e+02] [ 1.40623307e-01 9.90044680e-01 -6.05120348e-03 1.38229888e+01] [ 5.21276685e-02 -1.30033910e-03 9.98639582e-01 4.69150192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:123.03, Y:13.83, Z:4.69 [[ 9.88705204e-01 -1.40485153e-01 -5.22105512e-02 1.23033389e+02] [ 1.40358306e-01 9.90081944e-01 -6.10654373e-03 1.38269466e+01] [ 5.25506028e-02 -1.29061294e-03 9.98617428e-01 4.69360309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:123.06, Y:13.83, Z:4.69 [[ 9.88738070e-01 -1.40333038e-01 -5.19968025e-02 1.23061258e+02] [ 1.40206298e-01 9.90103551e-01 -6.09527287e-03 1.38309112e+01] [ 5.23375869e-02 -1.26365083e-03 9.98628650e-01 4.69499588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:123.09, Y:13.83, Z:4.70 [[ 9.88715623e-01 -1.40398722e-01 -5.22457283e-02 1.23089560e+02] [ 1.40270524e-01 9.90094235e-01 -6.13077001e-03 1.38349578e+01] [ 5.25889466e-02 -1.26694757e-03 9.98615440e-01 4.69629748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:123.12, Y:13.84, Z:4.70 [[ 9.88691113e-01 -1.40364366e-01 -5.27989377e-02 1.23117060e+02] [ 1.40232650e-01 9.90099109e-01 -6.20957285e-03 1.38391680e+01] [ 5.31477839e-02 -1.26478544e-03 9.98585857e-01 4.69788842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.034391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:123.15, Y:13.84, Z:4.70 [[ 9.88580340e-01 -1.41150483e-01 -5.27773925e-02 1.23145126e+02] [ 1.41019655e-01 9.89987298e-01 -6.21339558e-03 1.38432979e+01] [ 5.31259720e-02 -1.30020896e-03 9.98586972e-01 4.69937209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:123.17, Y:13.85, Z:4.70 [[ 9.88524416e-01 -1.41577469e-01 -5.26811003e-02 1.23171961e+02] [ 1.41446998e-01 9.89926316e-01 -6.21573444e-03 1.38467727e+01] [ 5.30304155e-02 -1.30717821e-03 9.98592042e-01 4.70107307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09439141799999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:123.20, Y:13.85, Z:4.70 [[ 9.88510881e-01 -1.41566851e-01 -5.29628613e-02 1.23198448e+02] [ 1.41099400e-01 9.89916739e-01 -1.24823838e-02 1.38528746e+01] [ 5.41959147e-02 4.86594423e-03 9.98518465e-01 4.70417525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12439141799999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:123.23, Y:13.85, Z:4.70 [[ 9.88501722e-01 -1.41336160e-01 -5.37441627e-02 1.23226141e+02] [ 1.41175437e-01 9.89961278e-01 -6.79447103e-03 1.38534546e+01] [ 5.41649444e-02 -8.71009321e-04 9.98531622e-01 4.70412709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15439141799999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:123.26, Y:13.86, Z:4.70 [[ 9.88225861e-01 -1.43684156e-01 -5.25786204e-02 1.23255798e+02] [ 1.43855655e-01 9.89598541e-01 -5.27827605e-04 1.38550835e+01] [ 5.21075665e-02 -7.04211898e-03 9.98616648e-01 4.70437253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18439141799999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:123.28, Y:13.86, Z:4.71 [[ 9.88119794e-01 -1.44634874e-01 -5.19617817e-02 1.23284397e+02] [ 1.44510538e-01 9.89484076e-01 -6.16187100e-03 1.38615819e+01] [ 5.23065770e-02 -1.42035834e-03 9.98630064e-01 4.70742618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21439141799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:123.31, Y:13.87, Z:4.71 [[ 9.87850082e-01 -1.46086596e-01 -5.30181227e-02 1.23313601e+02] [ 1.45959134e-01 9.89270629e-01 -6.28910363e-03 1.38662653e+01] [ 5.33680254e-02 -1.52578775e-03 9.98573746e-01 4.70915804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24439141799999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:123.34, Y:13.87, Z:4.71 [[ 9.87768314e-01 -1.46557277e-01 -5.32421108e-02 1.23342018e+02] [ 1.46429408e-01 9.89200960e-01 -6.31585552e-03 1.38702035e+01] [ 5.35927817e-02 -1.55760881e-03 9.98561659e-01 4.71033648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:123.37, Y:13.87, Z:4.71 [[ 9.87650521e-01 -1.47215493e-01 -5.36101431e-02 1.23371303e+02] [ 1.47086646e-01 9.89103147e-01 -6.36267897e-03 1.38744394e+01] [ 5.39626461e-02 -1.60123295e-03 9.98541671e-01 4.71197675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:123.40, Y:13.88, Z:4.71 [[ 9.87652204e-01 -1.47216388e-01 -5.35766719e-02 1.23400288e+02] [ 1.47087586e-01 9.89103018e-01 -6.36087967e-03 1.38791706e+01] [ 5.39292736e-02 -1.59812652e-03 9.98543479e-01 4.71345492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334391418 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:123.43, Y:13.88, Z:4.71 [[ 9.87752798e-01 -1.46610476e-01 -5.33833161e-02 1.23429851e+02] [ 1.46481602e-01 9.89193077e-01 -6.34010478e-03 1.38833979e+01] [ 5.37359325e-02 -1.55721744e-03 9.98553967e-01 4.71477773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.364391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:123.46, Y:13.89, Z:4.72 [[ 9.87983927e-01 -1.44827236e-01 -5.39706530e-02 1.23457338e+02] [ 1.44465695e-01 9.89453442e-01 -1.05617107e-02 1.38891674e+01] [ 5.49310717e-02 2.63789259e-03 9.98486664e-01 4.71739746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.394391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:123.49, Y:13.89, Z:4.72 [[ 9.88122495e-01 -1.44072621e-01 -5.34510517e-02 1.23487687e+02] [ 1.44145172e-01 9.89553355e-01 -2.51555313e-03 1.38899277e+01] [ 5.32550899e-02 -5.21903640e-03 9.98567302e-01 4.71687653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.424391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:123.52, Y:13.90, Z:4.72 [[ 9.88755558e-01 -1.39893490e-01 -5.28418281e-02 1.23517675e+02] [ 1.39756609e-01 9.90165877e-01 -6.29494098e-03 1.38969890e+01] [ 5.32027963e-02 -1.16083681e-03 9.98583054e-01 4.71972614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45439141799999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:123.55, Y:13.90, Z:4.72 [[ 9.89462801e-01 -1.34369732e-01 -5.39271711e-02 1.23547572e+02] [ 1.34218967e-01 9.90930874e-01 -6.42423572e-03 1.39020228e+01] [ 5.43013217e-02 -8.81506952e-04 9.98524206e-01 4.72150702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48439141799999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:123.58, Y:13.91, Z:4.72 [[ 9.89831187e-01 -1.31405534e-01 -5.44684000e-02 1.23577369e+02] [ 1.31247224e-01 9.91328431e-01 -6.48902642e-03 1.39059786e+01] [ 5.48487675e-02 -7.25785543e-04 9.98494410e-01 4.72332576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51439141799999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:123.61, Y:13.91, Z:4.72 [[ 9.90126896e-01 -1.28868090e-01 -5.51520169e-02 1.23605568e+02] [ 1.28701708e-01 9.91661569e-01 -6.57292032e-03 1.39095952e+01] [ 5.55391753e-02 -5.90133586e-04 9.98456334e-01 4.72495999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54439141799999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:123.63, Y:13.90, Z:4.73 [[ 9.90080033e-01 -1.26495813e-01 -6.11582928e-02 1.23633214e+02] [ 1.27782762e-01 9.91646096e-01 1.75950299e-02 1.39030956e+01] [ 5.84216847e-02 -2.52354634e-02 9.97972985e-01 4.72731290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57439141799999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:123.66, Y:13.93, Z:4.73 [[ 9.90611032e-01 -1.26198994e-01 -5.25699235e-02 1.23659965e+02] [ 1.24672224e-01 9.91701397e-01 -3.13875019e-02 1.39277324e+01] [ 5.60947378e-02 2.45387963e-02 9.98123854e-01 4.73498214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60439141799999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:123.69, Y:13.90, Z:4.73 [[ 9.90023363e-01 -1.23157294e-01 -6.84545176e-02 1.23689907e+02] [ 1.25698098e-01 9.91481523e-01 3.41229819e-02 1.39026299e+01] [ 6.36688952e-02 -4.23871519e-02 9.97070510e-01 4.73342496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63439141799999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:123.72, Y:13.94, Z:4.74 [[ 9.90968179e-01 -1.24082687e-01 -5.08483452e-02 1.23715244e+02] [ 1.21552753e-01 9.91316944e-01 -5.01562038e-02 1.39419125e+01] [ 5.66303428e-02 4.35224456e-02 9.97446139e-01 4.74283249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:123.75, Y:13.92, Z:4.73 [[ 9.90668479e-01 -1.24214306e-01 -5.60960816e-02 1.23747927e+02] [ 1.24023929e-01 9.92255403e-01 -6.87602971e-03 1.39249303e+01] [ 5.65157414e-02 -1.45390574e-04 9.98401698e-01 4.73261272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:123.78, Y:13.93, Z:4.73 [[ 9.90487287e-01 -1.25369811e-01 -5.67216503e-02 1.23775389e+02] [ 1.25183842e-01 9.92110024e-01 -6.83412259e-03 1.39274057e+01] [ 5.71309105e-02 -3.31522548e-04 9.98366641e-01 4.73362291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:123.80, Y:13.93, Z:4.73 [[ 9.90243880e-01 -1.26752458e-01 -5.78867234e-02 1.23803297e+02] [ 1.26560006e-01 9.91934299e-01 -6.99363388e-03 1.39296271e+01] [ 5.83062867e-02 -4.00740945e-04 9.98298661e-01 4.73459357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.754391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:123.83, Y:13.93, Z:4.74 [[ 9.89704437e-01 -1.30808366e-01 -5.80887210e-02 1.23830840e+02] [ 1.30620429e-01 9.91407476e-01 -7.03707189e-03 1.39308700e+01] [ 5.85101001e-02 -6.22952366e-04 9.98286622e-01 4.73626212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.784391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:123.86, Y:13.93, Z:4.74 [[ 9.89354306e-01 -1.33390208e-01 -5.81816980e-02 1.23858443e+02] [ 1.33205009e-01 9.91063307e-01 -7.06736213e-03 1.39332350e+01] [ 5.86044629e-02 -7.57968463e-04 9.98280994e-01 4.73748382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.814391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:123.89, Y:13.94, Z:4.74 [[ 9.88921575e-01 -1.36429122e-01 -5.84911372e-02 1.23886441e+02] [ 1.36246124e-01 9.90649404e-01 -7.12409362e-03 1.39355278e+01] [ 5.89161441e-02 -9.24020857e-04 9.98262508e-01 4.73932240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84439141799999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:123.91, Y:13.93, Z:4.74 [[ 9.87801164e-01 -1.42068720e-01 -6.37600066e-02 1.23913872e+02] [ 1.43389862e-01 9.89526666e-01 1.66230483e-02 1.39265282e+01] [ 6.07306115e-02 -2.55628050e-02 9.97826807e-01 4.74192309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87439141799999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:123.94, Y:13.95, Z:4.75 [[ 9.87612564e-01 -1.47148932e-01 -5.44850058e-02 1.23939834e+02] [ 1.45614669e-01 9.88850730e-01 -3.11544774e-02 1.39507059e+01] [ 5.84618859e-02 2.28347372e-02 9.98028448e-01 4.74883479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90439141799999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:123.97, Y:13.94, Z:4.74 [[ 9.87045344e-01 -1.49979219e-01 -5.69888046e-02 1.23969660e+02] [ 1.49825231e-01 9.88687790e-01 -6.98954545e-03 1.39419342e+01] [ 5.73924219e-02 -1.63936251e-03 9.98350351e-01 4.74436702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93439141799999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:124.00, Y:13.94, Z:4.75 [[ 9.85809352e-01 -1.57994766e-01 -5.67236697e-02 1.23997719e+02] [ 1.57854378e-01 9.87437764e-01 -6.97550755e-03 1.39420076e+01] [ 5.71131872e-02 -2.07755900e-03 9.98365548e-01 4.74597965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96439141799999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:124.03, Y:13.94, Z:4.75 [[ 9.85005177e-01 -1.62722960e-01 -5.73239804e-02 1.24025841e+02] [ 1.62586475e-01 9.86668981e-01 -7.06821192e-03 1.39440923e+01] [ 5.77099537e-02 -2.35787855e-03 9.98330607e-01 4.74720958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99439141799999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:124.05, Y:13.95, Z:4.75 [[ 9.84271469e-01 -1.67201923e-01 -5.70367614e-02 1.24052880e+02] [ 1.67073285e-01 9.85919271e-01 -7.05038079e-03 1.39460520e+01] [ 5.74124795e-02 -2.58983042e-03 9.98347184e-01 4.74834487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:124.08, Y:13.95, Z:4.75 [[ 9.82699946e-01 -1.76280031e-01 -5.67993582e-02 1.24080662e+02] [ 1.76166741e-01 9.84335200e-01 -7.03516418e-03 1.39473007e+01] [ 5.71497666e-02 -3.09270238e-03 9.98360826e-01 4.74921223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:124.11, Y:13.95, Z:4.75 [[ 9.81889402e-01 -1.80686164e-01 -5.69711477e-02 1.24107196e+02] [ 1.80578603e-01 9.83535123e-01 -7.07325625e-03 1.39499468e+01] [ 5.73111642e-02 -3.34261490e-03 9.98350769e-01 4.75064534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:124.13, Y:13.95, Z:4.75 [[ 9.80458065e-01 -1.88037103e-01 -5.78275972e-02 1.24133764e+02] [ 1.87938458e-01 9.82154498e-01 -7.18877872e-03 1.39528706e+01] [ 5.81473918e-02 -3.81973338e-03 9.98300701e-01 4.75226038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.114391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:124.16, Y:13.96, Z:4.75 [[ 9.79899629e-01 -1.90880239e-01 -5.79780252e-02 1.24161257e+02] [ 1.90785218e-01 9.81605243e-01 -7.22132387e-03 1.39564401e+01] [ 5.82899415e-02 -3.98517762e-03 9.98291741e-01 4.75369802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.144391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:124.19, Y:13.96, Z:4.75 [[ 9.79496034e-01 -1.92904536e-01 -5.80978467e-02 1.24189360e+02] [ 1.92811588e-01 9.81208980e-01 -7.25461082e-03 1.39601645e+01] [ 5.84055762e-02 -4.09607557e-03 9.98284534e-01 4.75483801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.174391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:124.22, Y:13.96, Z:4.76 [[ 9.79234391e-01 -1.94184952e-01 -5.82426909e-02 1.24216936e+02] [ 1.94092877e-01 9.80956083e-01 -7.28829088e-03 1.39642480e+01] [ 5.85487983e-02 -4.16754633e-03 9.98275849e-01 4.75614784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20439141799999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:124.24, Y:13.97, Z:4.76 [[ 9.79124276e-01 -1.94739792e-01 -5.82414370e-02 1.24244575e+02] [ 1.94648044e-01 9.80845992e-01 -7.29925369e-03 1.39704698e+01] [ 5.85473352e-02 -4.18970531e-03 9.98275842e-01 4.75759654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23439141799999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:124.27, Y:13.98, Z:4.76 [[ 9.79257865e-01 -1.94157241e-01 -5.79396208e-02 1.24272909e+02] [ 1.94064356e-01 9.80961789e-01 -7.27977820e-03 1.39756254e+01] [ 5.82499757e-02 -4.11523513e-03 9.98293547e-01 4.75860721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26439141799999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:124.30, Y:13.98, Z:4.76 [[ 9.79492035e-01 -1.93004044e-01 -5.78341831e-02 1.24300431e+02] [ 1.92908641e-01 9.81189706e-01 -7.28121577e-03 1.39807462e+01] [ 5.81516092e-02 -4.02482083e-03 9.98299650e-01 4.75987753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29439141799999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:124.33, Y:13.99, Z:4.76 [[ 9.79758946e-01 -1.92037746e-01 -5.65147038e-02 1.24329133e+02] [ 1.91436274e-01 9.81375897e-01 -1.59217551e-02 1.39903929e+01] [ 5.85197461e-02 4.78051769e-03 9.98274805e-01 4.75984846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32439141799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:124.36, Y:13.99, Z:4.76 [[ 9.80589025e-01 -1.87088553e-01 -5.86773941e-02 1.24358945e+02] [ 1.87486390e-01 9.82266340e-01 1.30047727e-03 1.39886426e+01] [ 5.73935248e-02 -1.22764465e-02 9.98276150e-01 4.75959081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35439141799999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:124.39, Y:14.00, Z:4.76 [[ 9.81018203e-01 -1.85111152e-01 -5.77680518e-02 1.24386961e+02] [ 1.85001146e-01 9.82711242e-01 -7.29327836e-03 1.39981606e+01] [ 5.81193811e-02 -3.53231694e-03 9.98303391e-01 4.76288108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:124.42, Y:14.00, Z:4.76 [[ 9.81548827e-01 -1.82411859e-01 -5.73394611e-02 1.24416176e+02] [ 1.82298876e-01 9.83216513e-01 -7.23940340e-03 1.40037221e+01] [ 5.76976580e-02 -3.34709140e-03 9.98328492e-01 4.76422619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:124.45, Y:14.01, Z:4.77 [[ 9.82602073e-01 -1.76933054e-01 -5.64611434e-02 1.24446093e+02] [ 1.76814378e-01 9.84218387e-01 -7.13041033e-03 1.40120698e+01] [ 5.68317007e-02 -2.97678596e-03 9.98379335e-01 4.76567670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:124.48, Y:14.03, Z:4.77 [[ 9.83800469e-01 -1.72999619e-01 -4.69868966e-02 1.24476203e+02] [ 1.71521835e-01 9.84597697e-01 -3.38767638e-02 1.40288608e+01] [ 5.21238574e-02 2.52686974e-02 9.98320889e-01 4.76609086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:124.51, Y:14.01, Z:4.76 [[ 9.84464326e-01 -1.65324622e-01 -5.91418618e-02 1.24506786e+02] [ 1.66812083e-01 9.85762230e-01 2.11318494e-02 1.40127093e+01] [ 5.48061985e-02 -3.06691290e-02 9.98025894e-01 4.76110838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.504391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:124.54, Y:14.04, Z:4.77 [[ 9.85508124e-01 -1.63058326e-01 -4.67516817e-02 1.24535551e+02] [ 1.61691627e-01 9.86332543e-01 -3.16848905e-02 1.40428404e+01] [ 5.12791903e-02 2.36663615e-02 9.98403900e-01 4.76816436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.534391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:124.57, Y:14.03, Z:4.76 [[ 9.85716890e-01 -1.58075334e-01 -5.80896054e-02 1.24566517e+02] [ 1.59403699e-01 9.87031320e-01 1.89640232e-02 1.40251173e+01] [ 5.43385156e-02 -2.79528559e-02 9.98131236e-01 4.76410359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.564391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:124.59, Y:14.05, Z:4.77 [[ 9.86935982e-01 -1.51999389e-01 -5.34186619e-02 1.24594576e+02] [ 1.51855511e-01 9.88379546e-01 -6.76579835e-03 1.40452542e+01] [ 5.38263100e-02 -1.43450835e-03 9.98549283e-01 4.77180830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59439141799999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:124.63, Y:14.05, Z:4.77 [[ 9.87482502e-01 -1.48491499e-01 -5.31844242e-02 1.24625579e+02] [ 1.48343810e-01 9.88912909e-01 -6.73587868e-03 1.40507023e+01] [ 5.35949844e-02 -1.23801779e-03 9.98561989e-01 4.77318319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62439141799999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:124.66, Y:14.06, Z:4.77 [[ 9.88001660e-01 -1.45066377e-01 -5.29949547e-02 1.24656829e+02] [ 1.44914932e-01 9.89421368e-01 -6.70970126e-03 1.40560469e+01] [ 5.34076926e-02 -1.05056425e-03 9.98572238e-01 4.77409127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65439141799999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:124.69, Y:14.06, Z:4.77 [[ 9.88766476e-01 -1.39988215e-01 -5.23846845e-02 1.24686760e+02] [ 1.39833214e-01 9.90152871e-01 -6.63052740e-03 1.40612171e+01] [ 5.27970415e-02 -7.69075610e-04 9.98604967e-01 4.77424069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68439141799999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:124.72, Y:14.07, Z:4.78 [[ 9.88996194e-01 -1.38372168e-01 -5.23418628e-02 1.24717264e+02] [ 1.38215165e-01 9.90380067e-01 -6.62500133e-03 1.40656645e+01] [ 5.27550534e-02 -6.82338077e-04 9.98607250e-01 4.77527570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71439141799999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:124.75, Y:14.07, Z:4.78 [[ 9.89174569e-01 -1.37315028e-01 -5.17518604e-02 1.24747434e+02] [ 1.37160149e-01 9.90527233e-01 -6.54938535e-03 1.40701080e+01] [ 5.21609561e-02 -6.19807463e-04 9.98638498e-01 4.77635625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74439141799999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:124.78, Y:14.07, Z:4.78 [[ 9.89287111e-01 -1.36604423e-01 -5.14805073e-02 1.24778887e+02] [ 1.36450213e-01 9.90625507e-01 -6.51486956e-03 1.40747428e+01] [ 5.18878637e-02 -5.79449719e-04 9.98652749e-01 4.77784236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:124.81, Y:14.08, Z:4.78 [[ 9.89365125e-01 -1.36344430e-01 -5.06640480e-02 1.24809880e+02] [ 1.36194836e-01 9.90661337e-01 -6.40955753e-03 1.40798179e+01] [ 5.10648210e-02 -5.58789025e-04 9.98695185e-01 4.77925763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:124.84, Y:14.08, Z:4.78 [[ 9.89334895e-01 -1.36849955e-01 -4.98854196e-02 1.24839761e+02] [ 1.36705664e-01 9.90591619e-01 -6.30914466e-03 1.40838611e+01] [ 5.02794848e-02 -5.77762444e-04 9.98735020e-01 4.78048028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:124.87, Y:14.09, Z:4.78 [[ 9.89247023e-01 -1.37492247e-01 -4.98619129e-02 1.24869539e+02] [ 1.37348958e-01 9.90502654e-01 -6.30518596e-03 1.40874475e+01] [ 5.02552713e-02 -6.11095331e-04 9.98736219e-01 4.78164830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.864391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:124.90, Y:14.09, Z:4.78 [[ 9.88995704e-01 -1.39592508e-01 -4.90043682e-02 1.24900502e+02] [ 1.39456731e-01 9.90208782e-01 -6.19577331e-03 1.40910383e+01] [ 4.93894393e-02 -7.06395799e-04 9.98779347e-01 4.78246628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.894391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:124.93, Y:14.09, Z:4.78 [[ 9.88899037e-01 -1.40557061e-01 -4.81913575e-02 1.24931817e+02] [ 1.40426993e-01 9.90072300e-01 -6.09102404e-03 1.40944641e+01] [ 4.85690646e-02 -7.43959599e-04 9.98819550e-01 4.78339094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.924391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:124.96, Y:14.10, Z:4.78 [[ 9.88758771e-01 -1.41648829e-01 -4.78717297e-02 1.24962744e+02] [ 1.41521858e-01 9.89916652e-01 -6.04859183e-03 1.40979024e+01] [ 4.82457983e-02 -7.94297906e-04 9.98835178e-01 4.78487990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95439141799999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:124.99, Y:14.10, Z:4.79 [[ 9.88668198e-01 -1.42606355e-01 -4.68894541e-02 1.24993407e+02] [ 1.42485918e-01 9.89779136e-01 -5.91814825e-03 1.41014064e+01] [ 4.72541690e-02 -8.30001967e-04 9.98882553e-01 4.78600694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98439141799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:125.03, Y:14.10, Z:4.79 [[ 9.88436557e-01 -1.44582354e-01 -4.57068427e-02 1.25025374e+02] [ 1.44470150e-01 9.89492358e-01 -5.76624123e-03 1.41045996e+01] [ 4.60602683e-02 -9.03710763e-04 9.98938254e-01 4.78682012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01439141799999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:125.06, Y:14.11, Z:4.79 [[ 9.88451295e-01 -1.44481414e-01 -4.57073102e-02 1.25057789e+02] [ 1.44369274e-01 9.89507103e-01 -5.76253291e-03 1.41086061e+01] [ 4.60602870e-02 -9.02748049e-04 9.98938254e-01 4.78837101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04439141799999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:125.09, Y:14.11, Z:4.79 [[ 9.88239001e-01 -1.45809463e-01 -4.60790295e-02 1.25088339e+02] [ 1.45697158e-01 9.89312208e-01 -5.80453801e-03 1.41121550e+01] [ 4.64329030e-02 -9.77312818e-04 9.98920933e-01 4.79087277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07439141799999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:125.12, Y:14.11, Z:4.79 [[ 9.88010476e-01 -1.47319959e-01 -4.61749751e-02 1.25120028e+02] [ 1.47208966e-01 9.89088328e-01 -5.81377988e-03 1.41146485e+01] [ 4.65276147e-02 -1.05329491e-03 9.98916449e-01 4.79161070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10439141799999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:125.15, Y:14.12, Z:4.79 [[ 9.87998248e-01 -1.47248179e-01 -4.66629903e-02 1.25151707e+02] [ 1.47134925e-01 9.89099004e-01 -5.87145687e-03 1.41175886e+01] [ 4.70188786e-02 -1.06476646e-03 9.98893433e-01 4.79276785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13439141799999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:125.18, Y:14.12, Z:4.79 [[ 9.88022818e-01 -1.47148029e-01 -4.64582468e-02 1.25183433e+02] [ 1.47035834e-01 9.89113914e-01 -5.84189259e-03 1.41207268e+01] [ 4.68121213e-02 -1.05910388e-03 9.98903150e-01 4.79388938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:125.21, Y:14.12, Z:4.80 [[ 9.88176459e-01 -1.45926249e-01 -4.70405721e-02 1.25214059e+02] [ 1.45810028e-01 9.89294948e-01 -5.91114473e-03 1.41234347e+01] [ 4.73995915e-02 -1.01773308e-03 9.98875489e-01 4.79524915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:125.25, Y:14.13, Z:4.80 [[ 9.88376486e-01 -1.44615728e-01 -4.68851167e-02 1.25245766e+02] [ 1.44498938e-01 9.89487433e-01 -5.88870254e-03 1.41268879e+01] [ 4.72438328e-02 -9.54594459e-04 9.98882931e-01 4.79641059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:125.28, Y:14.13, Z:4.80 [[ 9.88649955e-01 -1.42733735e-01 -4.68865275e-02 1.25277729e+02] [ 1.42615007e-01 9.89760742e-01 -5.88500453e-03 1.41303546e+01] [ 4.72464330e-02 -8.68512973e-04 9.98882886e-01 4.79741321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.254391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:125.31, Y:14.13, Z:4.80 [[ 9.88888064e-01 -1.40884626e-01 -4.74543863e-02 1.25309638e+02] [ 1.40761065e-01 9.90025703e-01 -5.95232345e-03 1.41339152e+01] [ 4.78196530e-02 -7.93548352e-04 9.98855671e-01 4.79892389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.284391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:125.34, Y:14.14, Z:4.80 [[ 9.89407215e-01 -1.37017466e-01 -4.79539071e-02 1.25341853e+02] [ 1.36886942e-01 9.90568439e-01 -6.01096885e-03 1.41369088e+01] [ 4.83252347e-02 -6.16967770e-04 9.98831463e-01 4.79933680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.314391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:125.37, Y:14.14, Z:4.80 [[ 9.89664819e-01 -1.35010203e-01 -4.83300222e-02 1.25372201e+02] [ 1.34875425e-01 9.90844068e-01 -6.05410694e-03 1.41405895e+01] [ 4.87048820e-02 -5.26995643e-04 9.98813074e-01 4.80088729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34439141799999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:125.40, Y:14.14, Z:4.80 [[ 9.90008474e-01 -1.32397972e-01 -4.85180312e-02 1.25402827e+02] [ 1.32259057e-01 9.91196558e-01 -6.07664774e-03 1.41441745e+01] [ 4.88954414e-02 -4.01016279e-04 9.98803822e-01 4.80173042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37439141799999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:125.43, Y:14.15, Z:4.80 [[ 9.90306028e-01 -1.30239867e-01 -4.82861145e-02 1.25433957e+02] [ 1.30099762e-01 9.91482471e-01 -6.04659901e-03 1.41482510e+01] [ 4.86623444e-02 -2.94028549e-04 9.98815243e-01 4.80395499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40439141799999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:125.47, Y:14.15, Z:4.81 [[ 9.91000773e-01 -1.24704135e-01 -4.86451057e-02 1.25465611e+02] [ 1.24555370e-01 9.92193972e-01 -6.08948804e-03 1.41516301e+01] [ 4.90247649e-02 -2.43217585e-05 9.98797563e-01 4.80506947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43439141799999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:125.49, Y:14.15, Z:4.81 [[ 9.91207884e-01 -1.22835278e-01 -4.91774781e-02 1.25494517e+02] [ 1.22681034e-01 9.92427070e-01 -6.15417604e-03 1.41549570e+01] [ 4.95610105e-02 6.69239299e-05 9.98771096e-01 4.80738319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46439141799999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:125.52, Y:14.16, Z:4.81 [[ 9.91654238e-01 -1.19205002e-01 -4.91125184e-02 1.25523547e+02] [ 1.19046663e-01 9.92869632e-01 -6.14706609e-03 1.41566456e+01] [ 4.94950891e-02 2.49082694e-04 9.98774336e-01 4.80869468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49439141799999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:125.55, Y:14.16, Z:4.81 [[ 9.91775699e-01 -1.18346278e-01 -4.87352163e-02 1.25553237e+02] [ 1.18189278e-01 9.92972343e-01 -6.10086457e-03 1.41589342e+01] [ 4.91147366e-02 2.90709192e-04 9.98793101e-01 4.80993593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:125.58, Y:14.16, Z:4.81 [[ 9.91844017e-01 -1.17887172e-01 -4.84567910e-02 1.25582140e+02] [ 1.17731316e-01 9.93026946e-01 -6.06803117e-03 1.41609660e+01] [ 4.88342423e-02 3.13658636e-04 9.98806847e-01 4.81112967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:125.61, Y:14.16, Z:4.81 [[ 9.91643620e-01 -1.19434982e-01 -4.87669581e-02 1.25612240e+02] [ 1.19278846e-01 9.92841995e-01 -6.10985181e-03 1.41619284e+01] [ 4.91476140e-02 2.41929075e-04 9.98791497e-01 4.81274705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:125.64, Y:14.16, Z:4.81 [[ 9.91432097e-01 -1.21046577e-01 -4.90930046e-02 1.25641658e+02] [ 1.20890219e-01 9.92646815e-01 -6.15272288e-03 1.41638973e+01] [ 4.94767807e-02 1.65142855e-04 9.98775260e-01 4.81405149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.614391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:125.67, Y:14.16, Z:4.82 [[ 9.90857251e-01 -1.25457035e-01 -4.96229869e-02 1.25670753e+02] [ 1.25302701e-01 9.92099052e-01 -6.22123680e-03 1.41628363e+01] [ 5.00114162e-02 -5.35366800e-05 9.98748645e-01 4.81506081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.644391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:125.70, Y:14.16, Z:4.82 [[ 9.90539368e-01 -1.27883561e-01 -4.97750475e-02 1.25700697e+02] [ 1.27731190e-01 9.91789173e-01 -6.24327223e-03 1.41637678e+01] [ 5.01647651e-02 -1.73619140e-04 9.98740940e-01 4.81625264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.674391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:125.73, Y:14.16, Z:4.82 [[ 9.90218597e-01 -1.30353008e-01 -4.97516171e-02 1.25729351e+02] [ 1.30203790e-01 9.91467602e-01 -6.24242316e-03 1.41642375e+01] [ 5.01408351e-02 -2.96485580e-04 9.98742113e-01 4.81738758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70439141799999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:125.76, Y:14.17, Z:4.82 [[ 9.89910826e-01 -1.32799088e-01 -4.94060513e-02 1.25759452e+02] [ 1.32654833e-01 9.91142891e-01 -6.20201414e-03 1.41652201e+01] [ 4.97920783e-02 -4.14510523e-04 9.98759519e-01 4.81880474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73439141799999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:125.79, Y:14.16, Z:4.82 [[ 9.89267001e-01 -1.37844845e-01 -4.84726577e-02 1.25788634e+02] [ 1.37711943e-01 9.90453619e-01 -6.08682207e-03 1.41643698e+01] [ 4.88489563e-02 -6.53771671e-04 9.98805963e-01 4.82094973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76439141799999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:125.82, Y:14.17, Z:4.82 [[ 9.88850586e-01 -1.40598996e-01 -4.90554968e-02 1.25817625e+02] [ 1.40466091e-01 9.90066305e-01 -6.16347572e-03 1.41662762e+01] [ 4.94347730e-02 -7.95877293e-04 9.98777037e-01 4.82295741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79439141799999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:125.85, Y:14.17, Z:4.82 [[ 9.88438546e-01 -1.43482855e-01 -4.90092985e-02 1.25846015e+02] [ 1.43353052e-01 9.89652370e-01 -6.17159996e-03 1.41680748e+01] [ 4.93876872e-02 -9.25385206e-04 9.98779255e-01 4.82435718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82439141799999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:125.87, Y:14.17, Z:4.83 [[ 9.87694031e-01 -1.48256107e-01 -4.98059068e-02 1.25873700e+02] [ 1.48127394e-01 9.88948310e-01 -6.28606295e-03 1.41666964e+01] [ 5.01874146e-02 -1.16891234e-03 9.98739134e-01 4.82562823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85439141799999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:125.90, Y:14.17, Z:4.83 [[ 9.87320241e-01 -1.50629901e-01 -5.00936582e-02 1.25901812e+02] [ 1.50502334e-01 9.88589385e-01 -6.33055790e-03 1.41676511e+01] [ 5.04756300e-02 -1.28892451e-03 9.98724461e-01 4.82696979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88439141799999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:125.93, Y:14.16, Z:4.83 [[ 9.86331736e-01 -1.54441504e-01 -5.74241165e-02 1.25929731e+02] [ 1.55828943e-01 9.87571371e-01 2.04970315e-02 1.41554055e+01] [ 5.35448211e-02 -2.91652121e-02 9.98139440e-01 4.82969918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:125.96, Y:14.18, Z:4.84 [[ 9.86368571e-01 -1.57832421e-01 -4.65399623e-02 1.25956439e+02] [ 1.56356049e-01 9.87120835e-01 -3.38414403e-02 1.41824512e+01] [ 5.12818429e-02 2.61033285e-02 9.98343022e-01 4.83648124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:125.99, Y:14.17, Z:4.83 [[ 9.86181743e-01 -1.57938573e-01 -5.00097632e-02 1.25986199e+02] [ 1.57818771e-01 9.87447610e-01 -6.36027219e-03 1.41717641e+01] [ 5.03865535e-02 -1.62009503e-03 9.98728477e-01 4.83158690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:126.02, Y:14.17, Z:4.83 [[ 9.85933292e-01 -1.59372996e-01 -5.03566384e-02 1.26015116e+02] [ 1.59253093e-01 9.87216977e-01 -6.41029578e-03 1.41745765e+01] [ 5.07345564e-02 -1.69932641e-03 9.98710727e-01 4.83326076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.004391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:126.04, Y:14.16, Z:4.84 [[ 9.85082950e-01 -1.61709261e-01 -5.88361828e-02 1.26042345e+02] [ 1.63248914e-01 9.86331823e-01 2.23456348e-02 1.41643093e+01] [ 5.44185034e-02 -3.16172468e-02 9.98017523e-01 4.83622264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.034391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:126.07, Y:14.19, Z:4.84 [[ 9.85276052e-01 -1.64126592e-01 -4.78911654e-02 1.26069481e+02] [ 1.62493733e-01 9.86044345e-01 -3.62261947e-02 1.41935815e+01] [ 5.31684947e-02 2.79107879e-02 9.98195421e-01 4.84256285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.064391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:126.10, Y:14.18, Z:4.84 [[ 9.85072408e-01 -1.63988804e-01 -5.23452271e-02 1.26099360e+02] [ 1.63863990e-01 9.86460211e-01 -6.69659384e-03 1.41825750e+01] [ 5.27346502e-02 -1.98086797e-03 9.98606596e-01 4.83706838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09439141799999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:126.13, Y:14.19, Z:4.84 [[ 9.84718056e-01 -1.65291140e-01 -5.48560826e-02 1.26126728e+02] [ 1.65155041e-01 9.86242515e-01 -7.03657650e-03 1.41850805e+01] [ 5.52644847e-02 -2.13071465e-03 9.98469477e-01 4.83727887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12439141799999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:126.15, Y:14.19, Z:4.84 [[ 9.84552173e-01 -1.66417318e-01 -5.44269778e-02 1.26153047e+02] [ 1.66284154e-01 9.86053046e-01 -6.99795210e-03 1.41887996e+01] [ 5.48324676e-02 -2.16049503e-03 9.98493231e-01 4.84002559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15439141799999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:126.18, Y:14.19, Z:4.84 [[ 9.84402930e-01 -1.67332225e-01 -5.43212396e-02 1.26180940e+02] [ 1.67200473e-01 9.85898116e-01 -6.99338714e-03 1.41927770e+01] [ 5.47254268e-02 -2.19822618e-03 9.98499021e-01 4.84118446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18439141799999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:126.21, Y:14.20, Z:4.84 [[ 9.84343340e-01 -1.67562132e-01 -5.46911322e-02 1.26207819e+02] [ 1.67428026e-01 9.85859041e-01 -7.05745167e-03 1.41965824e+01] [ 5.51003088e-02 -2.20987278e-03 9.98478379e-01 4.84290149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21439141799999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:126.24, Y:14.20, Z:4.84 [[ 9.84391164e-01 -1.67324696e-01 -5.45571495e-02 1.26235496e+02] [ 1.67190387e-01 9.85899429e-01 -7.04916246e-03 1.42015782e+01] [ 5.49673615e-02 -2.18229770e-03 9.98485767e-01 4.84481167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24439141799999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:126.26, Y:14.21, Z:4.85 [[ 9.84553706e-01 -1.66573181e-01 -5.39200788e-02 1.26261983e+02] [ 1.66439961e-01 9.86026861e-01 -6.98349067e-03 1.42061795e+01] [ 5.43299083e-02 -2.09883416e-03 9.98520834e-01 4.84618469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:126.29, Y:14.21, Z:4.85 [[ 9.84656043e-01 -1.65989650e-01 -5.38508387e-02 1.26289168e+02] [ 1.65855218e-01 9.86125361e-01 -6.98710001e-03 1.42111209e+01] [ 5.42634641e-02 -2.05155233e-03 9.98524545e-01 4.84767701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:126.32, Y:14.22, Z:4.85 [[ 9.84874804e-01 -1.64749228e-01 -5.36592167e-02 1.26315299e+02] [ 1.64613043e-01 9.86333539e-01 -6.97829485e-03 1.42157196e+01] [ 5.40755538e-02 -1.96026020e-03 9.98534923e-01 4.84880272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:126.34, Y:14.22, Z:4.85 [[ 9.85379446e-01 -1.61424821e-01 -5.44919771e-02 1.26341737e+02] [ 1.61278877e-01 9.86883375e-01 -7.09428685e-03 1.42223016e+01] [ 5.49224202e-02 -1.79784042e-03 9.98489006e-01 4.85006060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.364391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:126.37, Y:14.23, Z:4.85 [[ 9.85610584e-01 -1.59856008e-01 -5.49348022e-02 1.26369357e+02] [ 1.59704752e-01 9.87138852e-01 -7.16089098e-03 1.42279471e+01] [ 5.53729891e-02 -1.71549904e-03 9.98464265e-01 4.85139582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.394391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:126.40, Y:14.23, Z:4.85 [[ 9.86299597e-01 -1.55713895e-01 -5.44636332e-02 1.26396476e+02] [ 1.55557978e-01 9.87801129e-01 -7.11649464e-03 1.42347317e+01] [ 5.49073755e-02 -1.45325683e-03 9.98490395e-01 4.85276027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.424391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:126.42, Y:14.24, Z:4.85 [[ 9.86574415e-01 -1.54013290e-01 -5.43215385e-02 1.26423547e+02] [ 1.53854614e-01 9.88067872e-01 -7.11609830e-03 1.42397800e+01] [ 5.47693407e-02 -1.33705883e-03 9.98498138e-01 4.85421271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45439141799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:126.45, Y:14.24, Z:4.86 [[ 9.86815644e-01 -1.52559822e-01 -5.40405938e-02 1.26451071e+02] [ 1.52399630e-01 9.88293470e-01 -7.09720371e-03 1.42449513e+01] [ 5.44907141e-02 -1.23213485e-03 9.98513517e-01 4.85584888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48439141799999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:126.48, Y:14.25, Z:4.86 [[ 9.87292165e-01 -1.49909285e-01 -5.27388624e-02 1.26477743e+02] [ 1.49752089e-01 9.88699204e-01 -6.94227096e-03 1.42508173e+01] [ 5.31835822e-02 -1.04370507e-03 9.98584206e-01 4.85729738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51439141799999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:126.51, Y:14.26, Z:4.86 [[ 9.87344905e-01 -1.49578857e-01 -5.26896889e-02 1.26505137e+02] [ 1.49421028e-01 9.88749277e-01 -6.94434653e-03 1.42555270e+01] [ 5.31356192e-02 -1.01648233e-03 9.98586788e-01 4.85846922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54439141799999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:126.53, Y:14.26, Z:4.86 [[ 9.87371706e-01 -1.49388179e-01 -5.27284143e-02 1.26532816e+02] [ 1.49228939e-01 9.88778131e-01 -6.96649519e-03 1.42600530e+01] [ 5.31774149e-02 -9.90085045e-04 9.98584589e-01 4.85962755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57439141799999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:126.56, Y:14.27, Z:4.86 [[ 9.87445494e-01 -1.48955068e-01 -5.25717121e-02 1.26559354e+02] [ 1.48795295e-01 9.88843511e-01 -6.96208906e-03 1.42650338e+01] [ 5.30222348e-02 -9.47739920e-04 9.98592882e-01 4.86061877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60439141799999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:126.59, Y:14.27, Z:4.86 [[ 9.87432920e-01 -1.48956970e-01 -5.28019747e-02 1.26586987e+02] [ 1.48795130e-01 9.88843232e-01 -7.00508819e-03 1.42691527e+01] [ 5.32563321e-02 -9.39621988e-04 9.98580433e-01 4.86158939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63439141799999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:126.61, Y:14.27, Z:4.86 [[ 9.87411756e-01 -1.48838953e-01 -5.35256046e-02 1.26614812e+02] [ 1.48671552e-01 9.88861013e-01 -7.11809224e-03 1.42729975e+01] [ 5.39888330e-02 -9.29246741e-04 9.98541107e-01 4.86259989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:126.64, Y:14.28, Z:4.86 [[ 9.87513710e-01 -1.47985292e-01 -5.40095056e-02 1.26642349e+02] [ 1.47812641e-01 9.88989176e-01 -7.19951858e-03 1.42771512e+01] [ 5.44802393e-02 -8.73664359e-04 9.98514467e-01 4.86388521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:126.67, Y:14.28, Z:4.87 [[ 9.87562834e-01 -1.47727095e-01 -5.38177823e-02 1.26669576e+02] [ 1.47554368e-01 9.89027806e-01 -7.19084006e-03 1.42812376e+01] [ 5.42895651e-02 -8.39642476e-04 9.98524881e-01 4.86522121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:126.70, Y:14.29, Z:4.87 [[ 9.87704368e-01 -1.46801709e-01 -5.37525706e-02 1.26696622e+02] [ 1.46627162e-01 9.89165640e-01 -7.19811674e-03 1.42850594e+01] [ 5.42268917e-02 -7.71975544e-04 9.98528341e-01 4.86643176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.754391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:126.72, Y:14.29, Z:4.87 [[ 9.87916626e-01 -1.45766693e-01 -5.26574972e-02 1.26723872e+02] [ 1.45597288e-01 9.89318751e-01 -7.05960433e-03 1.42889883e+01] [ 5.31241046e-02 -6.92488285e-04 9.98587678e-01 4.86835237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.784391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:126.75, Y:14.29, Z:4.87 [[ 9.87988727e-01 -1.45490302e-01 -5.20657911e-02 1.26750462e+02] [ 1.45323495e-01 9.89359461e-01 -6.99561089e-03 1.42926449e+01] [ 5.25295765e-02 -6.54798025e-04 9.98619154e-01 4.86931281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.814391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:126.78, Y:14.30, Z:4.87 [[ 9.87956655e-01 -1.45691795e-01 -5.21109230e-02 1.26777748e+02] [ 1.45524560e-01 9.89329807e-01 -7.00962233e-03 1.42960528e+01] [ 5.25761338e-02 -6.58216120e-04 9.98616702e-01 4.87066332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84439141799999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:126.81, Y:14.30, Z:4.87 [[ 9.87894070e-01 -1.46308741e-01 -5.15660700e-02 1.26806222e+02] [ 1.46145012e-01 9.89238751e-01 -6.95197198e-03 1.42982969e+01] [ 5.20282889e-02 -6.68312000e-04 9.98645388e-01 4.87123521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87439141799999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:126.83, Y:14.31, Z:4.88 [[ 9.87675955e-01 -1.47477360e-01 -5.24083655e-02 1.26833006e+02] [ 1.46802033e-01 9.89027749e-01 -1.65310040e-02 1.43060105e+01] [ 5.42712766e-02 8.63362060e-03 9.98488903e-01 4.87522344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90439141799999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:126.86, Y:14.30, Z:4.87 [[ 9.87710495e-01 -1.47330985e-01 -5.21685639e-02 1.26862386e+02] [ 1.47655509e-01 9.89035938e-01 2.40101115e-03 1.43002644e+01] [ 5.12428412e-02 -1.00744798e-02 9.98635407e-01 4.87141573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93439141799999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:126.89, Y:14.31, Z:4.87 [[ 9.87680255e-01 -1.47972526e-01 -5.09101781e-02 1.26889815e+02] [ 1.47813263e-01 9.88991217e-01 -6.90014095e-03 1.43086734e+01] [ 5.13707503e-02 -7.10066581e-04 9.98679399e-01 4.87492832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96439141799999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:126.92, Y:14.31, Z:4.88 [[ 9.87600579e-01 -1.48515158e-01 -5.08757785e-02 1.26917608e+02] [ 1.48356282e-01 9.88909864e-01 -6.90613188e-03 1.43122366e+01] [ 5.13372244e-02 -7.27241506e-04 9.98681111e-01 4.87595532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99439141799999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:126.95, Y:14.32, Z:4.88 [[ 9.87548057e-01 -1.48752611e-01 -5.12005407e-02 1.26945554e+02] [ 1.48591166e-01 9.88874173e-01 -6.96668423e-03 1.43158241e+01] [ 5.16672048e-02 -7.28012542e-04 9.98664093e-01 4.87732416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:126.97, Y:14.32, Z:4.88 [[ 9.87619317e-01 -1.48429593e-01 -5.07616152e-02 1.26974557e+02] [ 1.48269663e-01 9.88922738e-01 -6.92286178e-03 1.43191997e+01] [ 5.12268730e-02 -6.89255573e-04 9.98686804e-01 4.87851278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:127.00, Y:14.32, Z:4.88 [[ 9.87823423e-01 -1.46907936e-01 -5.12146710e-02 1.27002047e+02] [ 1.46742362e-01 9.89149987e-01 -6.99877869e-03 1.43217227e+01] [ 5.16871672e-02 -6.01804285e-04 9.98663144e-01 4.88001543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:127.03, Y:14.32, Z:4.88 [[ 9.87953855e-01 -1.46047380e-01 -5.11599769e-02 1.27030269e+02] [ 1.45880690e-01 9.89277443e-01 -6.99743556e-03 1.43247426e+01] [ 5.16333683e-02 -5.50109321e-04 9.98665956e-01 4.88120928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.114391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:127.06, Y:14.33, Z:4.88 [[ 9.88116074e-01 -1.44792574e-01 -5.15920078e-02 1.27057522e+02] [ 1.44620513e-01 9.89461918e-01 -7.07251358e-03 1.43277274e+01] [ 5.20723744e-02 -4.72798266e-04 9.98643202e-01 4.88250356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.144391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:127.08, Y:14.33, Z:4.88 [[ 9.88430377e-01 -1.42427848e-01 -5.21507237e-02 1.27084271e+02] [ 1.42248359e-01 9.89805127e-01 -7.15645716e-03 1.43301679e+01] [ 5.26383325e-02 -3.44695242e-04 9.98613582e-01 4.88381454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.174391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:127.11, Y:14.33, Z:4.89 [[ 9.88506298e-01 -1.41635913e-01 -5.28636624e-02 1.27112821e+02] [ 1.41388253e-01 9.89918460e-01 -8.41459829e-03 1.43340960e+01] [ 5.35225245e-02 8.43582539e-04 9.98566286e-01 4.88550827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20439141799999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:127.14, Y:14.34, Z:4.89 [[ 9.88583009e-01 -1.40986409e-01 -5.31645278e-02 1.27140096e+02] [ 1.40860077e-01 9.90010507e-01 -6.13469122e-03 1.43357733e+01] [ 5.34983492e-02 -1.42410797e-03 9.98566922e-01 4.88588356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23439141799999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:127.17, Y:14.34, Z:4.89 [[ 9.88638631e-01 -1.40621398e-01 -5.30968918e-02 1.27168159e+02] [ 1.40431085e-01 9.90063419e-01 -7.31694515e-03 1.43392107e+01] [ 5.35982092e-02 -2.22639459e-04 9.98562558e-01 4.88725719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26439141799999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:127.20, Y:14.34, Z:4.89 [[ 9.88682461e-01 -1.40074364e-01 -5.37230342e-02 1.27195905e+02] [ 1.39877825e-01 9.90140970e-01 -7.41980669e-03 1.43406644e+01] [ 5.42327019e-02 -1.78828440e-04 9.98528308e-01 4.88825639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29439141799999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:127.22, Y:14.34, Z:4.89 [[ 9.88677259e-01 -1.40173986e-01 -5.35586655e-02 1.27222762e+02] [ 1.39977941e-01 9.90126873e-01 -7.41288004e-03 1.43435393e+01] [ 5.40689670e-02 -1.68085782e-04 9.98537189e-01 4.88948571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32439141799999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:127.25, Y:14.35, Z:4.89 [[ 9.88578593e-01 -1.41015133e-01 -5.31704633e-02 1.27250367e+02] [ 1.40822683e-01 9.90007419e-01 -7.36757863e-03 1.43456306e+01] [ 5.36780933e-02 -2.04176810e-04 9.98558271e-01 4.89135961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35439141799999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:127.28, Y:14.35, Z:4.89 [[ 9.88413760e-01 -1.42153369e-01 -5.32039331e-02 1.27277590e+02] [ 1.41961384e-01 9.89844613e-01 -7.38971370e-03 1.43486304e+01] [ 5.37140993e-02 -2.48809270e-04 9.98556325e-01 4.89290185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38439141799999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:127.30, Y:14.35, Z:4.89 [[ 9.88201653e-01 -1.43664800e-01 -5.30840594e-02 1.27304714e+02] [ 1.43474981e-01 9.89626357e-01 -7.38940464e-03 1.43512946e+01] [ 5.35949817e-02 -3.14012514e-04 9.98562707e-01 4.89459963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:127.33, Y:14.35, Z:4.90 [[ 9.87570144e-01 -1.48211990e-01 -5.23298840e-02 1.27332546e+02] [ 1.48033462e-01 9.88955464e-01 -7.29277403e-03 1.43515517e+01] [ 5.28328012e-02 -5.44447980e-04 9.98603224e-01 4.89551903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:127.36, Y:14.35, Z:4.90 [[ 9.87135692e-01 -1.51137775e-01 -5.21583949e-02 1.27360874e+02] [ 1.50963601e-01 9.88512472e-01 -7.28583731e-03 1.43534215e+01] [ 5.26603892e-02 -6.81909053e-04 9.98612246e-01 4.89689179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:127.39, Y:14.36, Z:4.90 [[ 9.86648141e-01 -1.54456607e-01 -5.16585108e-02 1.27387723e+02] [ 1.54289470e-01 9.87999220e-01 -7.23188502e-03 1.43554238e+01] [ 5.21555808e-02 -8.35038346e-04 9.98638622e-01 4.89854417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.504391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:127.41, Y:14.36, Z:4.90 [[ 9.86116342e-01 -1.57990999e-01 -5.11214627e-02 1.27414227e+02] [ 1.57831673e-01 9.87440042e-01 -7.16423523e-03 1.43578339e+01] [ 5.16112639e-02 -1.00381655e-03 9.98666746e-01 4.89970126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.534391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:127.44, Y:14.36, Z:4.90 [[ 9.84927317e-01 -1.65068844e-01 -5.16764650e-02 1.27441921e+02] [ 1.64915104e-01 9.86281086e-01 -7.25451397e-03 1.43592328e+01] [ 5.21650142e-02 -1.37706061e-03 9.98637529e-01 4.90082414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.564391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:127.47, Y:14.36, Z:4.90 [[ 9.84345945e-01 -1.68387305e-01 -5.20459127e-02 1.27469142e+02] [ 1.68235137e-01 9.85719696e-01 -7.32254259e-03 1.43615095e+01] [ 5.25357045e-02 -1.54803615e-03 9.98617846e-01 4.90158104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59439141799999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:127.50, Y:14.36, Z:4.90 [[ 9.83714946e-01 -1.71880319e-01 -5.25553104e-02 1.27496927e+02] [ 1.71729677e-01 9.85116296e-01 -7.40273024e-03 1.43641848e+01] [ 5.30454763e-02 -1.74313011e-03 9.98590576e-01 4.90275072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62439141799999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:127.52, Y:14.37, Z:4.90 [[ 9.82733240e-01 -1.77233939e-01 -5.31367086e-02 1.27523843e+02] [ 1.77086839e-01 9.84166642e-01 -7.50154528e-03 1.43663181e+01] [ 5.36249045e-02 -2.03779385e-03 9.98559070e-01 4.90405606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65439141799999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:127.55, Y:14.37, Z:4.91 [[ 9.82401345e-01 -1.78980856e-01 -5.34176989e-02 1.27551735e+02] [ 1.78834064e-01 9.83850248e-01 -7.55431854e-03 1.43695604e+01] [ 5.39070947e-02 -2.13153148e-03 9.98543680e-01 4.90542858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68439141799999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:127.58, Y:14.37, Z:4.91 [[ 9.82074730e-01 -1.81054622e-01 -5.24256483e-02 1.27579240e+02] [ 1.80915303e-01 9.83470610e-01 -7.43054581e-03 1.43731402e+01] [ 5.29044190e-02 -2.18725081e-03 9.98597185e-01 4.90717027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71439141799999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:127.61, Y:14.38, Z:4.91 [[ 9.82119037e-01 -1.80872567e-01 -5.22236771e-02 1.27606074e+02] [ 1.80733211e-01 9.83504183e-01 -7.41808310e-03 1.43770684e+01] [ 5.27039327e-02 -2.15311222e-03 9.98607861e-01 4.90889459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74439141799999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:127.63, Y:14.38, Z:4.91 [[ 9.82339872e-01 -1.79854441e-01 -5.15825092e-02 1.27633768e+02] [ 1.79716662e-01 9.83691068e-01 -7.33511670e-03 1.43818090e+01] [ 5.20605069e-02 -2.06465878e-03 9.98641798e-01 4.91037553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:127.66, Y:14.39, Z:4.91 [[ 9.82532859e-01 -1.78853286e-01 -5.13875853e-02 1.27661841e+02] [ 1.78714314e-01 9.83873748e-01 -7.32408016e-03 1.43858783e+01] [ 5.18688320e-02 -1.98754765e-03 9.98651928e-01 4.91157349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:127.69, Y:14.39, Z:4.91 [[ 9.82673572e-01 -1.78021907e-01 -5.15834353e-02 1.27688983e+02] [ 1.77879825e-01 9.84024624e-01 -7.36935726e-03 1.43905474e+01] [ 5.20712776e-02 -1.93397983e-03 9.98641498e-01 4.91298652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:127.72, Y:14.40, Z:4.91 [[ 9.83025103e-01 -1.76070242e-01 -5.15840713e-02 1.27715868e+02] [ 1.75924567e-01 9.84375935e-01 -7.38685699e-03 1.43963459e+01] [ 5.20787242e-02 -1.81343953e-03 9.98641336e-01 4.91342631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.864391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:127.74, Y:14.40, Z:4.91 [[ 9.82970197e-01 -1.76377231e-01 -5.15816242e-02 1.27743950e+02] [ 1.76231084e-01 9.84320978e-01 -7.40390768e-03 1.44005182e+01] [ 5.20787555e-02 -1.81246493e-03 9.98641336e-01 4.91477820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.894391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:127.77, Y:14.41, Z:4.92 [[ 9.83133015e-01 -1.75140629e-01 -5.26805037e-02 1.27769989e+02] [ 1.74985556e-01 9.84541839e-01 -7.57774452e-03 1.44061944e+01] [ 5.31933310e-02 -1.76839641e-03 9.98582667e-01 4.91589020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.924391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:127.80, Y:14.41, Z:4.92 [[ 9.83102619e-01 -1.75079242e-01 -5.34462318e-02 1.27797644e+02] [ 1.74919044e-01 9.84552733e-01 -7.69700445e-03 1.44111566e+01] [ 5.39682193e-02 -1.78181853e-03 9.98541064e-01 4.91705192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95439141799999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:127.82, Y:14.42, Z:4.92 [[ 9.82998047e-01 -1.75531179e-01 -5.38854858e-02 1.27824725e+02] [ 1.75368045e-01 9.84472219e-01 -7.77805304e-03 1.44163638e+01] [ 5.44140546e-02 -1.80398135e-03 9.98516828e-01 4.91821557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98439141799999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:127.85, Y:14.42, Z:4.92 [[ 9.82731693e-01 -1.76945682e-01 -5.41169618e-02 1.27851919e+02] [ 1.76782290e-01 9.84218837e-01 -7.82959702e-03 1.44225129e+01] [ 5.46483466e-02 -1.87252732e-03 9.98503907e-01 4.91995114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.014391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:127.88, Y:14.43, Z:4.92 [[ 9.82373294e-01 -1.78970167e-01 -5.39665706e-02 1.27878180e+02] [ 1.78809810e-01 9.83852543e-01 -7.82469717e-03 1.44288578e+01] [ 5.44955350e-02 -1.96297868e-03 9.98512085e-01 4.92160712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.044391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:127.91, Y:14.43, Z:4.92 [[ 9.82115568e-01 -1.80350561e-01 -5.40618740e-02 1.27905245e+02] [ 1.80191215e-01 9.83600294e-01 -7.84779731e-03 1.44342110e+01] [ 5.45906298e-02 -2.03403087e-03 9.98506748e-01 4.92333651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.074391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:127.93, Y:14.44, Z:4.92 [[ 9.81943722e-01 -1.81390344e-01 -5.37035442e-02 1.27931654e+02] [ 1.81233746e-01 9.83409016e-01 -7.81254231e-03 1.44393305e+01] [ 5.42296693e-02 -2.06141760e-03 9.98526361e-01 4.92464528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.104391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:127.96, Y:14.45, Z:4.93 [[ 9.81717668e-01 -1.82720121e-01 -5.33270831e-02 1.27959046e+02] [ 1.82567187e-01 9.83162703e-01 -7.76670043e-03 1.44463593e+01] [ 5.38483316e-02 -2.11106851e-03 9.98546895e-01 4.92578714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.134391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:127.99, Y:14.45, Z:4.93 [[ 9.81726837e-01 -1.82831502e-01 -5.27736603e-02 1.27986010e+02] [ 1.82680967e-01 9.83142067e-01 -7.70332770e-03 1.44517182e+01] [ 5.32924165e-02 -2.07817975e-03 9.98576787e-01 4.92675260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:128.01, Y:14.46, Z:4.93 [[ 9.81848008e-01 -1.82347988e-01 -5.21890780e-02 1.28012496e+02] [ 1.82199242e-01 9.83231996e-01 -7.63403294e-03 1.44571824e+01] [ 5.27060219e-02 -2.01335043e-03 9.98608042e-01 4.92780879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:128.04, Y:14.46, Z:4.93 [[ 9.81977525e-01 -1.81760202e-01 -5.18012444e-02 1.28039637e+02] [ 1.81612412e-01 9.83340934e-01 -7.58552933e-03 1.44630282e+01] [ 5.23170313e-02 -1.95892961e-03 9.98628605e-01 4.92889020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:128.07, Y:14.47, Z:4.93 [[ 9.82374622e-01 -1.79620825e-01 -5.17345230e-02 1.28066311e+02] [ 1.79469568e-01 9.83734225e-01 -7.59268588e-03 1.44712033e+01] [ 5.22568254e-02 -1.82591059e-03 9.98632009e-01 4.92989909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:128.09, Y:14.48, Z:4.93 [[ 9.82605370e-01 -1.78295553e-01 -5.19363262e-02 1.28093708e+02] [ 1.78140426e-01 9.83975429e-01 -7.63827415e-03 1.44772487e+01] [ 5.24659392e-02 -1.74655007e-03 9.98621187e-01 4.93101399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:128.12, Y:14.48, Z:4.93 [[ 9.83063183e-01 -1.75735607e-01 -5.19978420e-02 1.28120786e+02] [ 1.75576259e-01 9.84436090e-01 -7.65259295e-03 1.44849177e+01] [ 5.25333853e-02 -1.60660418e-03 9.98617876e-01 4.93177151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:128.15, Y:14.49, Z:4.93 [[ 9.83285667e-01 -1.74477608e-01 -5.20275027e-02 1.28150122e+02] [ 1.74316060e-01 9.84659945e-01 -7.66188496e-03 1.44909974e+01] [ 5.25662253e-02 -1.53540763e-03 9.98616260e-01 4.93299977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34439141800001 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:128.18, Y:14.50, Z:4.93 [[ 9.83453344e-01 -1.73518166e-01 -5.20669352e-02 1.28178228e+02] [ 1.73354851e-01 9.84829554e-01 -7.67108346e-03 1.44967894e+01] [ 5.26081289e-02 -1.48190314e-03 9.98614134e-01 4.93410944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37439141800002 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:128.21, Y:14.50, Z:4.93 [[ 9.84004544e-01 -1.70151636e-01 -5.27586682e-02 1.28207425e+02] [ 1.69978377e-01 9.85417027e-01 -7.78686229e-03 1.45034052e+01] [ 5.33142373e-02 -1.30552489e-03 9.98576931e-01 4.93497473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40439141800002 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:128.24, Y:14.51, Z:4.94 [[ 9.84232406e-01 -1.69191140e-01 -5.15841920e-02 1.28236224e+02] [ 1.69024083e-01 9.85582498e-01 -7.61565140e-03 1.45097685e+01] [ 5.21289776e-02 -1.22339985e-03 9.98639611e-01 4.93705440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43439141800002 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:128.26, Y:14.52, Z:4.94 [[ 9.84457103e-01 -1.67737249e-01 -5.20425520e-02 1.28263187e+02] [ 1.67443768e-01 9.85831112e-01 -9.98014022e-03 1.45169271e+01] [ 5.29792082e-02 1.11081894e-03 9.98594998e-01 4.93892575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46439141800002 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:128.29, Y:14.52, Z:4.94 [[ 9.84668241e-01 -1.66038010e-01 -5.34774284e-02 1.28290970e+02] [ 1.65703124e-01 9.86117986e-01 -1.06673853e-02 1.45229989e+01] [ 5.45062454e-02 1.64245860e-03 9.98512079e-01 4.94054080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49439141800002 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:128.32, Y:14.53, Z:4.94 [[ 9.85033783e-01 -1.63636005e-01 -5.41452198e-02 1.28319254e+02] [ 1.63703337e-01 9.86504360e-01 -3.21939172e-03 1.45265319e+01] [ 5.39413038e-02 -5.69254359e-03 9.98527882e-01 4.93916619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.524391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:128.35, Y:14.53, Z:4.94 [[ 9.85197016e-01 -1.62741770e-01 -5.38698053e-02 1.28347815e+02] [ 1.62547572e-01 9.86668305e-01 -7.99638487e-03 1.45341605e+01] [ 5.44529753e-02 -8.78391513e-04 9.98515950e-01 4.94184816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.554391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:128.38, Y:14.54, Z:4.94 [[ 9.85460216e-01 -1.61289173e-01 -5.34225083e-02 1.28375321e+02] [ 1.61095929e-01 9.86906875e-01 -7.93232934e-03 1.45407230e+01] [ 5.40024396e-02 -7.89153610e-04 9.98540492e-01 4.94340179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:128.40, Y:14.55, Z:4.95 [[ 9.85515349e-01 -1.61040095e-01 -5.31562271e-02 1.28404084e+02] [ 1.60848242e-01 9.86947566e-01 -7.89594326e-03 1.45462183e+01] [ 5.37339724e-02 -7.68512405e-04 9.98554991e-01 4.94500035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.614391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:128.43, Y:14.55, Z:4.95 [[ 9.85471482e-01 -1.61358271e-01 -5.30044012e-02 1.28433088e+02] [ 1.61167856e-01 9.86895586e-01 -7.87556395e-03 1.45518913e+01] [ 5.35805970e-02 -7.81462008e-04 9.98563222e-01 4.94659226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:128.46, Y:14.56, Z:4.95 [[ 9.85422816e-01 -1.61676259e-01 -5.29401587e-02 1.28463161e+02] [ 1.61486661e-01 9.86843531e-01 -7.86793439e-03 1.45570507e+01] [ 5.35157113e-02 -7.95887405e-04 9.98566690e-01 4.94811032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.674391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:128.49, Y:14.56, Z:4.95 [[ 9.85127618e-01 -1.63741199e-01 -5.20806614e-02 1.28492895e+02] [ 1.63560581e-01 9.86502926e-01 -7.74040556e-03 1.45616607e+01] [ 5.26451481e-02 -8.93055965e-04 9.98612883e-01 4.94935357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:128.52, Y:14.57, Z:4.95 [[ 9.84907178e-01 -1.65210108e-01 -5.16088276e-02 1.28521991e+02] [ 1.65034660e-01 9.86257926e-01 -7.67228352e-03 1.45657028e+01] [ 5.21671540e-02 -9.60758180e-04 9.98637905e-01 4.95080449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.734391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:128.55, Y:14.57, Z:4.95 [[ 9.84423711e-01 -1.67886597e-01 -5.21924104e-02 1.28548454e+02] [ 1.67660078e-01 9.85806301e-01 -8.71984692e-03 1.45696175e+01] [ 5.29155524e-02 -1.66559499e-04 9.98598977e-01 4.95286574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:128.58, Y:14.57, Z:4.95 [[ 9.84171547e-01 -1.69012374e-01 -5.33027582e-02 1.28577551e+02] [ 1.68876688e-01 9.85611815e-01 -7.07208034e-03 1.45730354e+01] [ 5.37310973e-02 -2.04145300e-03 9.98553354e-01 4.95333088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.794391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:128.61, Y:14.58, Z:4.96 [[ 9.83983819e-01 -1.70484985e-01 -5.20645253e-02 1.28607062e+02] [ 1.70312505e-01 9.85359510e-01 -7.76444565e-03 1.45783511e+01] [ 5.26259966e-02 -1.22715085e-03 9.98613538e-01 4.95550259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.824391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:128.64, Y:14.58, Z:4.96 [[ 9.83843640e-01 -1.71261663e-01 -5.21645071e-02 1.28636085e+02] [ 1.71089501e-01 9.85224762e-01 -7.78142169e-03 1.45828533e+01] [ 5.27264233e-02 -1.26909723e-03 9.98608188e-01 4.95730719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.854391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:128.66, Y:14.59, Z:4.96 [[ 9.83800812e-01 -1.71507654e-01 -5.21640434e-02 1.28664972e+02] [ 1.71335672e-01 9.85181957e-01 -7.78452840e-03 1.45872760e+01] [ 5.27261805e-02 -1.27913607e-03 9.98608188e-01 4.95869722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.884391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:128.70, Y:14.59, Z:4.96 [[ 9.83869389e-01 -1.71425180e-01 -5.11315343e-02 1.28695108e+02] [ 1.71105521e-01 9.85195713e-01 -1.05975294e-02 1.45928826e+01] [ 5.21912518e-02 1.67769694e-03 9.98635699e-01 4.96050371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:128.73, Y:14.59, Z:4.96 [[ 9.83920270e-01 -1.70668504e-01 -5.26608472e-02 1.28725377e+02] [ 1.70642442e-01 9.85320210e-01 -5.02400703e-03 1.45938182e+01] [ 5.27452368e-02 -4.04295322e-03 9.98599817e-01 4.96064610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:128.75, Y:14.60, Z:4.96 [[ 9.84080869e-01 -1.69804119e-01 -5.24538387e-02 1.28752609e+02] [ 1.69627227e-01 9.85477123e-01 -7.83860619e-03 1.45986503e+01] [ 5.30230857e-02 -1.18377684e-03 9.98592585e-01 4.96265657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:128.78, Y:14.60, Z:4.96 [[ 9.84594194e-01 -1.66536201e-01 -5.32913377e-02 1.28779599e+02] [ 1.66348551e-01 9.86034815e-01 -7.96892077e-03 1.46027509e+01] [ 5.38742281e-02 -1.01878369e-03 9.98547210e-01 4.96433157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:128.81, Y:14.61, Z:4.97 [[ 9.84940324e-01 -1.64414238e-01 -5.34837898e-02 1.28807020e+02] [ 1.64221755e-01 9.86390972e-01 -8.00413214e-03 1.46071926e+01] [ 5.40719207e-02 -8.99609327e-04 9.98536638e-01 4.96542708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:128.84, Y:14.61, Z:4.97 [[ 9.85371046e-01 -1.61763987e-01 -5.36312756e-02 1.28837515e+02] [ 1.61565743e-01 9.86829196e-01 -8.04045894e-03 1.46121057e+01] [ 5.42255653e-02 -7.42141424e-04 9.98528436e-01 4.96697928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:128.87, Y:14.62, Z:4.97 [[ 9.86269940e-01 -1.56051975e-01 -5.40313473e-02 1.28866371e+02] [ 1.55842188e-01 9.87748751e-01 -8.10043551e-03 1.46168862e+01] [ 5.46334848e-02 -4.31147356e-04 9.98506383e-01 4.96844443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09439141800001 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:128.90, Y:14.62, Z:4.97 [[ 9.86706374e-01 -1.53315098e-01 -5.38981646e-02 1.28895456e+02] [ 1.53102249e-01 9.88177314e-01 -8.08073668e-03 1.46210214e+01] [ 5.44998424e-02 -2.78615801e-04 9.98513740e-01 4.96951446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12439141800002 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:128.92, Y:14.63, Z:4.97 [[ 9.87404948e-01 -1.48797684e-01 -5.37654058e-02 1.28923730e+02] [ 1.48579058e-01 9.88867660e-01 -8.06317887e-03 1.46251787e+01] [ 5.43666533e-02 -2.67906566e-05 9.98521039e-01 4.97109453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15439141800002 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:128.95, Y:14.63, Z:4.97 [[ 9.87673670e-01 -1.47012045e-01 -5.37417934e-02 1.28951764e+02] [ 1.46790708e-01 9.89134699e-01 -8.06443685e-03 1.46295399e+01] [ 5.43434420e-02 7.62360250e-05 9.98522300e-01 4.97260498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18439141800002 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:128.98, Y:14.63, Z:4.97 [[ 9.87822181e-01 -1.45768231e-01 -5.43963316e-02 1.28980513e+02] [ 1.45538720e-01 9.89318754e-01 -8.17827824e-03 1.46338379e+01] [ 5.50074441e-02 1.61912183e-04 9.98485931e-01 4.97449505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21439141800002 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:129.01, Y:14.64, Z:4.98 [[ 9.88080987e-01 -1.43954944e-01 -5.45246437e-02 1.29008263e+02] [ 1.43720718e-01 9.89584204e-01 -8.21335743e-03 1.46369401e+01] [ 5.51390796e-02 2.79141389e-04 9.98478645e-01 4.97588060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24439141800002 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:129.04, Y:14.64, Z:4.98 [[ 9.88144803e-01 -1.43514679e-01 -5.45287592e-02 1.29035029e+02] [ 1.43278853e-01 9.89648137e-01 -8.23017229e-03 1.46403151e+01] [ 5.51454355e-02 3.19783920e-04 9.98478282e-01 4.97721585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.274391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:129.06, Y:14.64, Z:4.98 [[ 9.88154127e-01 -1.43623638e-01 -5.40709830e-02 1.29062850e+02] [ 1.43391438e-01 9.89632330e-01 -8.16989566e-03 1.46420029e+01] [ 5.46837830e-02 3.19800102e-04 9.98503671e-01 4.97860045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.304391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:129.09, Y:14.64, Z:4.98 [[ 9.88075059e-01 -1.44225259e-01 -5.39143131e-02 1.29090412e+02] [ 1.43994335e-01 9.89544836e-01 -8.16387597e-03 1.46442933e+01] [ 5.45280672e-02 3.03166584e-04 9.98512192e-01 4.97940440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.334391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:129.12, Y:14.65, Z:4.98 [[ 9.87869375e-01 -1.45489043e-01 -5.42866112e-02 1.29117892e+02] [ 1.45255915e-01 9.89359831e-01 -8.23673930e-03 1.46450830e+01] [ 5.49073478e-02 2.51371099e-04 9.98491422e-01 4.98028442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:129.15, Y:14.65, Z:4.98 [[ 9.87668306e-01 -1.46678217e-01 -5.47431965e-02 1.29145620e+02] [ 1.46442462e-01 9.89184241e-01 -8.31523252e-03 1.46481240e+01] [ 5.53707707e-02 1.95963169e-04 9.98465843e-01 4.98165902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.394391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:129.17, Y:14.65, Z:4.98 [[ 9.87457351e-01 -1.47913028e-01 -5.52242344e-02 1.29173363e+02] [ 1.47674030e-01 9.89000361e-01 -8.40630544e-03 1.46508411e+01] [ 5.58601899e-02 1.45682861e-04 9.98438590e-01 4.98308528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:129.20, Y:14.65, Z:4.98 [[ 9.87220974e-01 -1.49328891e-01 -5.56383905e-02 1.29201143e+02] [ 1.49087507e-01 9.88787578e-01 -8.48763585e-03 1.46534070e+01] [ 5.62819986e-02 8.41832105e-05 9.98414909e-01 4.98423650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.454391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:129.23, Y:14.66, Z:4.99 [[ 9.87003409e-01 -1.50719840e-01 -5.57476446e-02 1.29228122e+02] [ 1.50478716e-01 9.88576517e-01 -8.52213379e-03 1.46555895e+01] [ 5.63952669e-02 2.25411143e-05 9.98408520e-01 4.98547505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:129.26, Y:14.66, Z:4.99 [[ 9.86746471e-01 -1.52725181e-01 -5.48308390e-02 1.29256310e+02] [ 1.52494331e-01 9.88268695e-01 -8.39439965e-03 1.46555332e+01] [ 5.54696379e-02 -7.82478999e-05 9.98460371e-01 4.98678071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.514391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:129.28, Y:14.66, Z:4.99 [[ 9.86570902e-01 -1.53983806e-01 -5.44687325e-02 1.29283618e+02] [ 1.53757235e-01 9.88073362e-01 -8.35126480e-03 1.46574800e+01] [ 5.51050632e-02 -1.35846847e-04 9.98480552e-01 4.98826699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.544391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:129.31, Y:14.66, Z:4.99 [[ 9.86388668e-01 -1.55337789e-01 -5.39218619e-02 1.29311701e+02] [ 1.55117002e-01 9.87861394e-01 -8.28145427e-03 1.46598565e+01] [ 5.45537485e-02 -1.95464922e-04 9.98510816e-01 4.98965649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.574391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:129.34, Y:14.66, Z:4.99 [[ 9.86106678e-01 -1.57549810e-01 -5.26467272e-02 1.29338802e+02] [ 1.57341585e-01 9.87510998e-01 -8.10273501e-03 1.46601357e+01] [ 5.32658065e-02 -2.93358412e-04 9.98580326e-01 4.99165962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.604391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:129.37, Y:14.66, Z:4.99 [[ 9.85816847e-01 -1.59446638e-01 -5.23632798e-02 1.29366322e+02] [ 1.59242848e-01 9.87206474e-01 -8.06806743e-03 1.46625273e+01] [ 5.29797951e-02 -3.84841024e-04 9.98595510e-01 4.99276136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.634391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:129.40, Y:14.66, Z:4.99 [[ 9.85146454e-01 -1.63527389e-01 -5.23952016e-02 1.29395027e+02] [ 1.63328177e-01 9.86538620e-01 -8.09063341e-03 1.46620452e+01] [ 5.30129301e-02 -5.87153940e-04 9.98593653e-01 4.99398228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:129.42, Y:14.66, Z:4.99 [[ 9.84687656e-01 -1.66078057e-01 -5.29933827e-02 1.29423410e+02] [ 1.65876916e-01 9.86112351e-01 -8.20239105e-03 1.46637384e+01] [ 5.36196664e-02 -7.13585650e-04 9.98561176e-01 4.99481579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:129.45, Y:14.67, Z:5.00 [[ 9.84182818e-01 -1.68927200e-01 -5.33646160e-02 1.29450815e+02] [ 1.68726427e-01 9.85628159e-01 -8.27803933e-03 1.46652650e+01] [ 5.39960542e-02 -8.56916912e-04 9.98540781e-01 4.99568484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:129.48, Y:14.66, Z:5.00 [[ 9.82974463e-01 -1.75361941e-01 -5.48579555e-02 1.29478062e+02] [ 1.75159280e-01 9.84503257e-01 -8.51841438e-03 1.46645630e+01] [ 5.55016416e-02 -1.23549620e-03 9.98457832e-01 4.99666709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:129.51, Y:14.67, Z:5.00 [[ 9.82358709e-01 -1.78699899e-01 -5.51154564e-02 1.29505687e+02] [ 1.78500046e-01 9.83902600e-01 -8.56784363e-03 1.46667331e+01] [ 5.57593136e-02 -1.42141567e-03 9.98443227e-01 4.99792484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:129.53, Y:14.67, Z:5.00 [[ 9.81221829e-01 -1.84875965e-01 -5.49963640e-02 1.29534093e+02] [ 1.84685636e-01 9.82760303e-01 -8.56752581e-03 1.46670856e+01] [ 5.56321730e-02 -1.75039510e-03 9.98449797e-01 4.99937039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814391418 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:129.56, Y:14.67, Z:5.00 [[ 9.80747886e-01 -1.87473272e-01 -5.46567143e-02 1.29560907e+02] [ 1.87288323e-01 9.82267928e-01 -8.53244571e-03 1.46692284e+01] [ 5.52871430e-02 -1.86838627e-03 9.98468748e-01 5.00110886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84439141800001 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:129.59, Y:14.67, Z:5.00 [[ 9.80349780e-01 -1.89688747e-01 -5.41524444e-02 1.29588411e+02] [ 1.89510067e-01 9.81842306e-01 -8.46284974e-03 1.46714786e+01] [ 5.47744683e-02 -1.96588050e-03 9.98496817e-01 5.00255992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87439141800002 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:129.62, Y:14.67, Z:5.00 [[ 9.79977713e-01 -1.91703064e-01 -5.37923496e-02 1.29616206e+02] [ 1.91528816e-01 9.81450836e-01 -8.42427870e-03 1.46740129e+01] [ 5.44095066e-02 -2.04717963e-03 9.98516607e-01 5.00408626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90439141800002 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:129.64, Y:14.68, Z:5.01 [[ 9.79272153e-01 -1.95232687e-01 -5.39467158e-02 1.29643421e+02] [ 1.95061798e-01 9.80754412e-01 -8.46634956e-03 1.46752403e+01] [ 5.45613877e-02 -2.23208302e-03 9.98507923e-01 5.00527041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93439141800002 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:129.67, Y:14.68, Z:5.01 [[ 9.79005741e-01 -1.96490960e-01 -5.42131077e-02 1.29669799e+02] [ 1.96319320e-01 9.80502948e-01 -8.52605566e-03 1.46782387e+01] [ 5.48314048e-02 -2.29602298e-03 9.98492987e-01 5.00641472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96439141800002 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:129.70, Y:14.68, Z:5.01 [[ 9.78643511e-01 -1.98294196e-01 -5.41875404e-02 1.29697577e+02] [ 1.98124730e-01 9.80139651e-01 -8.53559381e-03 1.46821903e+01] [ 5.48039156e-02 -2.38258831e-03 9.98494293e-01 5.00758326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99439141800002 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:129.73, Y:14.69, Z:5.01 [[ 9.78284435e-01 -2.00082589e-01 -5.40973366e-02 1.29725187e+02] [ 1.99915411e-01 9.79775945e-01 -8.53965029e-03 1.46852238e+01] [ 5.47119044e-02 -2.46068433e-03 9.98499150e-01 5.00847983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.024391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:129.75, Y:14.69, Z:5.01 [[ 9.78108146e-01 -2.00952066e-01 -5.40622043e-02 1.29752924e+02] [ 2.00785452e-01 9.79597910e-01 -8.55196727e-03 1.46892318e+01] [ 5.46777578e-02 -2.49015526e-03 9.98500947e-01 5.00993066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.054391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:129.78, Y:14.70, Z:5.01 [[ 9.78280854e-01 -2.00882505e-01 -5.11154549e-02 1.29781692e+02] [ 2.00428150e-01 9.79609545e-01 -1.39174717e-02 1.46950443e+01] [ 5.28689641e-02 3.37022006e-03 9.98595771e-01 5.01102951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:129.81, Y:14.69, Z:5.01 [[ 9.78027988e-01 -2.01243077e-01 -5.44286624e-02 1.29807747e+02] [ 2.01419748e-01 9.79502374e-01 -2.27674918e-03 1.46942086e+01] [ 5.37711841e-02 -8.73628306e-03 9.98515066e-01 5.01250965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.114391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:129.83, Y:14.70, Z:5.02 [[ 9.78003286e-01 -2.01636217e-01 -5.34079361e-02 1.29834562e+02] [ 2.01471643e-01 9.79457434e-01 -8.50366399e-03 1.47018894e+01] [ 5.40254466e-02 -2.44357329e-03 9.98536569e-01 5.01503853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:129.86, Y:14.71, Z:5.02 [[ 9.77984674e-01 -2.01586920e-01 -5.39322796e-02 1.29860328e+02] [ 2.01246648e-01 9.79470438e-01 -1.17238106e-02 1.47080390e+01] [ 5.51884404e-02 6.12016658e-04 9.98475769e-01 5.01706262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.174391418 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:129.89, Y:14.71, Z:5.02 [[ 9.78105104e-01 -2.00907288e-01 -5.42832097e-02 1.29888309e+02] [ 2.00904993e-01 9.79594978e-01 -5.55552324e-03 1.47102675e+01] [ 5.42917047e-02 -5.47188221e-03 9.98510125e-01 5.01692135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:129.92, Y:14.72, Z:5.02 [[ 9.78320832e-01 -1.99911106e-01 -5.40730945e-02 1.29915307e+02] [ 1.99737416e-01 9.79811255e-01 -8.65267178e-03 1.47172380e+01] [ 5.47111918e-02 -2.33533110e-03 9.98499490e-01 5.01850152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.234391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:129.94, Y:14.72, Z:5.02 [[ 9.78475921e-01 -1.99133959e-01 -5.41344391e-02 1.29942332e+02] [ 1.98957986e-01 9.79969622e-01 -8.67529642e-03 1.47221443e+01] [ 5.47776520e-02 -2.28191031e-03 9.98495970e-01 5.01970170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:129.97, Y:14.73, Z:5.02 [[ 9.78621676e-01 -1.98498970e-01 -5.38309857e-02 1.29969739e+02] [ 1.98322976e-01 9.80098593e-01 -8.64553377e-03 1.47275182e+01] [ 5.44758029e-02 -2.21521458e-03 9.98512634e-01 5.02091556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.294391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:130.00, Y:14.73, Z:5.02 [[ 9.79081387e-01 -1.96261558e-01 -5.36753132e-02 1.29996702e+02] [ 1.96082201e-01 9.80549403e-01 -8.63934968e-03 1.47342324e+01] [ 5.43268686e-02 -2.06614712e-03 9.98521068e-01 5.02216278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.324391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:130.02, Y:14.74, Z:5.02 [[ 9.79322646e-01 -1.94992870e-01 -5.38974603e-02 1.30023871e+02] [ 1.94809076e-01 9.80802650e-01 -8.69399695e-03 1.47399906e+01] [ 5.45580393e-02 -1.98548632e-03 9.98508627e-01 5.02375069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.354391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:130.05, Y:14.75, Z:5.03 [[ 9.79551522e-01 -1.93715625e-01 -5.43421827e-02 1.30050572e+02] [ 1.93525818e-01 9.81055860e-01 -8.78397106e-03 1.47459297e+01] [ 5.50143092e-02 -1.91226311e-03 9.98483735e-01 5.02523576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.384391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:130.08, Y:14.75, Z:5.03 [[ 9.80204856e-01 -1.90275479e-01 -5.47145463e-02 1.30077939e+02] [ 1.90076933e-01 9.81729236e-01 -8.85813187e-03 1.47533421e+01] [ 5.54003550e-02 -1.71718925e-03 9.98462744e-01 5.02666197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:130.10, Y:14.76, Z:5.03 [[ 9.80534006e-01 -1.88658291e-01 -5.44160989e-02 1.30104347e+02] [ 1.88458420e-01 9.82041492e-01 -8.82790279e-03 1.47593967e+01] [ 5.51043240e-02 -1.59911313e-03 9.98479322e-01 5.02795646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:130.13, Y:14.77, Z:5.03 [[ 9.80866358e-01 -1.86991008e-01 -5.41807293e-02 1.30131725e+02] [ 1.86789573e-01 9.82360502e-01 -8.80336463e-03 1.47654886e+01] [ 5.48711585e-02 -1.48547110e-03 9.98492338e-01 5.02965619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:130.16, Y:14.77, Z:5.03 [[ 9.81154248e-01 -1.85597099e-01 -5.37592739e-02 1.30158961e+02] [ 1.85395693e-01 9.82624963e-01 -8.75328923e-03 1.47717584e+01] [ 5.44497896e-02 -1.37841093e-03 9.98515558e-01 5.03100461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:130.19, Y:14.78, Z:5.03 [[ 9.81732323e-01 -1.82789408e-01 -5.28173961e-02 1.30185997e+02] [ 1.82589964e-01 9.83151378e-01 -8.61815457e-03 1.47785489e+01] [ 5.35028032e-02 -1.18320557e-03 9.98566998e-01 5.03225315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:130.21, Y:14.78, Z:5.03 [[ 9.81947973e-01 -1.81808802e-01 -5.21894523e-02 1.30212410e+02] [ 1.81611777e-01 9.83333286e-01 -8.53295718e-03 1.47837694e+01] [ 5.28709923e-02 -1.09929915e-03 9.98600746e-01 5.03338854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:130.24, Y:14.79, Z:5.04 [[ 9.82518653e-01 -1.78785302e-01 -5.18932868e-02 1.30238778e+02] [ 1.78413816e-01 9.83885473e-01 -1.17425422e-02 1.47910160e+01] [ 5.31564450e-02 2.27878739e-03 9.98583597e-01 5.03529646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59439141800001 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:130.27, Y:14.79, Z:5.04 [[ 9.82512187e-01 -1.78722329e-01 -5.22315212e-02 1.30267610e+02] [ 1.78675853e-01 9.83892080e-01 -5.59587525e-03 1.47939477e+01] [ 5.23902880e-02 -3.83449596e-03 9.98619324e-01 5.03544318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62439141800002 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:130.29, Y:14.80, Z:5.04 [[ 9.82660444e-01 -1.78020087e-01 -5.18391845e-02 1.30294817e+02] [ 1.77819086e-01 9.84026474e-01 -8.50123332e-03 1.48005797e+01] [ 5.25245203e-02 -8.64170697e-04 9.98619261e-01 5.03702052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65439141800002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:130.32, Y:14.81, Z:5.04 [[ 9.83040228e-01 -1.75843639e-01 -5.20665315e-02 1.30320923e+02] [ 1.75636907e-01 9.84417836e-01 -8.55577135e-03 1.48060498e+01] [ 5.27597002e-02 -7.34137159e-04 9.98606967e-01 5.03856885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68439141800002 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:130.35, Y:14.81, Z:5.04 [[ 9.83252837e-01 -1.74730147e-01 -5.17999522e-02 1.30348562e+02] [ 1.74523332e-01 9.84616139e-01 -8.52436460e-03 1.48110102e+01] [ 5.24925324e-02 -6.58694570e-04 9.98621099e-01 5.03915026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71439141800002 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:130.38, Y:14.82, Z:5.04 [[ 9.83383423e-01 -1.74002454e-01 -5.17705365e-02 1.30376208e+02] [ 1.73793953e-01 9.84745035e-01 -8.53690840e-03 1.48160059e+01] [ 5.24662217e-02 -6.02351965e-04 9.98622518e-01 5.04133148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74439141800002 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:130.40, Y:14.82, Z:5.04 [[ 9.83580450e-01 -1.73001995e-01 -5.13790675e-02 1.30403566e+02] [ 1.72794321e-01 9.84921333e-01 -8.49060483e-03 1.48205778e+01] [ 5.20732313e-02 -5.26818171e-04 9.98643130e-01 5.04191458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.774391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:130.43, Y:14.83, Z:5.04 [[ 9.83524660e-01 -1.73319748e-01 -5.13761454e-02 1.30431539e+02] [ 1.73111586e-01 9.84865467e-01 -8.50825121e-03 1.48254135e+01] [ 5.20732394e-02 -5.25731138e-04 9.98643130e-01 5.04327654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.804391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:130.46, Y:14.83, Z:5.05 [[ 9.83774588e-01 -1.72014518e-01 -5.09761173e-02 1.30459233e+02] [ 1.71806962e-01 9.85094318e-01 -8.45888943e-03 1.48301475e+01] [ 5.16713353e-02 -4.36411390e-04 9.98664049e-01 5.04537081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.834391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:130.49, Y:14.83, Z:5.05 [[ 9.83814979e-01 -1.71841599e-01 -5.07794375e-02 1.30485745e+02] [ 1.71634492e-01 9.85124509e-01 -8.44409058e-03 1.48343122e+01] [ 5.14751145e-02 -4.08080180e-04 9.98674194e-01 5.04665827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:130.51, Y:14.84, Z:5.05 [[ 9.83835746e-01 -1.71844567e-01 -5.03653560e-02 1.30512201e+02] [ 1.71640212e-01 9.85123997e-01 -8.38732225e-03 1.48380283e+01] [ 5.10574366e-02 -3.92972951e-04 9.98695641e-01 5.04790824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.894391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:130.54, Y:14.84, Z:5.05 [[ 9.83560672e-01 -1.73238097e-01 -5.09604308e-02 1.30539815e+02] [ 1.73030302e-01 9.84879865e-01 -8.49510725e-03 1.48412387e+01] [ 5.16615784e-02 -4.62245302e-04 9.98664542e-01 5.04761850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:130.57, Y:14.85, Z:5.05 [[ 9.83214708e-01 -1.75210972e-01 -5.08915926e-02 1.30566128e+02] [ 1.75005477e-01 9.84530759e-01 -8.50105438e-03 1.48450206e+01] [ 5.15938163e-02 -5.47945735e-04 9.98668002e-01 5.05046603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.954391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:130.59, Y:14.85, Z:5.05 [[ 9.82297196e-01 -1.80226474e-01 -5.10943886e-02 1.30594512e+02] [ 1.80025659e-01 9.83624811e-01 -8.54361958e-03 1.48469046e+01] [ 5.17974947e-02 -8.05927411e-04 9.98657284e-01 5.05139143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984391418 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:130.62, Y:14.85, Z:5.05 [[ 9.81538108e-01 -1.83715002e-01 -5.32141066e-02 1.30622103e+02] [ 1.83779798e-01 9.82960418e-01 -3.71518602e-03 1.48475723e+01] [ 5.29898959e-02 -6.13308112e-03 9.98576215e-01 5.05324987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.014391418 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:130.65, Y:14.86, Z:5.06 [[ 9.80894671e-01 -1.87790393e-01 -5.07977688e-02 1.30649419e+02] [ 1.87328849e-01 9.82201129e-01 -1.37420685e-02 1.48554362e+01] [ 5.24742543e-02 3.96363425e-03 9.98614411e-01 5.05523900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.044391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:130.68, Y:14.86, Z:5.05 [[ 9.79564790e-01 -1.94262825e-01 -5.21035245e-02 1.30676303e+02] [ 1.93801753e-01 9.80943524e-01 -1.38088016e-02 1.48559062e+01] [ 5.37931518e-02 3.42886145e-03 9.98546213e-01 5.05493437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.074391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:130.71, Y:14.86, Z:5.06 [[ 9.78480659e-01 -1.99659420e-01 -5.20741424e-02 1.30705153e+02] [ 1.99724704e-01 9.79843886e-01 -4.00010442e-03 1.48552699e+01] [ 5.18231886e-02 -6.48646790e-03 9.98635210e-01 5.05596287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.104391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:130.73, Y:14.87, Z:5.06 [[ 9.77858073e-01 -2.02556261e-01 -5.25789862e-02 1.30728767e+02] [ 2.01545223e-01 9.79187021e-01 -2.39228249e-02 1.48665309e+01] [ 5.63303788e-02 1.27960839e-02 9.98330180e-01 5.06204510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.134391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:130.76, Y:14.86, Z:5.06 [[ 9.76983669e-01 -2.06326567e-01 -5.41503317e-02 1.30762018e+02] [ 2.06850400e-01 9.78363598e-01 4.19314539e-03 1.48575667e+01] [ 5.21135561e-02 -1.52976523e-02 9.98523990e-01 5.05773535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:130.79, Y:14.86, Z:5.06 [[ 9.75221749e-01 -2.13287409e-01 -5.87453871e-02 1.30790002e+02] [ 2.14075646e-01 9.76789094e-01 7.39480665e-03 1.48582412e+01] [ 5.58046343e-02 -1.97875330e-02 9.98245609e-01 5.06333944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194391418 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:130.82, Y:14.88, Z:5.07 [[ 9.74817063e-01 -2.17345617e-01 -4.99257094e-02 1.30815275e+02] [ 2.16281075e-01 9.75987994e-01 -2.58830612e-02 1.48774247e+01] [ 5.43524629e-02 1.44332636e-02 9.98417493e-01 5.06572615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224391418 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:130.84, Y:14.88, Z:5.07 [[ 9.74404409e-01 -2.18299322e-01 -5.36791718e-02 1.30842437e+02] [ 2.17636020e-01 9.75864415e-01 -1.79779619e-02 1.48768066e+01] [ 5.63081704e-02 5.83528400e-03 9.98396384e-01 5.06602906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254391418 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:130.87, Y:14.87, Z:5.06 [[ 9.73732161e-01 -2.21004019e-01 -5.47987510e-02 1.30872737e+02] [ 2.21302653e-01 9.75204971e-01 -6.33360787e-04 1.48729057e+01] [ 5.35799897e-02 -1.15103852e-02 9.98497219e-01 5.06357760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284391418 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:130.90, Y:14.88, Z:5.07 [[ 9.73494202e-01 -2.22344036e-01 -5.35926063e-02 1.30899383e+02] [ 2.22180456e-01 9.74963404e-01 -9.06677509e-03 1.48816827e+01] [ 5.42667733e-02 -3.08077674e-03 9.98521720e-01 5.06684184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:130.93, Y:14.89, Z:5.07 [[ 9.73396558e-01 -2.22706458e-01 -5.38606887e-02 1.30926342e+02] [ 2.22540807e-01 9.74880623e-01 -9.13013358e-03 1.48866655e+01] [ 5.45410814e-02 -3.09896051e-03 9.98506718e-01 5.06816665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34439141800001 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:130.95, Y:14.89, Z:5.07 [[ 9.73329470e-01 -2.22913718e-01 -5.42145519e-02 1.30953955e+02] [ 2.22745688e-01 9.74833180e-01 -9.19949101e-03 1.48921379e+01] [ 5.49008367e-02 -3.12192193e-03 9.98486931e-01 5.06953852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37439141800002 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:130.98, Y:14.90, Z:5.07 [[ 9.73566647e-01 -2.21676979e-01 -5.50209117e-02 1.30980859e+02] [ 2.21500940e-01 9.75115291e-01 -9.35434109e-03 1.48980343e+01] [ 5.57253743e-02 -3.08010916e-03 9.98441383e-01 5.07052836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40439141800002 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:131.01, Y:14.90, Z:5.07 [[ 9.73682365e-01 -2.21255987e-01 -5.46666219e-02 1.31007758e+02] [ 2.21080554e-01 9.75211093e-01 -9.31200411e-03 1.49038519e+01] [ 5.53718327e-02 -3.01879288e-03 9.98461240e-01 5.07250703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43439141800002 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:131.03, Y:14.91, Z:5.07 [[ 9.74028926e-01 -2.19549321e-01 -5.53691824e-02 1.31034817e+02] [ 2.19365562e-01 9.75596968e-01 -9.45018097e-03 1.49107976e+01] [ 5.60927873e-02 -2.94134221e-03 9.98421228e-01 5.07389515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46439141800002 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:131.06, Y:14.92, Z:5.07 [[ 9.74190621e-01 -2.18707183e-01 -5.58551805e-02 1.31061308e+02] [ 2.18517812e-01 9.75786222e-01 -9.55064760e-03 1.49166464e+01] [ 5.65915108e-02 -2.90120048e-03 9.98393201e-01 5.07499590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49439141800002 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:131.09, Y:14.92, Z:5.08 [[ 9.74388148e-01 -2.17779790e-01 -5.60330341e-02 1.31088363e+02] [ 2.17587131e-01 9.75993780e-01 -9.59075182e-03 1.49225095e+01] [ 5.67765647e-02 -2.84695223e-03 9.98382851e-01 5.07653054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.524391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:131.11, Y:14.93, Z:5.08 [[ 9.74946816e-01 -2.15138276e-01 -5.65174950e-02 1.31114067e+02] [ 2.14936806e-01 9.76579868e-01 -9.69177406e-03 1.49298841e+01] [ 5.72789194e-02 -2.69872558e-03 9.98354567e-01 5.07725320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.554391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:131.14, Y:14.94, Z:5.08 [[ 9.75174373e-01 -2.13991880e-01 -5.69422371e-02 1.31141455e+02] [ 2.13784619e-01 9.76831878e-01 -9.77847233e-03 1.49365388e+01] [ 5.77155061e-02 -2.63765885e-03 9.98329586e-01 5.07959641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:131.17, Y:14.94, Z:5.08 [[ 9.75484593e-01 -2.12504893e-01 -5.71968532e-02 1.31167696e+02] [ 2.12292116e-01 9.77156695e-01 -9.84128954e-03 1.49429382e+01] [ 5.79816102e-02 -2.54241465e-03 9.98314414e-01 5.08134170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.614391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:131.19, Y:14.95, Z:5.08 [[ 9.76343902e-01 -2.08420371e-01 -5.75633009e-02 1.31194798e+02] [ 2.08196606e-01 9.78036647e-01 -9.92427763e-03 1.49515329e+01] [ 5.83674394e-02 -2.29497592e-03 9.98292530e-01 5.08300607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:131.22, Y:14.96, Z:5.08 [[ 9.76819389e-01 -2.06272988e-01 -5.72305539e-02 1.31222360e+02] [ 2.06046985e-01 9.78492155e-01 -9.88649838e-03 1.49585095e+01] [ 5.80389655e-02 -2.13485979e-03 9.98312036e-01 5.08491485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.674391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:131.25, Y:14.97, Z:5.09 [[ 9.77341928e-01 -2.03731543e-01 -5.74126570e-02 1.31248159e+02] [ 2.03498732e-01 9.79024802e-01 -9.93492852e-03 1.49651556e+01] [ 5.82324735e-02 -1.97358070e-03 9.98301099e-01 5.08660908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:131.27, Y:14.97, Z:5.09 [[ 9.77878511e-01 -2.00999305e-01 -5.79042055e-02 1.31273649e+02] [ 2.00457489e-01 9.79586359e-01 -1.50784720e-02 1.49737831e+01] [ 5.97529322e-02 3.13758217e-03 9.98208266e-01 5.08953894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.734391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:131.30, Y:14.98, Z:5.09 [[ 9.78768522e-01 -1.96627979e-01 -5.78758916e-02 1.31302007e+02] [ 1.96660083e-01 9.80457957e-01 -5.19676448e-03 1.49771491e+01] [ 5.77667077e-02 -6.29544817e-03 9.98310260e-01 5.08916255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:131.33, Y:14.99, Z:5.09 [[ 9.79125513e-01 -1.95103386e-01 -5.69903391e-02 1.31328449e+02] [ 1.94857354e-01 9.80781661e-01 -9.89670435e-03 1.49855119e+01] [ 5.78259600e-02 -1.41487095e-03 9.98325677e-01 5.09149087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.794391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:131.36, Y:14.99, Z:5.09 [[ 9.79453866e-01 -1.93657628e-01 -5.62747544e-02 1.31355150e+02] [ 1.93414289e-01 9.81068320e-01 -9.79107365e-03 1.49916069e+01] [ 5.71054949e-02 -1.29443669e-03 9.98367311e-01 5.09310089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:131.38, Y:15.00, Z:5.09 [[ 9.79951758e-01 -1.91347649e-01 -5.55034220e-02 1.31382310e+02] [ 1.91106155e-01 9.81521682e-01 -9.67605125e-03 1.49992204e+01] [ 5.63293017e-02 -1.12498213e-03 9.98411611e-01 5.09459200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.854391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:131.41, Y:15.00, Z:5.10 [[ 9.80098305e-01 -1.90562287e-01 -5.56176827e-02 1.31408831e+02] [ 1.90317421e-01 9.81674531e-01 -9.71564834e-03 1.50048709e+01] [ 5.64498988e-02 -1.06272345e-03 9.98404868e-01 5.09577888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.884391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:131.44, Y:15.01, Z:5.10 [[ 9.80182161e-01 -1.89977552e-01 -5.61378749e-02 1.31436065e+02] [ 1.89725994e-01 9.81787905e-01 -9.82629710e-03 1.50106026e+01] [ 5.69822625e-02 -1.01925301e-03 9.98374671e-01 5.09727840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:131.46, Y:15.02, Z:5.10 [[ 9.80326112e-01 -1.89092678e-01 -5.66098301e-02 1.31462438e+02] [ 1.88834326e-01 9.81958778e-01 -9.92750851e-03 1.50166132e+01] [ 5.74657388e-02 -9.57683305e-04 9.98347020e-01 5.09842932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:131.49, Y:15.02, Z:5.10 [[ 9.80274506e-01 -1.89250752e-01 -5.69740766e-02 1.31488850e+02] [ 1.88988774e-01 9.81928319e-01 -1.00009657e-02 1.50216705e+01] [ 5.78371495e-02 -9.63769128e-04 9.98325566e-01 5.09989924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:131.52, Y:15.03, Z:5.10 [[ 9.80093485e-01 -1.89895752e-01 -5.79341306e-02 1.31515772e+02] [ 1.89625106e-01 9.81803746e-01 -1.01845005e-02 1.50266952e+01] [ 5.88139398e-02 -1.00400308e-03 9.98268457e-01 5.10162075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:131.54, Y:15.03, Z:5.10 [[ 9.79888115e-01 -1.90991823e-01 -5.78048918e-02 1.31542841e+02] [ 1.90723114e-01 9.81591068e-01 -1.01817542e-02 1.50314832e+01] [ 5.86853973e-02 -1.04774900e-03 9.98275977e-01 5.10288785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:131.57, Y:15.04, Z:5.10 [[ 9.79458966e-01 -1.93110775e-01 -5.80375907e-02 1.31569746e+02] [ 1.92842464e-01 9.81176275e-01 -1.02421689e-02 1.50360973e+01] [ 5.89229802e-02 -1.16032778e-03 9.98261857e-01 5.10433988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:131.60, Y:15.04, Z:5.11 [[ 9.79157321e-01 -1.94703407e-01 -5.78059207e-02 1.31596939e+02] [ 1.94439132e-01 9.80861384e-01 -1.02161479e-02 1.50407757e+01] [ 5.86887141e-02 -1.23651703e-03 9.98275566e-01 5.10587686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09439141800001 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:131.62, Y:15.05, Z:5.11 [[ 9.78884828e-01 -1.96187163e-01 -5.74028734e-02 1.31624113e+02] [ 1.95927995e-01 9.80565609e-01 -1.01639997e-02 1.50452849e+01] [ 5.82813298e-02 -1.29744484e-03 9.98299356e-01 5.10714375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12439141800002 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:131.65, Y:15.05, Z:5.11 [[ 9.78596774e-01 -1.97626688e-01 -5.73763564e-02 1.31651590e+02] [ 1.97369104e-01 9.80276406e-01 -1.01785931e-02 1.50499678e+01] [ 5.82562501e-02 -1.36358170e-03 9.98300731e-01 5.10835948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15439141800002 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:131.68, Y:15.05, Z:5.11 [[ 9.78267885e-01 -1.98989326e-01 -5.82682791e-02 1.31678078e+02] [ 1.98725016e-01 9.80000585e-01 -1.03547849e-02 1.50541243e+01] [ 5.91634392e-02 -1.44961114e-03 9.98247257e-01 5.10966157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18439141800002 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:131.71, Y:15.06, Z:5.11 [[ 9.78223477e-01 -1.99078323e-01 -5.87081751e-02 1.31705101e+02] [ 1.98809650e-01 9.79982498e-01 -1.04415567e-02 1.50587771e+01] [ 5.96116717e-02 -1.45757588e-03 9.98220579e-01 5.11091587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21439141800002 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:131.73, Y:15.06, Z:5.11 [[ 9.78234233e-01 -1.98992477e-01 -5.88198874e-02 1.31732547e+02] [ 1.98722006e-01 9.79999952e-01 -1.04717622e-02 1.50636030e+01] [ 5.97272887e-02 -1.44496977e-03 9.98213686e-01 5.11217267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24439141800002 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:131.76, Y:15.07, Z:5.11 [[ 9.78560852e-01 -1.97193115e-01 -5.94435406e-02 1.31760252e+02] [ 1.96912387e-01 9.80363762e-01 -1.06021741e-02 1.50683671e+01] [ 6.03669688e-02 -1.33029698e-03 9.98175365e-01 5.11411741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.274391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:131.79, Y:15.07, Z:5.12 [[ 9.78878810e-01 -1.95599819e-01 -5.94725595e-02 1.31787042e+02] [ 1.95314807e-01 9.80683045e-01 -1.06250719e-02 1.50734445e+01] [ 6.04019928e-02 -1.21521372e-03 9.98173393e-01 5.11562158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.304391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:131.81, Y:15.08, Z:5.12 [[ 9.79583132e-01 -1.92089730e-01 -5.93162901e-02 1.31814451e+02] [ 1.91799140e-01 9.81376872e-01 -1.06078153e-02 1.50786428e+01] [ 6.02492876e-02 -9.85576517e-04 9.98182875e-01 5.11762195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.334391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:131.84, Y:15.08, Z:5.12 [[ 9.79944961e-01 -1.90350738e-01 -5.89446367e-02 1.31842277e+02] [ 1.90059474e-01 9.81715777e-01 -1.05607439e-02 1.50832132e+01] [ 5.98771252e-02 -8.54038902e-04 9.98205390e-01 5.11889561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:131.87, Y:15.09, Z:5.12 [[ 9.80169805e-01 -1.89124548e-01 -5.91528461e-02 1.31870143e+02] [ 1.88827781e-01 9.81952812e-01 -1.06181310e-02 1.50878855e+01] [ 6.00934527e-02 -7.62129275e-04 9.98192464e-01 5.12039454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.394391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:131.90, Y:15.09, Z:5.12 [[ 9.80509998e-01 -1.87290086e-01 -5.93512125e-02 1.31896914e+02] [ 1.86986818e-01 9.82304445e-01 -1.06727351e-02 1.50923744e+01] [ 6.02998573e-02 -6.33170943e-04 9.98180107e-01 5.12157639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:131.92, Y:15.10, Z:5.12 [[ 9.80491161e-01 -1.87196539e-01 -5.99544795e-02 1.31924244e+02] [ 1.86886170e-01 9.82322284e-01 -1.07930760e-02 1.50973007e+01] [ 6.09150477e-02 -6.22147424e-04 9.98142760e-01 5.12312608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.454391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:131.95, Y:15.10, Z:5.12 [[ 9.80411445e-01 -1.87554164e-01 -6.01401224e-02 1.31950759e+02] [ 1.87241355e-01 9.82254062e-01 -1.08458742e-02 1.51021337e+01] [ 6.11070684e-02 -6.27298806e-04 9.98131020e-01 5.12441452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:131.98, Y:15.11, Z:5.13 [[ 9.80065720e-01 -1.89088815e-01 -6.09639631e-02 1.31978380e+02] [ 1.88769572e-01 9.81959725e-01 -1.10067395e-02 1.51067238e+01] [ 6.19454078e-02 -7.20813093e-04 9.98079279e-01 5.12579601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.514391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:132.00, Y:15.11, Z:5.13 [[ 9.79715546e-01 -1.90703673e-01 -6.15593838e-02 1.32004647e+02] [ 1.90380123e-01 9.81647314e-01 -1.11336759e-02 1.51115770e+01] [ 6.25528367e-02 -8.11847742e-04 9.98041324e-01 5.12708156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.544391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:132.03, Y:15.12, Z:5.13 [[ 9.79287389e-01 -1.92910546e-01 -6.14957822e-02 1.32032315e+02] [ 1.92591240e-01 9.81215898e-01 -1.11344489e-02 1.51164724e+01] [ 6.24885918e-02 -9.39723569e-04 9.98045236e-01 5.12854944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.574391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:132.06, Y:15.12, Z:5.13 [[ 9.78748786e-01 -1.95507655e-01 -6.18673684e-02 1.32059840e+02] [ 1.95188244e-01 9.80701569e-01 -1.12241249e-02 1.51212659e+01] [ 6.28678277e-02 -1.09018438e-03 9.98021266e-01 5.12998144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.604391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:132.09, Y:15.13, Z:5.13 [[ 9.77576740e-01 -2.01324978e-01 -6.17411584e-02 1.32085937e+02] [ 2.01017235e-01 9.79523442e-01 -1.12204206e-02 1.51254335e+01] [ 6.27358629e-02 -1.44221481e-03 9.98029124e-01 5.13178490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.634391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:132.11, Y:15.13, Z:5.13 [[ 9.76874780e-01 -2.04793144e-01 -6.14445512e-02 1.32113678e+02] [ 2.04494438e-01 9.78803894e-01 -1.11786653e-02 1.51306319e+01] [ 6.24314800e-02 -1.64491274e-03 9.98047897e-01 5.13327866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:132.14, Y:15.14, Z:5.13 [[ 9.76833896e-01 -2.04989116e-01 -6.14410469e-02 1.32141609e+02] [ 2.04689588e-01 9.78762882e-01 -1.11978961e-02 1.51358584e+01] [ 6.24316630e-02 -1.63785806e-03 9.98047897e-01 5.13467116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:132.17, Y:15.14, Z:5.14 [[ 9.76094967e-01 -2.08582185e-01 -6.10908096e-02 1.32169339e+02] [ 2.08292197e-01 9.78003106e-01 -1.11483145e-02 1.51411196e+01] [ 6.20723413e-02 -1.84292523e-03 9.98069951e-01 5.13622977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:132.20, Y:15.15, Z:5.14 [[ 9.75392719e-01 -2.11736543e-01 -6.14547041e-02 1.32195782e+02] [ 2.11448195e-01 9.77324656e-01 -1.12329045e-02 1.51458439e+01] [ 6.24396139e-02 -2.03799300e-03 9.98046663e-01 5.13832554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:132.22, Y:15.15, Z:5.14 [[ 9.73820955e-01 -2.18982906e-01 -6.09855323e-02 1.32223547e+02] [ 2.18712403e-01 9.75725564e-01 -1.11583475e-02 1.51505659e+01] [ 6.19486302e-02 -2.47205975e-03 9.98076278e-01 5.13943627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:132.25, Y:15.16, Z:5.14 [[ 9.72923353e-01 -2.23075380e-01 -6.04774751e-02 1.32250587e+02] [ 2.22816024e-01 9.74797485e-01 -1.10852117e-02 1.51560466e+01] [ 6.14261285e-02 -2.69028920e-03 9.98108007e-01 5.14062844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:132.28, Y:15.16, Z:5.14 [[ 9.71236877e-01 -2.30587918e-01 -5.93981484e-02 1.32277131e+02] [ 2.30350675e-01 9.73046584e-01 -1.09046553e-02 1.51628539e+01] [ 6.03116472e-02 -3.09140019e-03 9.98174809e-01 5.14238662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84439141800001 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:132.30, Y:15.17, Z:5.14 [[ 9.70413958e-01 -2.34037025e-01 -5.93584087e-02 1.32304255e+02] [ 2.33805880e-01 9.72222108e-01 -1.09079681e-02 1.51686984e+01] [ 6.02624256e-02 -3.29310053e-03 9.98177136e-01 5.14390947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87439141800002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:132.33, Y:15.18, Z:5.15 [[ 9.69662187e-01 -2.37186111e-01 -5.91438215e-02 1.32330679e+02] [ 2.36961369e-01 9.71458073e-01 -1.08867447e-02 1.51750057e+01] [ 6.00379276e-02 -3.45833623e-03 9.98190106e-01 5.14560769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90439141800002 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:132.36, Y:15.18, Z:5.15 [[ 9.68403707e-01 -2.42312332e-01 -5.89829989e-02 1.32356603e+02] [ 2.42097527e-01 9.70191035e-01 -1.08694074e-02 1.51834103e+01] [ 5.98585682e-02 -3.75366375e-03 9.98199811e-01 5.14752362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93439141800002 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:132.38, Y:15.19, Z:5.15 [[ 9.67794068e-01 -2.44795861e-01 -5.87335413e-02 1.32383448e+02] [ 2.44586814e-01 9.69566875e-01 -1.08335034e-02 1.51903611e+01] [ 5.95980929e-02 -3.88084940e-03 9.98214910e-01 5.14879915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96439141800002 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:132.41, Y:15.20, Z:5.15 [[ 9.67264678e-01 -2.46865717e-01 -5.87908242e-02 1.32410645e+02] [ 2.46658949e-01 9.69041467e-01 -1.08627111e-02 1.51974526e+01] [ 5.96523774e-02 -3.99416615e-03 9.98211220e-01 5.15029962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99439141800002 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:132.44, Y:15.19, Z:5.16 [[ 9.64698160e-01 -2.51895826e-01 -7.68501960e-02 1.32436382e+02] [ 2.55125610e-01 9.66258631e-01 3.54285419e-02 1.51907178e+01] [ 6.53328633e-02 -5.37843024e-02 9.96413000e-01 5.15568516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.024391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:132.46, Y:15.24, Z:5.17 [[ 9.66531000e-01 -2.51801835e-01 -4.91290364e-02 1.32463277e+02] [ 2.48784641e-01 9.66688369e-01 -6.01647722e-02 1.52387205e+01] [ 6.26420681e-02 4.59285677e-02 9.96978705e-01 5.16530416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.054391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:132.49, Y:15.21, Z:5.16 [[ 9.64699564e-01 -2.52790125e-01 -7.38370119e-02 1.32494656e+02] [ 2.55386467e-01 9.66433989e-01 2.79838642e-02 1.52100469e+01] [ 6.42845535e-02 -4.58529952e-02 9.96877625e-01 5.15768076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:132.52, Y:15.25, Z:5.17 [[ 9.66555180e-01 -2.51305125e-01 -5.11548414e-02 1.32521447e+02] [ 2.48694609e-01 9.67167203e-01 -5.23315618e-02 1.52545168e+01] [ 6.26264746e-02 3.78594089e-02 9.97318700e-01 5.16649878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.114391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:132.55, Y:15.24, Z:5.16 [[ 9.66747406e-01 -2.48885651e-01 -5.87825327e-02 1.32552819e+02] [ 2.48681628e-01 9.68524192e-01 -1.08783193e-02 1.52435971e+01] [ 5.96397625e-02 -4.10154896e-03 9.98211539e-01 5.15758848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:132.58, Y:15.25, Z:5.16 [[ 9.67061707e-01 -2.47671506e-01 -5.87407806e-02 1.32578833e+02] [ 2.47464495e-01 9.68835781e-01 -1.08881777e-02 1.52515792e+01] [ 5.96068615e-02 -4.00671786e-03 9.98213889e-01 5.15889534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.174391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:132.61, Y:15.26, Z:5.16 [[ 9.67374366e-01 -2.46466355e-01 -5.86615068e-02 1.32606015e+02] [ 2.46257071e-01 9.69143433e-01 -1.08840010e-02 1.52600554e+01] [ 5.95339542e-02 -3.91690729e-03 9.98218596e-01 5.16018283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:132.63, Y:15.27, Z:5.16 [[ 9.67808573e-01 -2.44674311e-01 -5.90004038e-02 1.32633831e+02] [ 2.44458154e-01 9.69597836e-01 -1.09657673e-02 1.52689028e+01] [ 5.98897054e-02 -3.81036615e-03 9.98197728e-01 5.16206332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.234391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:132.66, Y:15.28, Z:5.16 [[ 9.69006961e-01 -2.39803082e-01 -5.93295166e-02 1.32660678e+02] [ 2.39574524e-01 9.70815189e-01 -1.10416002e-02 1.52823408e+01] [ 6.02458056e-02 -3.51445328e-03 9.98177385e-01 5.16374339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:132.69, Y:15.29, Z:5.17 [[ 9.69690720e-01 -2.36968363e-01 -5.95474746e-02 1.32690385e+02] [ 2.36732618e-01 9.71511599e-01 -1.10851097e-02 1.52917880e+01] [ 6.04778826e-02 -3.34770153e-03 9.98163924e-01 5.16561381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.294391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:132.72, Y:15.30, Z:5.17 [[ 9.71160550e-01 -2.30905689e-01 -5.94116959e-02 1.32719075e+02] [ 2.30659714e-01 9.72971624e-01 -1.10595870e-02 1.53045524e+01] [ 6.03596159e-02 -2.96325019e-03 9.98172298e-01 5.16787599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.324391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:132.75, Y:15.31, Z:5.17 [[ 9.71914832e-01 -2.27888769e-01 -5.87219537e-02 1.32748758e+02] [ 2.27643039e-01 9.73683304e-01 -1.09302165e-02 1.53136408e+01] [ 5.96674595e-02 -2.74440448e-03 9.98214537e-01 5.16977120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.354391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:132.78, Y:15.32, Z:5.17 [[ 9.72696097e-01 -2.24619680e-01 -5.83806587e-02 1.32780012e+02] [ 2.24370978e-01 9.74443225e-01 -1.08657697e-02 1.53228317e+01] [ 5.93293031e-02 -2.52983376e-03 9.98235260e-01 5.17155530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.384391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:132.81, Y:15.33, Z:5.18 [[ 9.72696165e-01 -2.21073121e-01 -7.06317620e-02 1.32806742e+02] [ 2.22772522e-01 9.74721079e-01 1.70652292e-02 1.53258213e+01] [ 6.50736038e-02 -3.23340988e-02 9.97356472e-01 5.17571414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:132.84, Y:15.36, Z:5.18 [[ 9.74844664e-01 -2.16615128e-01 -5.24953975e-02 1.32836882e+02] [ 2.14618943e-01 9.75831054e-01 -4.11395640e-02 1.53574048e+01] [ 6.01380910e-02 2.88381777e-02 9.97773406e-01 5.18416025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444391418 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:132.87, Y:15.35, Z:5.18 [[ 9.76092664e-01 -2.09389709e-01 -5.83014698e-02 1.32870532e+02] [ 2.09114971e-01 9.77830948e-01 -1.08427549e-02 1.53547625e+01] [ 5.92793428e-02 -1.60817662e-03 9.98240138e-01 5.17714586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:132.90, Y:15.36, Z:5.18 [[ 9.76639923e-01 -2.06828536e-01 -5.82787894e-02 1.32900450e+02] [ 2.06549736e-01 9.78376121e-01 -1.08338310e-02 1.53627261e+01] [ 5.92593214e-02 -1.45671669e-03 9.98241559e-01 5.17875942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:132.93, Y:15.37, Z:5.18 [[ 9.77114318e-01 -2.04451249e-01 -5.87136811e-02 1.32931066e+02] [ 2.04164204e-01 9.78875850e-01 -1.09109635e-02 1.53705484e+01] [ 5.97041646e-02 -1.32597330e-03 9.98215235e-01 5.18061234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:132.96, Y:15.38, Z:5.18 [[ 9.77944548e-01 -2.00386436e-01 -5.89044770e-02 1.32962109e+02] [ 2.00090385e-01 9.79716336e-01 -1.09425154e-02 1.53801420e+01] [ 5.99024100e-02 -1.08504619e-03 9.98203649e-01 5.18246014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:132.99, Y:15.39, Z:5.18 [[ 9.78307567e-01 -1.98564044e-01 -5.90476479e-02 1.32993668e+02] [ 1.98263529e-01 9.80087424e-01 -1.09642153e-02 1.53874553e+01] [ 6.00489561e-02 -9.80620242e-04 9.98194952e-01 5.18400201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59439141800001 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:133.03, Y:15.39, Z:5.19 [[ 9.78506216e-01 -1.97400747e-01 -5.96534254e-02 1.33025030e+02] [ 1.97092171e-01 9.80322443e-01 -1.10717520e-02 1.53948599e+01] [ 6.06651638e-02 -9.23444996e-04 9.98157746e-01 5.18586250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62439141800002 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:133.05, Y:15.41, Z:5.19 [[ 9.79058061e-01 -1.95368437e-01 -5.72406031e-02 1.33054785e+02] [ 1.94773858e-01 9.80720218e-01 -1.58429515e-02 1.54055514e+01] [ 5.92322294e-02 4.36219628e-03 9.98234699e-01 5.18827870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65439141800002 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:133.09, Y:15.41, Z:5.19 [[ 9.78586733e-01 -1.96559780e-01 -6.10922154e-02 1.33087978e+02] [ 1.96544740e-01 9.80474522e-01 -6.31473144e-03 1.54074919e+01] [ 6.11405829e-02 -5.82784120e-03 9.98112151e-01 5.18773719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68439141800002 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:133.12, Y:15.42, Z:5.19 [[ 9.78465431e-01 -1.97462483e-01 -6.01162935e-02 1.33119072e+02] [ 1.97150351e-01 9.80309982e-01 -1.11390637e-02 1.54164867e+01] [ 6.11321497e-02 -9.52759611e-04 9.98129226e-01 5.19082897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71439141800002 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:133.15, Y:15.42, Z:5.19 [[ 9.77914157e-01 -2.00262454e-01 -5.98234904e-02 1.33150662e+02] [ 1.99958890e-01 9.79741639e-01 -1.10798575e-02 1.54238160e+01] [ 6.08304440e-02 -1.12708918e-03 9.98147477e-01 5.19283087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74439141800002 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:133.18, Y:15.43, Z:5.19 [[ 9.77806935e-01 -2.01686239e-01 -5.67120660e-02 1.33179883e+02] [ 2.00992946e-01 9.79432165e-01 -1.77333071e-02 1.54338422e+01] [ 5.91221856e-02 5.94102542e-03 9.98233075e-01 5.19452589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.774391418 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:133.22, Y:15.43, Z:5.19 [[ 9.76989039e-01 -2.04281568e-01 -6.13307293e-02 1.33215079e+02] [ 2.04385093e-01 9.78879529e-01 -4.64773518e-03 1.54330431e+01] [ 6.09848420e-02 -7.99430048e-03 9.98106678e-01 5.19371360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.804391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:133.24, Y:15.44, Z:5.20 [[ 9.76342753e-01 -2.07893544e-01 -5.94567397e-02 1.33241093e+02] [ 2.07482307e-01 9.78151363e-01 -1.30768508e-02 1.54444111e+01] [ 6.08762838e-02 4.31266944e-04 9.98145226e-01 5.19708058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.834391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:133.28, Y:15.45, Z:5.20 [[ 9.74856434e-01 -2.14114348e-01 -6.17250343e-02 1.33276276e+02] [ 2.13898210e-01 9.76803054e-01 -1.01660998e-02 1.54464357e+01] [ 6.24699098e-02 -3.29238653e-03 9.98041417e-01 5.19883855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:133.31, Y:15.45, Z:5.20 [[ 9.74124621e-01 -2.17505314e-01 -6.14219905e-02 1.33306528e+02] [ 2.17221355e-01 9.76056447e-01 -1.13443694e-02 1.54522568e+01] [ 6.24187905e-02 -2.29133849e-03 9.98047416e-01 5.20106478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.894391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:133.34, Y:15.46, Z:5.20 [[ 9.73413174e-01 -2.20706176e-01 -6.12827606e-02 1.33338044e+02] [ 2.20430077e-01 9.75337152e-01 -1.13146288e-02 1.54579248e+01] [ 6.22685616e-02 -2.49475493e-03 9.98056312e-01 5.20269503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:133.37, Y:15.46, Z:5.20 [[ 9.72173099e-01 -2.25994915e-01 -6.16908816e-02 1.33370117e+02] [ 2.25726047e-01 9.74124291e-01 -1.13849239e-02 1.54633323e+01] [ 6.26675213e-02 -2.85712213e-03 9.98030370e-01 5.20463227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.954391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:133.40, Y:15.47, Z:5.21 [[ 9.71618096e-01 -2.28257181e-01 -6.21042294e-02 1.33401230e+02] [ 2.27989631e-01 9.73596163e-01 -1.14559722e-02 1.54691818e+01] [ 6.30793474e-02 -3.02829046e-03 9.98003921e-01 5.20645510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:133.43, Y:15.48, Z:5.21 [[ 9.71199756e-01 -2.29943255e-01 -6.24270323e-02 1.33432689e+02] [ 2.29676721e-01 9.73198910e-01 -1.15102261e-02 1.54751004e+01] [ 6.34006187e-02 -3.15930730e-03 9.97983156e-01 5.20808008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.014391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:133.46, Y:15.48, Z:5.21 [[ 9.70957668e-01 -2.30686827e-01 -6.34412726e-02 1.33464551e+02] [ 2.30413493e-01 9.73022571e-01 -1.16917952e-02 1.54809201e+01] [ 6.44269333e-02 -3.26548702e-03 9.97917084e-01 5.21015886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.044391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:133.50, Y:15.49, Z:5.21 [[ 9.70936264e-01 -2.30984880e-01 -6.26797910e-02 1.33496449e+02] [ 2.30719023e-01 9.72951909e-01 -1.15462002e-02 1.54872327e+01] [ 6.36514200e-02 -3.25079562e-03 9.97966898e-01 5.21136023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.074391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:133.53, Y:15.49, Z:5.21 [[ 9.71027010e-01 -2.30478950e-01 -6.31347696e-02 1.33526513e+02] [ 2.30208479e-01 9.73071897e-01 -1.16249448e-02 1.54931571e+01] [ 6.41139751e-02 -3.24602385e-03 9.97937303e-01 5.21334690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.104391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:133.56, Y:15.50, Z:5.22 [[ 9.71234972e-01 -2.29588795e-01 -6.31792276e-02 1.33557884e+02] [ 2.29316344e-01 9.73282480e-01 -1.16288128e-02 1.54995246e+01] [ 6.41610805e-02 -3.19371980e-03 9.97934445e-01 5.21507994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.134391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:133.59, Y:15.51, Z:5.22 [[ 9.71610065e-01 -2.28001132e-01 -6.31614208e-02 1.33589570e+02] [ 2.27725828e-01 9.73655954e-01 -1.16202642e-02 1.55069918e+01] [ 6.41469268e-02 -3.09312125e-03 9.97935671e-01 5.21705091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:133.62, Y:15.51, Z:5.22 [[ 9.71840123e-01 -2.27104309e-01 -6.28522684e-02 1.33621883e+02] [ 2.26830207e-01 9.73865742e-01 -1.15574317e-02 1.55135534e+01] [ 6.38344136e-02 -3.02481716e-03 9.97955920e-01 5.21883606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:133.65, Y:15.52, Z:5.22 [[ 9.72046646e-01 -2.26289940e-01 -6.25953699e-02 1.33654219e+02] [ 2.26016902e-01 9.74055471e-01 -1.15021571e-02 1.55202523e+01] [ 6.35741850e-02 -2.96697833e-03 9.97972705e-01 5.22022786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:133.69, Y:15.53, Z:5.22 [[ 9.72382873e-01 -2.24754702e-01 -6.29036735e-02 1.33685776e+02] [ 2.24476261e-01 9.74411095e-01 -1.15510616e-02 1.55272974e+01] [ 6.38901928e-02 -2.88832700e-03 9.97952755e-01 5.22180415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:133.72, Y:15.53, Z:5.22 [[ 9.72552208e-01 -2.23864176e-01 -6.34589177e-02 1.33718031e+02] [ 2.23579366e-01 9.74616150e-01 -1.16458920e-02 1.55340217e+01] [ 6.44551841e-02 -2.86186663e-03 9.97916499e-01 5.22343225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:133.75, Y:15.54, Z:5.22 [[ 9.72839873e-01 -2.22610200e-01 -6.34608523e-02 1.33749267e+02] [ 2.22323216e-01 9.74903551e-01 -1.16384480e-02 1.55404883e+01] [ 6.44590475e-02 -2.78647444e-03 9.97916463e-01 5.22471434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:133.78, Y:15.55, Z:5.23 [[ 9.73296390e-01 -2.20634705e-01 -6.33597959e-02 1.33781307e+02] [ 2.20344913e-01 9.75352890e-01 -1.16128681e-02 1.55481786e+01] [ 6.43603618e-02 -2.65824609e-03 9.97923182e-01 5.22617069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34439141800001 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:133.81, Y:15.55, Z:5.23 [[ 9.73572324e-01 -2.19471528e-01 -6.31599424e-02 1.33812722e+02] [ 2.19181611e-01 9.75615492e-01 -1.15685942e-02 1.55547009e+01] [ 6.41587953e-02 -2.58063485e-03 9.97936365e-01 5.22799449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37439141800002 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:133.85, Y:15.56, Z:5.23 [[ 9.73819953e-01 -2.18557456e-01 -6.25086972e-02 1.33845494e+02] [ 2.18272044e-01 9.75820877e-01 -1.14425120e-02 1.55616083e+01] [ 6.34981380e-02 -2.50095465e-03 9.97978823e-01 5.22967602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40439141800002 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:133.88, Y:15.57, Z:5.23 [[ 9.74209544e-01 -2.16884194e-01 -6.22656427e-02 1.33876809e+02] [ 2.16598039e-01 9.76194415e-01 -1.13909077e-02 1.55691152e+01] [ 6.32538805e-02 -2.38948513e-03 9.97994608e-01 5.23160696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43439141800002 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:133.91, Y:15.58, Z:5.23 [[ 9.74388625e-01 -2.16263705e-01 -6.16183229e-02 1.33908300e+02] [ 2.15982567e-01 9.76332209e-01 -1.12671717e-02 1.55753390e+01] [ 6.25966336e-02 -2.32987966e-03 9.98036188e-01 5.23338464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46439141800002 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:133.94, Y:15.58, Z:5.23 [[ 9.74572574e-01 -2.15684531e-01 -6.07328648e-02 1.33939728e+02] [ 2.15410660e-01 9.76460471e-01 -1.10993886e-02 1.55815644e+01] [ 6.16972082e-02 -2.26534674e-03 9.98092342e-01 5.23470400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49439141800002 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:133.97, Y:15.59, Z:5.24 [[ 9.74808848e-01 -2.15679865e-01 -5.68322679e-02 1.33968109e+02] [ 2.15055941e-01 9.76454667e-01 -1.69477166e-02 1.55920918e+01] [ 5.91494145e-02 4.29866726e-03 9.98239885e-01 5.23565595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.524391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:134.00, Y:15.59, Z:5.24 [[ 9.74941374e-01 -2.14140220e-01 -6.02767255e-02 1.34002359e+02] [ 2.14242876e-01 9.76768476e-01 -4.83058458e-03 1.55914440e+01] [ 5.99108277e-02 -8.20432227e-03 9.98170016e-01 5.23558135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.554391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:134.03, Y:15.60, Z:5.24 [[ 9.74974120e-01 -2.14294073e-01 -5.91904977e-02 1.34034750e+02] [ 2.14032913e-01 9.76766831e-01 -1.07921217e-02 1.56001089e+01] [ 6.01280026e-02 -2.14667531e-03 9.98188367e-01 5.23912716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:134.07, Y:15.61, Z:5.24 [[ 9.75180774e-01 -2.13538092e-01 -5.85144516e-02 1.34067331e+02] [ 2.13281999e-01 9.76932516e-01 -1.06606123e-02 1.56061283e+01] [ 5.94411172e-02 -2.08405507e-03 9.98229638e-01 5.24044728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.614391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:134.10, Y:15.61, Z:5.24 [[ 9.75624083e-01 -2.11720334e-01 -5.77247733e-02 1.34099515e+02] [ 2.11468354e-01 9.77328340e-01 -1.05095950e-02 1.56126151e+01] [ 5.86411518e-02 -1.95354884e-03 9.98277215e-01 5.24175685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:134.13, Y:15.62, Z:5.24 [[ 9.75842284e-01 -2.10883804e-01 -5.70951627e-02 1.34131099e+02] [ 2.10636269e-01 9.77509310e-01 -1.03880001e-02 1.56186528e+01] [ 5.80017141e-02 -1.88926229e-03 9.98314696e-01 5.24300825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.674391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:134.16, Y:15.62, Z:5.24 [[ 9.76109080e-01 -2.09768480e-01 -5.66414138e-02 1.34163305e+02] [ 2.09523339e-01 9.77749402e-01 -1.02993912e-02 1.56244500e+01] [ 5.75415961e-02 -1.81436883e-03 9.98341461e-01 5.24430496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:134.20, Y:15.63, Z:5.25 [[ 9.76319645e-01 -2.09010992e-01 -5.58064144e-02 1.34196013e+02] [ 2.08772175e-01 9.77911725e-01 -1.01408333e-02 1.56303120e+01] [ 5.66932926e-02 -1.75013179e-03 9.98390108e-01 5.24538077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.734391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:134.22, Y:15.64, Z:5.25 [[ 9.76774002e-01 -2.08519986e-01 -4.93149548e-02 1.34224654e+02] [ 2.07593333e-01 9.77938237e-01 -2.32768581e-02 1.56425938e+01] [ 5.30806701e-02 1.24987740e-02 9.98512004e-01 5.24611523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:134.26, Y:15.63, Z:5.24 [[ 9.76821402e-01 -2.06527864e-01 -5.62689082e-02 1.34260499e+02] [ 2.07059936e-01 9.78321141e-01 3.73211246e-03 1.56339898e+01] [ 5.42782772e-02 -1.52966439e-02 9.98408674e-01 5.24266184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.794391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:134.29, Y:15.65, Z:5.25 [[ 9.77024200e-01 -2.06475232e-01 -5.28364640e-02 1.34291390e+02] [ 2.06258780e-01 9.78450613e-01 -9.57667799e-03 1.56456758e+01] [ 5.36752174e-02 -1.54133847e-03 9.98557257e-01 5.24788188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.824391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:134.32, Y:15.65, Z:5.25 [[ 9.77629427e-01 -2.03795299e-01 -5.20401767e-02 1.34322924e+02] [ 2.03581865e-01 9.79012550e-01 -9.42604880e-03 1.56506336e+01] [ 5.28689705e-02 -1.37925353e-03 9.98600506e-01 5.24849547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.854391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:134.36, Y:15.66, Z:5.25 [[ 9.78037796e-01 -2.01834200e-01 -5.20098567e-02 1.34355686e+02] [ 2.01618533e-01 9.79418870e-01 -9.41510618e-03 1.56564217e+01] [ 5.28397255e-02 -1.27782133e-03 9.98602188e-01 5.24995415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.884391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:134.39, Y:15.66, Z:5.25 [[ 9.78503106e-01 -1.99629592e-01 -5.17657991e-02 1.34388606e+02] [ 1.99413199e-01 9.79870747e-01 -9.36454164e-03 1.56621207e+01] [ 5.25932319e-02 -1.15955053e-03 9.98615345e-01 5.25108398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:134.42, Y:15.67, Z:5.25 [[ 9.79543204e-01 -1.94710937e-01 -5.08208918e-02 1.34420154e+02] [ 1.94496079e-01 9.80860269e-01 -9.18736400e-03 1.56664819e+01] [ 5.16370739e-02 -8.85044221e-04 9.98665524e-01 5.25158351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:134.45, Y:15.67, Z:5.25 [[ 9.80061955e-01 -1.92249865e-01 -5.01851981e-02 1.34451857e+02] [ 1.92037390e-01 9.81345722e-01 -9.06726541e-03 1.56713085e+01] [ 5.09922100e-02 -7.50952571e-04 9.98698769e-01 5.25295786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:134.48, Y:15.68, Z:5.25 [[ 9.80876923e-01 -1.88172803e-01 -4.97137623e-02 1.34484765e+02] [ 1.87959325e-01 9.82135788e-01 -8.97699251e-03 1.56755931e+01] [ 5.05148909e-02 -5.38840415e-04 9.98723163e-01 5.25371786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:134.51, Y:15.68, Z:5.25 [[ 9.81299133e-01 -1.86439960e-01 -4.78764439e-02 1.34514395e+02] [ 1.86006390e-01 9.82457205e-01 -1.33964151e-02 1.56828872e+01] [ 4.95341843e-02 4.24056606e-03 9.98763427e-01 5.25479069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:134.55, Y:15.68, Z:5.25 [[ 9.81318836e-01 -1.85667765e-01 -5.04065714e-02 1.34549064e+02] [ 1.85672529e-01 9.82600775e-01 -4.62914866e-03 1.56820325e+01] [ 5.03890198e-02 -4.81644484e-03 9.98718053e-01 5.25427848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:134.58, Y:15.69, Z:5.26 [[ 9.81425408e-01 -1.85365796e-01 -4.94336924e-02 1.34580394e+02] [ 1.85152591e-01 9.82669500e-01 -8.89790045e-03 1.56879147e+01] [ 5.02263481e-02 -4.20150662e-04 9.98737772e-01 5.25664740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09439141800001 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:134.61, Y:15.69, Z:5.26 [[ 9.81308793e-01 -1.85917759e-01 -4.96753516e-02 1.34614015e+02] [ 1.85703439e-01 9.82565204e-01 -8.93607981e-03 1.56896919e+01] [ 5.04706479e-02 -4.55829944e-04 9.98725441e-01 5.25766404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12439141800002 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:134.65, Y:15.69, Z:5.26 [[ 9.81168018e-01 -1.86718817e-01 -4.94510320e-02 1.34646757e+02] [ 1.86507758e-01 9.82413270e-01 -8.88953602e-03 1.56933895e+01] [ 5.02411937e-02 -5.00872678e-04 9.98736988e-01 5.25875377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15439141800002 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:134.68, Y:15.70, Z:5.26 [[ 9.80988467e-01 -1.87725817e-01 -4.92000487e-02 1.34678355e+02] [ 1.87518468e-01 9.82221314e-01 -8.83828692e-03 1.56968884e+01] [ 4.99845111e-02 -5.55660244e-04 9.98749838e-01 5.25999179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18439141800002 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:134.71, Y:15.70, Z:5.26 [[ 9.80545435e-01 -1.90289425e-01 -4.81724433e-02 1.34711485e+02] [ 1.90093982e-01 9.81727802e-01 -8.64876188e-03 1.56988684e+01] [ 4.89379948e-02 -6.76787604e-04 9.98801589e-01 5.26120765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21439141800002 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:134.74, Y:15.70, Z:5.26 [[ 9.80217774e-01 -1.92055726e-01 -4.78300562e-02 1.34744461e+02] [ 1.91865446e-01 9.81383723e-01 -8.58129766e-03 1.57026219e+01] [ 4.85877260e-02 -7.65394566e-04 9.98818626e-01 5.26274454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24439141800002 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:134.78, Y:15.70, Z:5.26 [[ 9.79501586e-01 -1.95805155e-01 -4.72967769e-02 1.34776835e+02] [ 1.95623743e-01 9.80642364e-01 -8.47972238e-03 1.57033904e+01] [ 4.80415964e-02 -9.46470990e-04 9.98844887e-01 5.26350920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.274391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:134.81, Y:15.71, Z:5.26 [[ 9.79053290e-01 -1.98108772e-01 -4.69847905e-02 1.34809761e+02] [ 1.97932848e-01 9.80179467e-01 -8.41430440e-03 1.57067992e+01] [ 4.77204744e-02 -1.06178102e-03 9.98860165e-01 5.26466770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.304391418 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:134.84, Y:15.71, Z:5.27 [[ 9.78578619e-01 -2.00301309e-01 -4.75738585e-02 1.34843063e+02] [ 2.00123829e-01 9.79733622e-01 -8.51364683e-03 1.57106297e+01] [ 4.83150033e-02 -1.18938995e-03 9.98831440e-01 5.26636419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.334391418 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:134.88, Y:15.71, Z:5.27 [[ 9.78169520e-01 -2.02390768e-01 -4.71419886e-02 1.34875290e+02] [ 2.02219205e-01 9.79303999e-01 -8.43038910e-03 1.57143264e+01] [ 4.78725708e-02 -1.28666580e-03 9.98852622e-01 5.26758173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:134.91, Y:15.72, Z:5.27 [[ 9.77383657e-01 -2.06276298e-01 -4.65969478e-02 1.34908884e+02] [ 2.06113316e-01 9.78492690e-01 -8.32807972e-03 1.57163166e+01] [ 4.73126583e-02 -1.46452243e-03 9.98879056e-01 5.26876419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.394391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:134.94, Y:15.72, Z:5.27 [[ 9.77140776e-01 -2.07437794e-01 -4.65345542e-02 1.34940508e+02] [ 2.07276837e-01 9.78247023e-01 -8.31112255e-03 1.57200891e+01] [ 4.72463300e-02 -1.52439848e-03 9.98882105e-01 5.26973467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:134.97, Y:15.72, Z:5.27 [[ 9.76382787e-01 -2.10961654e-01 -4.66029380e-02 1.34972877e+02] [ 2.10804673e-01 9.77492848e-01 -8.31391803e-03 1.57230228e+01] [ 4.73079565e-02 -1.70655066e-03 9.98878894e-01 5.27167074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.454391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:135.00, Y:15.73, Z:5.27 [[ 9.76094503e-01 -2.12277182e-01 -4.66681891e-02 1.35003567e+02] [ 2.12121449e-01 9.77207881e-01 -8.32161393e-03 1.57269792e+01] [ 4.73710109e-02 -1.77664228e-03 9.98875784e-01 5.27292196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:135.04, Y:15.73, Z:5.27 [[ 9.75731324e-01 -2.13886386e-01 -4.69147813e-02 1.35035905e+02] [ 2.13730998e-01 9.76856758e-01 -8.36264970e-03 1.57314315e+01] [ 4.76176781e-02 -1.86744378e-03 9.98863889e-01 5.27415572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.514391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:135.07, Y:15.74, Z:5.28 [[ 9.75323695e-01 -2.15694669e-01 -4.71115680e-02 1.35066709e+02] [ 2.15540266e-01 9.76458877e-01 -8.39381108e-03 1.57359124e+01] [ 4.78130091e-02 -1.96775708e-03 9.98854366e-01 5.27589169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:135.10, Y:15.74, Z:5.28 [[ 9.74556423e-01 -2.19326535e-01 -4.62130927e-02 1.35097974e+02] [ 2.19182167e-01 9.75649235e-01 -8.23094471e-03 1.57398613e+01] [ 4.68930331e-02 -2.10756578e-03 9.98897693e-01 5.27626243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.574391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:135.13, Y:15.74, Z:5.28 [[ 9.73954340e-01 -2.21904617e-01 -4.65970366e-02 1.35128765e+02] [ 2.21760912e-01 9.75065775e-01 -8.29654997e-03 1.57447191e+01] [ 4.72762183e-02 -2.25294045e-03 9.98879314e-01 5.27883304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.604391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:135.16, Y:15.75, Z:5.28 [[ 9.73436190e-01 -2.24133972e-01 -4.67541058e-02 1.35159277e+02] [ 2.23992142e-01 9.74555449e-01 -8.31853411e-03 1.57491958e+01] [ 4.74289346e-02 -2.37499015e-03 9.98871791e-01 5.28037304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.634391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:135.19, Y:15.75, Z:5.28 [[ 9.72902961e-01 -2.26230009e-01 -4.77473722e-02 1.35192207e+02] [ 2.26163092e-01 9.74065221e-01 -6.87036579e-03 1.57534200e+01] [ 4.80633375e-02 -4.11449409e-03 9.98835816e-01 5.28194141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:135.22, Y:15.76, Z:5.28 [[ 9.72018756e-01 -2.30089940e-01 -4.73091742e-02 1.35223971e+02] [ 2.29878497e-01 9.73168608e-01 -9.93666947e-03 1.57594065e+01] [ 4.83261309e-02 -1.21673278e-03 9.98830869e-01 5.28352902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:135.26, Y:15.76, Z:5.28 [[ 9.71640004e-01 -2.31589442e-01 -4.77706185e-02 1.35255209e+02] [ 2.31450749e-01 9.72809567e-01 -8.49094876e-03 1.57638738e+01] [ 4.84381288e-02 -2.80639996e-03 9.98822242e-01 5.28481702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:135.29, Y:15.77, Z:5.29 [[ 9.70966362e-01 -2.34334661e-01 -4.80789931e-02 1.35287112e+02] [ 2.34197668e-01 9.72151466e-01 -8.54275949e-03 1.57693752e+01] [ 4.87419283e-02 -2.96525595e-03 9.98807004e-01 5.28618906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:135.32, Y:15.77, Z:5.29 [[ 9.70715888e-01 -2.35202408e-01 -4.88926558e-02 1.35318365e+02] [ 2.35062041e-01 9.71941582e-01 -8.68316568e-03 1.57746139e+01] [ 4.95631067e-02 -3.06392058e-03 9.98766294e-01 5.28769059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:135.35, Y:15.78, Z:5.29 [[ 9.70208720e-01 -2.36665188e-01 -5.18133929e-02 1.35349740e+02] [ 2.36796331e-01 9.71552337e-01 -3.68150387e-03 1.57788278e+01] [ 5.12107068e-02 -8.69739418e-03 9.98649998e-01 5.28957088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:135.38, Y:15.79, Z:5.29 [[ 9.70064602e-01 -2.37136687e-01 -5.23532134e-02 1.35381640e+02] [ 2.37132092e-01 9.71456405e-01 -6.38938410e-03 1.57862101e+01] [ 5.23740219e-02 -6.21651168e-03 9.98608190e-01 5.29223047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84439141800001 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:135.41, Y:15.78, Z:5.29 [[ 9.69297827e-01 -2.37792018e-01 -6.25833701e-02 1.35410182e+02] [ 2.39448036e-01 9.70696200e-01 2.03353125e-02 1.57823014e+01] [ 5.59138646e-02 -3.46964393e-02 9.97832550e-01 5.29417132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87439141800002 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:135.44, Y:15.82, Z:5.31 [[ 9.70580109e-01 -2.36752487e-01 -4.38464655e-02 1.35439567e+02] [ 2.34794026e-01 9.70979305e-01 -4.55077504e-02 1.58174304e+01] [ 5.33480837e-02 3.38740292e-02 9.98001269e-01 5.30594197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90439141800002 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:135.47, Y:15.81, Z:5.30 [[ 9.71422660e-01 -2.31536476e-01 -5.22386444e-02 1.35473434e+02] [ 2.31748244e-01 9.72773637e-01 -2.04990280e-03 1.58066526e+01] [ 5.12910034e-02 -1.01148921e-02 9.98632526e-01 5.29772488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93439141800002 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:135.50, Y:15.82, Z:5.30 [[ 9.72567968e-01 -2.27756108e-01 -4.73149222e-02 1.35503670e+02] [ 2.27160120e-01 9.73696839e-01 -1.76846110e-02 1.58196833e+01] [ 5.00981684e-02 6.45142278e-03 9.98723462e-01 5.30108751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96439141800002 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:135.54, Y:15.82, Z:5.30 [[ 9.73498443e-01 -2.23491333e-01 -4.85016106e-02 1.35536256e+02] [ 2.23339037e-01 9.74702828e-01 -8.60652052e-03 1.58224880e+01] [ 4.91981397e-02 -2.45386866e-03 9.98786024e-01 5.30029484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99439141800002 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:135.57, Y:15.83, Z:5.30 [[ 9.74361233e-01 -2.19643373e-01 -4.87542478e-02 1.35567780e+02] [ 2.19484878e-01 9.75577579e-01 -8.64731985e-03 1.58298438e+01] [ 4.94628775e-02 -2.27520689e-03 9.98773371e-01 5.30219314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.024391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:135.60, Y:15.84, Z:5.30 [[ 9.76374042e-01 -2.10590471e-01 -4.84291646e-02 1.35598937e+02] [ 2.10423145e-01 9.77572701e-01 -8.58572041e-03 1.58389814e+01] [ 4.91511001e-02 -1.80774256e-03 9.98789718e-01 5.30411652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.054391418 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:135.63, Y:15.85, Z:5.31 [[ 9.77401931e-01 -2.05762563e-01 -4.84482412e-02 1.35630125e+02] [ 2.05589373e-01 9.78600687e-01 -8.58515573e-03 1.58464540e+01] [ 4.91779858e-02 -1.56929574e-03 9.98788798e-01 5.30572971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:135.66, Y:15.85, Z:5.31 [[ 9.78364983e-01 -2.01078809e-01 -4.86751650e-02 1.35660887e+02] [ 2.00898394e-01 9.79574146e-01 -8.62141951e-03 1.58539912e+01] [ 4.94145180e-02 -1.34386751e-03 9.98777452e-01 5.30757278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.114391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:135.69, Y:15.86, Z:5.31 [[ 9.80256841e-01 -1.91459315e-01 -4.93949107e-02 1.35692415e+02] [ 1.91261459e-01 9.81500161e-01 -8.74573852e-03 1.58628549e+01] [ 5.01555659e-02 -8.74272696e-04 9.98741035e-01 5.30927180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:135.72, Y:15.87, Z:5.31 [[ 9.81035202e-01 -1.87270752e-01 -4.99959785e-02 1.35722743e+02] [ 1.87062923e-01 9.82308104e-01 -8.84601521e-03 1.58697425e+01] [ 5.07680547e-02 -6.74141546e-04 9.98710243e-01 5.31077366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.174391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:135.75, Y:15.88, Z:5.31 [[ 9.81708843e-01 -1.83457272e-01 -5.09036055e-02 1.35753748e+02] [ 1.83236867e-01 9.83027563e-01 -9.00334667e-03 1.58766049e+01] [ 5.16913767e-02 -4.88752153e-04 9.98662988e-01 5.31263403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204391418 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:135.78, Y:15.88, Z:5.31 [[ 9.82958077e-01 -1.76134337e-01 -5.26318773e-02 1.35784931e+02] [ 1.75888434e-01 9.84366132e-01 -9.30462056e-03 1.58842867e+01] [ 5.34479007e-02 -1.11286553e-04 9.98570633e-01 5.31323905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.234391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:135.82, Y:15.89, Z:5.32 [[ 9.83348748e-01 -1.73776417e-01 -5.31695042e-02 1.35815323e+02] [ 1.73522246e-01 9.84785132e-01 -9.39538018e-03 1.58907665e+01] [ 5.39932328e-02 1.28435158e-05 9.98541301e-01 5.31534500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:135.85, Y:15.90, Z:5.32 [[ 9.84051475e-01 -1.69680194e-01 -5.33978111e-02 1.35846974e+02] [ 1.69417989e-01 9.85499151e-01 -9.43233019e-03 1.58977879e+01] [ 5.42239771e-02 2.35348677e-04 9.98528770e-01 5.31710988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.294391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:135.88, Y:15.90, Z:5.32 [[ 9.84254370e-01 -1.68638630e-01 -5.29560874e-02 1.35877083e+02] [ 1.68379463e-01 9.85677904e-01 -9.35017803e-03 1.59036559e+01] [ 5.37744464e-02 2.86236015e-04 9.98553067e-01 5.31875409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:135.91, Y:15.91, Z:5.32 [[ 9.84358503e-01 -1.68035966e-01 -5.29362924e-02 1.35908763e+02] [ 1.67776299e-01 9.85780815e-01 -9.34339990e-03 1.59095056e+01] [ 5.37536087e-02 3.15799899e-04 9.98554180e-01 5.32051898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.354391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:135.94, Y:15.91, Z:5.32 [[ 9.84211110e-01 -1.67717968e-01 -5.65612400e-02 1.35938328e+02] [ 1.68119140e-01 9.85763819e-01 2.37655345e-03 1.59104615e+01] [ 5.53574332e-02 -1.18480574e-02 9.98396303e-01 5.32250942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.384391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:135.97, Y:15.92, Z:5.33 [[ 9.83823290e-01 -1.70315813e-01 -5.55360905e-02 1.35967661e+02] [ 1.70328765e-01 9.85376855e-01 -4.53496325e-03 1.59179010e+01] [ 5.54963541e-02 -4.99779126e-03 9.98446382e-01 5.32630415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:136.00, Y:15.93, Z:5.33 [[ 9.83790213e-01 -1.72924383e-01 -4.74760418e-02 1.36000448e+02] [ 1.71699945e-01 9.84728517e-01 -2.87902303e-02 1.59324271e+01] [ 5.17295451e-02 2.01719131e-02 9.98457384e-01 5.32868917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:136.03, Y:15.93, Z:5.32 [[ 9.83179614e-01 -1.75380839e-01 -5.09843862e-02 1.36034672e+02] [ 1.75154517e-01 9.84500651e-01 -8.90859996e-03 1.59278832e+01] [ 5.17565592e-02 -1.71391663e-04 9.98659716e-01 5.32414311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:136.07, Y:15.93, Z:5.33 [[ 9.83196920e-01 -1.75283582e-01 -5.09851107e-02 1.36066865e+02] [ 1.75057345e-01 9.84517972e-01 -8.90445190e-03 1.59334236e+01] [ 5.17565620e-02 -1.70488404e-04 9.98659716e-01 5.32564372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:136.10, Y:15.94, Z:5.33 [[ 9.81540328e-01 -1.84470232e-01 -5.04907782e-02 1.36098498e+02] [ 1.84260744e-01 9.82837884e-01 -8.81312866e-03 1.59365109e+01] [ 5.12500095e-02 -6.53027172e-04 9.98685641e-01 5.32737636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:136.13, Y:15.94, Z:5.33 [[ 9.80547767e-01 -1.89642772e-01 -5.06132020e-02 1.36129295e+02] [ 1.89439370e-01 9.81852715e-01 -8.83008642e-03 1.59402191e+01] [ 5.13692718e-02 -9.29811599e-04 9.98679295e-01 5.32924230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:136.16, Y:15.94, Z:5.33 [[ 9.78327847e-01 -2.00812888e-01 -5.04857114e-02 1.36160285e+02] [ 2.00625660e-01 9.79628439e-01 -8.80141999e-03 1.59418618e+01] [ 5.12246772e-02 -1.51805490e-03 9.98686001e-01 5.33052105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59439141800001 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:136.19, Y:15.95, Z:5.33 [[ 9.77195372e-01 -2.06265118e-01 -5.04371457e-02 1.36192281e+02] [ 2.06085652e-01 9.78494478e-01 -8.78983249e-03 1.59454464e+01] [ 5.11655044e-02 -1.80498840e-03 9.98688557e-01 5.33176119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62439141800002 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:136.22, Y:15.95, Z:5.33 [[ 9.76118364e-01 -2.11247027e-01 -5.06718233e-02 1.36223900e+02] [ 2.11072783e-01 9.77430493e-01 -8.82670895e-03 1.59491582e+01] [ 5.13928013e-02 -2.07953010e-03 9.98676352e-01 5.33292732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65439141800002 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:136.25, Y:15.95, Z:5.33 [[ 9.74167759e-01 -2.19965513e-01 -5.11111590e-02 1.36254645e+02] [ 2.19800387e-01 9.75504277e-01 -8.89920353e-03 1.59516338e+01] [ 5.18166720e-02 -2.56493534e-03 9.98653320e-01 5.33399168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68439141800002 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:136.29, Y:15.96, Z:5.34 [[ 9.73334936e-01 -2.23521796e-01 -5.15471631e-02 1.36286811e+02] [ 2.23358975e-01 9.74694964e-01 -8.97187389e-03 1.59560725e+01] [ 5.22481696e-02 -2.78088323e-03 9.98630260e-01 5.33541433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71439141800002 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:136.32, Y:15.96, Z:5.34 [[ 9.72686989e-01 -2.26221197e-01 -5.19999116e-02 1.36318471e+02] [ 2.26059563e-01 9.74071473e-01 -9.04651873e-03 1.59604899e+01] [ 5.26981448e-02 -2.95564625e-03 9.98606113e-01 5.33679272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74439141800002 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:136.35, Y:15.97, Z:5.34 [[ 9.72103336e-01 -2.28639504e-01 -5.23362289e-02 1.36349774e+02] [ 2.28479474e-01 9.73506190e-01 -9.10102371e-03 1.59651810e+01] [ 5.30304963e-02 -3.11061852e-03 9.98588048e-01 5.33808639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.774391418 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:136.38, Y:15.97, Z:5.34 [[ 9.71100710e-01 -2.32584945e-01 -5.35504889e-02 1.36380011e+02] [ 2.32423526e-01 9.72570122e-01 -9.30929743e-03 1.59696537e+01] [ 5.42468079e-02 -3.40612810e-03 9.98521748e-01 5.33950511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.804391418 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:136.41, Y:15.98, Z:5.34 [[ 9.70727575e-01 -2.34064910e-01 -5.38664432e-02 1.36411355e+02] [ 2.33903913e-01 9.72214633e-01 -9.36301481e-03 1.59750825e+01] [ 5.45612976e-02 -3.51063516e-03 9.98504251e-01 5.34076399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.834391418 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:136.44, Y:15.98, Z:5.34 [[ 9.70399760e-01 -2.35309608e-01 -5.43478986e-02 1.36441242e+02] [ 2.35147768e-01 9.71913743e-01 -9.44478178e-03 1.59805458e+01] [ 5.50439175e-02 -3.61457310e-03 9.98477392e-01 5.34240353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:136.47, Y:15.99, Z:5.34 [[ 9.70112869e-01 -2.36393627e-01 -5.47638009e-02 1.36471055e+02] [ 2.36231067e-01 9.71650310e-01 -9.51619276e-03 1.59864952e+01] [ 5.54608314e-02 -3.70513006e-03 9.98453989e-01 5.34424529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.894391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:136.50, Y:15.99, Z:5.35 [[ 9.69670377e-01 -2.38141446e-01 -5.50273811e-02 1.36500040e+02] [ 2.37980105e-01 9.71222958e-01 -9.56217784e-03 1.59932875e+01] [ 5.57210067e-02 -3.82326132e-03 9.98439058e-01 5.34594668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:136.53, Y:16.00, Z:5.35 [[ 9.69448303e-01 -2.38869610e-01 -5.57790039e-02 1.36528888e+02] [ 2.38704960e-01 9.71043752e-01 -9.69403758e-03 1.59992534e+01] [ 5.64794641e-02 -3.91685661e-03 9.98396078e-01 5.34744993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.954391418 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:136.56, Y:16.01, Z:5.35 [[ 9.69284699e-01 -2.39379030e-01 -5.64344870e-02 1.36557173e+02] [ 2.39211085e-01 9.70918004e-01 -9.81254661e-03 1.60053148e+01] [ 5.71421774e-02 -3.98860354e-03 9.98358083e-01 5.34855193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:136.59, Y:16.00, Z:5.34 [[ 9.70111822e-01 -2.36341547e-01 -5.50065959e-02 1.36585814e+02] [ 2.37568467e-01 9.71224509e-01 1.68575345e-02 1.59994863e+01] [ 4.94396184e-02 -2.94215261e-02 9.98343677e-01 5.33994411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.014391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:136.61, Y:16.03, Z:5.36 [[ 9.69275698e-01 -2.40226485e-01 -5.28758686e-02 1.36613918e+02] [ 2.38567870e-01 9.70465384e-01 -3.58093443e-02 1.60315323e+01] [ 5.99165531e-02 2.20946438e-02 9.97958834e-01 5.35862666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.044391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:136.64, Y:16.03, Z:5.35 [[ 9.69675962e-01 -2.37510275e-01 -5.75968638e-02 1.36644185e+02] [ 2.37330953e-01 9.71377035e-01 -1.00336561e-02 1.60280683e+01] [ 5.83313672e-02 -3.94012346e-03 9.98289501e-01 5.35263135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.074391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:136.67, Y:16.04, Z:5.35 [[ 9.69954480e-01 -2.36338394e-01 -5.77275483e-02 1.36672055e+02] [ 2.36155476e-01 9.71663117e-01 -1.00686496e-02 1.60351189e+01] [ 5.84713380e-02 -3.86654489e-03 9.98281600e-01 5.35479252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.104391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:136.70, Y:16.05, Z:5.36 [[ 9.70774139e-01 -2.32709445e-01 -5.86846321e-02 1.36703399e+02] [ 2.32513731e-01 9.72539239e-01 -1.02369208e-02 1.60451177e+01] [ 5.94553356e-02 -3.70724477e-03 9.98224083e-01 5.35768190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.134391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:136.73, Y:16.05, Z:5.36 [[ 9.71294107e-01 -2.30431940e-01 -5.90667315e-02 1.36734905e+02] [ 2.30229764e-01 9.73081801e-01 -1.02987683e-02 1.60526636e+01] [ 5.98499267e-02 -3.59578665e-03 9.98200910e-01 5.35956087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:136.77, Y:16.06, Z:5.36 [[ 9.71919587e-01 -2.27923764e-01 -5.85070439e-02 1.36765756e+02] [ 2.27721136e-01 9.73673000e-01 -1.01967675e-02 1.60598853e+01] [ 5.92908146e-02 -3.41285241e-03 9.98234918e-01 5.36094054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:136.80, Y:16.07, Z:5.36 [[ 9.72601342e-01 -2.24962839e-01 -5.86374541e-02 1.36797115e+02] [ 2.24754171e-01 9.74361946e-01 -1.02156801e-02 1.60672572e+01] [ 5.94322523e-02 -3.24322817e-03 9.98227073e-01 5.36283976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224391418 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:136.83, Y:16.08, Z:5.37 [[ 9.74126632e-01 -2.18413428e-01 -5.80764908e-02 1.36827618e+02] [ 2.18197389e-01 9.75852253e-01 -1.01133425e-02 1.60770953e+01] [ 5.88829641e-02 -2.82046239e-03 9.98260909e-01 5.36501631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:136.86, Y:16.08, Z:5.37 [[ 9.74944038e-01 -2.14822281e-01 -5.77538778e-02 1.36857861e+02] [ 2.14602603e-01 9.76649714e-01 -1.00528561e-02 1.60847229e+01] [ 5.85648857e-02 -2.59316037e-03 9.98280236e-01 5.36688649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:136.89, Y:16.09, Z:5.37 [[ 9.75796963e-01 -2.10990849e-01 -5.74730268e-02 1.36890244e+02] [ 2.10766918e-01 9.77485198e-01 -9.99971129e-03 1.60926072e+01] [ 5.82888806e-02 -2.35572480e-03 9.98296978e-01 5.36867843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314391418 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:136.92, Y:16.10, Z:5.37 [[ 9.77422246e-01 -2.03437623e-01 -5.70866564e-02 1.36921383e+02] [ 2.03204297e-01 9.79086065e-01 -9.92424768e-03 1.61024966e+01] [ 5.79117152e-02 -1.90007340e-03 9.98319900e-01 5.37057580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34439141800001 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:136.95, Y:16.11, Z:5.37 [[ 9.78183700e-01 -1.99743365e-01 -5.70897229e-02 1.36954002e+02] [ 1.99504361e-01 9.79846787e-01 -9.91388164e-03 1.61098414e+01] [ 5.79194136e-02 -1.69205124e-03 9.98319828e-01 5.37204721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37439141800002 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:136.99, Y:16.12, Z:5.37 [[ 9.78912245e-01 -1.96146215e-01 -5.70743205e-02 1.36985327e+02] [ 1.95901705e-01 9.80573532e-01 -9.90302703e-03 1.61166650e+01] [ 5.79080093e-02 -1.48676229e-03 9.98320816e-01 5.37329382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40439141800002 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:137.02, Y:16.13, Z:5.38 [[ 9.80143993e-01 -1.89788884e-01 -5.74276330e-02 1.37017060e+02] [ 1.89531058e-01 9.81824275e-01 -9.95348180e-03 1.61254470e+01] [ 5.82729043e-02 -1.12847466e-03 9.98300053e-01 5.37538241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43439141800002 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:137.05, Y:16.13, Z:5.38 [[ 9.80678025e-01 -1.86908733e-01 -5.77558459e-02 1.37048979e+02] [ 1.86643376e-01 9.82376804e-01 -1.00032627e-02 1.61326136e+01] [ 5.86077005e-02 -9.69766098e-04 9.98280620e-01 5.37705602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46439141800002 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:137.08, Y:16.14, Z:5.38 [[ 9.81127206e-01 -1.84458778e-01 -5.80031377e-02 1.37080504e+02] [ 1.84187353e-01 9.82839896e-01 -1.00377798e-02 1.61393368e+01] [ 5.88593544e-02 -8.35105558e-04 9.98265936e-01 5.37825621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49439141800002 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:137.11, Y:16.15, Z:5.38 [[ 9.81778981e-01 -1.80780717e-01 -5.85522381e-02 1.37112553e+02] [ 1.80498238e-01 9.83523225e-01 -1.01218569e-02 1.61465503e+01] [ 5.94173226e-02 -6.31149471e-04 9.98233031e-01 5.37965903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.524391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:137.14, Y:16.15, Z:5.38 [[ 9.82078573e-01 -1.79239481e-01 -5.82656331e-02 1.37144763e+02] [ 1.78957477e-01 9.83805323e-01 -1.00651457e-02 1.61524271e+01] [ 5.91261115e-02 -5.42306710e-04 9.98250374e-01 5.38126667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.554391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:137.18, Y:16.16, Z:5.38 [[ 9.82310441e-01 -1.78125889e-01 -5.77699294e-02 1.37177367e+02] [ 1.77847161e-01 9.84007591e-01 -9.97237880e-03 1.61580676e+01] [ 5.86223879e-02 -4.78246119e-04 9.98280114e-01 5.38268719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:137.21, Y:16.16, Z:5.38 [[ 9.82483057e-01 -1.77067829e-01 -5.80863653e-02 1.37209454e+02] [ 1.76784617e-01 9.84198559e-01 -1.00197514e-02 1.61638554e+01] [ 5.89426926e-02 -4.24539857e-04 9.98261278e-01 5.38453810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.614391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:137.24, Y:16.17, Z:5.39 [[ 9.82557617e-01 -1.76727042e-01 -5.78626139e-02 1.37241895e+02] [ 1.76445841e-01 9.84259816e-01 -9.97399311e-03 1.61695638e+01] [ 5.87145200e-02 -4.09594664e-04 9.98274730e-01 5.38640293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:137.27, Y:16.18, Z:5.39 [[ 9.82796458e-01 -1.77741448e-01 -5.01906417e-02 1.37270489e+02] [ 1.76686434e-01 9.83955626e-01 -2.47634992e-02 1.61837022e+01] [ 5.37868644e-02 1.54694738e-02 9.98432606e-01 5.38891524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.674391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:137.31, Y:16.17, Z:5.39 [[ 9.82104046e-01 -1.78565681e-01 -5.98827288e-02 1.37305639e+02] [ 1.79206806e-01 9.83796225e-01 5.46878049e-03 1.61730910e+01] [ 5.79358661e-02 -1.61023040e-02 9.98190438e-01 5.38520137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:137.34, Y:16.18, Z:5.39 [[ 9.81827070e-01 -1.81162474e-01 -5.65310778e-02 1.37337203e+02] [ 1.80902932e-01 9.83452942e-01 -9.71806333e-03 1.61849497e+01] [ 5.73562031e-02 -6.85180057e-04 9.98353543e-01 5.39153961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.734391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:137.37, Y:16.19, Z:5.39 [[ 9.80847444e-01 -1.86616194e-01 -5.57914613e-02 1.37368767e+02] [ 1.86372579e-01 9.82432390e-01 -9.58436386e-03 1.61876739e+01] [ 5.65999362e-02 -9.97199726e-04 9.98396441e-01 5.39271534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:137.40, Y:16.19, Z:5.39 [[ 9.80259837e-01 -1.89715819e-01 -5.56647150e-02 1.37401711e+02] [ 1.89478633e-01 9.81838336e-01 -9.55667857e-03 1.61916343e+01] [ 5.64668042e-02 -1.17924595e-03 9.98403781e-01 5.39410385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.794391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:137.44, Y:16.21, Z:5.40 [[ 9.80669073e-01 -1.91765381e-01 -3.89128228e-02 1.37435117e+02] [ 1.89577536e-01 9.80392185e-01 -5.37728774e-02 1.62145479e+01] [ 4.84616037e-02 4.53564008e-02 9.97794703e-01 5.39782701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.824391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:137.47, Y:16.18, Z:5.38 [[ 9.78974732e-01 -1.93854654e-01 -6.34731930e-02 1.37469386e+02] [ 1.96420878e-01 9.79821570e-01 3.69936423e-02 1.61775802e+01] [ 5.50210138e-02 -4.86833013e-02 9.97297661e-01 5.38263611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.854391418 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:137.50, Y:16.20, Z:5.40 [[ 9.77745343e-01 -2.02313568e-01 -5.55271549e-02 1.37497622e+02] [ 2.02098578e-01 9.79318923e-01 -9.51898319e-03 1.62023636e+01] [ 5.63046130e-02 -1.91481760e-03 9.98411801e-01 5.39841385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.884391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:137.53, Y:16.21, Z:5.40 [[ 9.77278844e-01 -2.04436752e-01 -5.59613823e-02 1.37530603e+02] [ 2.04222255e-01 9.78877608e-01 -9.58641155e-03 1.62061808e+01] [ 5.67391588e-02 -2.05996250e-03 9.98386911e-01 5.39990996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.914391418 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:137.56, Y:16.21, Z:5.40 [[ 9.76528605e-01 -2.07824282e-01 -5.65769588e-02 1.37562647e+02] [ 2.07611100e-01 9.78163499e-01 -9.68502663e-03 1.62086388e+01] [ 5.73542997e-02 -2.28829912e-03 9.98351265e-01 5.40097730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:137.59, Y:16.21, Z:5.40 [[ 9.76337820e-01 -2.08534257e-01 -5.72531569e-02 1.37594557e+02] [ 2.08317508e-01 9.78012207e-01 -9.79487407e-03 1.62124381e+01] [ 5.80368531e-02 -2.36372898e-03 9.98311643e-01 5.40251248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:137.63, Y:16.22, Z:5.40 [[ 9.76338546e-01 -2.08520065e-01 -5.72924678e-02 1.37627471e+02] [ 2.08303342e-01 9.78015217e-01 -9.79560769e-03 1.62165634e+01] [ 5.80754861e-02 -2.37038313e-03 9.98309381e-01 5.40382143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:137.66, Y:16.22, Z:5.41 [[ 9.76497846e-01 -2.07794629e-01 -5.72131969e-02 1.37658895e+02] [ 2.07577651e-01 9.78169699e-01 -9.77537589e-03 1.62208263e+01] [ 5.79954863e-02 -2.33054754e-03 9.98314125e-01 5.40520782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:137.69, Y:16.23, Z:5.41 [[ 9.76814798e-01 -2.06224208e-01 -5.74841326e-02 1.37690224e+02] [ 2.06002778e-01 9.78502171e-01 -9.81615123e-03 1.62254690e+01] [ 5.82726765e-02 -2.25332923e-03 9.98298161e-01 5.40715617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064391418 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:137.72, Y:16.23, Z:5.41 [[ 9.77767114e-01 -2.01610573e-01 -5.76597616e-02 1.37722819e+02] [ 2.01380075e-01 9.79463741e-01 -9.84101315e-03 1.62303275e+01] [ 5.84596981e-02 -1.98930812e-03 9.98287787e-01 5.40921992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09439141800001 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:137.75, Y:16.24, Z:5.41 [[ 9.78353723e-01 -1.98695409e-01 -5.78284356e-02 1.37754963e+02] [ 1.98458901e-01 9.80059587e-01 -9.86255465e-03 1.62354972e+01] [ 5.86349570e-02 -1.82750073e-03 9.98277818e-01 5.41113896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12439141800002 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:137.79, Y:16.24, Z:5.41 [[ 9.79664223e-01 -1.92238643e-01 -5.74657593e-02 1.37786330e+02] [ 1.91994460e-01 9.81347151e-01 -9.79264243e-03 1.62401271e+01] [ 5.82763835e-02 -1.43960596e-03 9.98299449e-01 5.41276034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15439141800002 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:137.82, Y:16.24, Z:5.41 [[ 9.80292828e-01 -1.88934967e-01 -5.77022567e-02 1.37816771e+02] [ 1.88683615e-01 9.81988796e-01 -9.82329534e-03 1.62441111e+01] [ 5.85189336e-02 -1.25776444e-03 9.98285506e-01 5.41406083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18439141800002 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:137.85, Y:16.25, Z:5.42 [[ 9.80870591e-01 -1.85968137e-01 -5.75216070e-02 1.37849104e+02] [ 1.85713480e-01 9.82555181e-01 -9.78877764e-03 1.62485457e+01] [ 5.83385538e-02 -1.08101368e-03 9.98296271e-01 5.41520961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21439141800002 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:137.88, Y:16.25, Z:5.42 [[ 9.81340487e-01 -1.83355169e-01 -5.78941261e-02 1.37880559e+02] [ 1.83092937e-01 9.83046288e-01 -9.84740445e-03 1.62528518e+01] [ 5.87181782e-02 -9.36348872e-04 9.98274160e-01 5.41669081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24439141800002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:137.91, Y:16.26, Z:5.42 [[ 9.82147747e-01 -1.78703860e-01 -5.87429455e-02 1.37911862e+02] [ 1.78425830e-01 9.83902677e-01 -9.98723105e-03 1.62561754e+01] [ 5.95820981e-02 -6.72322359e-04 9.98223182e-01 5.41840667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.274391418 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:137.94, Y:16.26, Z:5.42 [[ 9.82508332e-01 -1.76709818e-01 -5.87453641e-02 1.37943812e+02] [ 1.76428432e-01 9.84262837e-01 -9.98380899e-03 1.62604929e+01] [ 5.95851158e-02 -5.55176974e-04 9.98223074e-01 5.41966694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.304391418 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:137.97, Y:16.27, Z:5.42 [[ 9.82839923e-01 -1.74815430e-01 -5.88663910e-02 1.37973341e+02] [ 1.74368463e-01 9.84598756e-01 -1.26857999e-02 1.62654554e+01] [ 6.01774489e-02 2.20366848e-03 9.98185263e-01 5.42200992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.334391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:138.01, Y:16.27, Z:5.42 [[ 9.83341183e-01 -1.72085710e-01 -5.85373923e-02 1.38006095e+02] [ 1.71942155e-01 9.85078357e-01 -7.51838029e-03 1.62658409e+01] [ 5.89577240e-02 -2.67191240e-03 9.98256905e-01 5.42150043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:138.04, Y:16.27, Z:5.42 [[ 9.83363288e-01 -1.72093948e-01 -5.81404953e-02 1.38038097e+02] [ 1.71811545e-01 9.85080498e-01 -9.85932915e-03 1.62723210e+01] [ 5.89697989e-02 -2.93905999e-04 9.98259724e-01 5.42370630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.394391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:138.07, Y:16.28, Z:5.43 [[ 9.83614465e-01 -1.70821106e-01 -5.76431666e-02 1.38070564e+02] [ 1.70541665e-01 9.85302035e-01 -9.76931839e-03 1.62760273e+01] [ 5.84647352e-02 -2.21318742e-04 9.98289450e-01 5.42517501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424391418 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:138.10, Y:16.28, Z:5.43 [[ 9.83878836e-01 -1.69437416e-01 -5.72136155e-02 1.38102153e+02] [ 1.69160064e-01 9.85540939e-01 -9.69180895e-03 1.62797244e+01] [ 5.80285154e-02 -1.42693157e-04 9.98314916e-01 5.42699622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.454391418 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:138.13, Y:16.28, Z:5.43 [[ 9.84436199e-01 -1.66789619e-01 -5.53768202e-02 1.38133744e+02] [ 1.66525856e-01 9.85992507e-01 -9.37637284e-03 1.62825473e+01] [ 5.61650114e-02 8.76846360e-06 9.98421500e-01 5.42858124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484391418 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:138.17, Y:16.29, Z:5.43 [[ 9.84618124e-01 -1.65830015e-01 -5.50232229e-02 1.38165214e+02] [ 1.65568317e-01 9.86154350e-01 -9.31289012e-03 1.62866390e+01] [ 5.58057473e-02 5.95379942e-05 9.98441643e-01 5.43042567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.514391418 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:138.20, Y:16.29, Z:5.43 [[ 9.84762888e-01 -1.65080937e-01 -5.46839897e-02 1.38196469e+02] [ 1.64821543e-01 9.86280019e-01 -9.25117410e-03 1.62901773e+01] [ 5.54609189e-02 9.71133855e-05 9.98460854e-01 5.43161813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544391418 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:138.23, Y:16.29, Z:5.43 [[ 9.84834732e-01 -1.64842662e-01 -5.41058853e-02 1.38229248e+02] [ 1.64588561e-01 9.86319870e-01 -9.14986756e-03 1.62913839e+01] [ 5.48739983e-02 1.05897577e-04 9.98493281e-01 5.43228269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.574391418 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:138.26, Y:16.29, Z:5.43 [[ 9.84777340e-01 -1.65345093e-01 -5.36152098e-02 1.38261068e+02] [ 1.65096569e-01 9.86235771e-01 -9.06244082e-03 1.62941352e+01] [ 5.43756679e-02 7.27991789e-05 9.98520546e-01 5.43279206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.604391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:138.29, Y:16.30, Z:5.43 [[ 9.84616655e-01 -1.66299525e-01 -5.36144555e-02 1.38292541e+02] [ 1.66052693e-01 9.86075285e-01 -9.05734894e-03 1.62969762e+01] [ 5.43741223e-02 1.51919044e-05 9.98520633e-01 5.43407746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.634391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:138.32, Y:16.30, Z:5.44 [[ 9.84266917e-01 -1.68600732e-01 -5.28434483e-02 1.38324885e+02] [ 1.68364632e-01 9.85684422e-01 -8.92026933e-03 1.62975217e+01] [ 5.35909278e-02 -1.17041738e-04 9.98562967e-01 5.43524579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:138.36, Y:16.30, Z:5.44 [[ 9.84025970e-01 -1.70222187e-01 -5.21276995e-02 1.38356561e+02] [ 1.69994935e-01 9.85405685e-01 -8.79531245e-03 1.63001234e+01] [ 5.28640888e-02 -2.06629038e-04 9.98601695e-01 5.43626581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:138.39, Y:16.30, Z:5.44 [[ 9.83792948e-01 -1.71803634e-01 -5.13317320e-02 1.38388346e+02] [ 1.71585595e-01 9.85131173e-01 -8.65774531e-03 1.63026565e+01] [ 5.20559214e-02 -2.90356972e-04 9.98644129e-01 5.43727119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:138.42, Y:16.30, Z:5.44 [[ 9.83511554e-01 -1.73401483e-01 -5.13512218e-02 1.38420615e+02] [ 1.73185676e-01 9.84851147e-01 -8.65677796e-03 1.63048637e+01] [ 5.20744079e-02 -3.79254910e-04 9.98643136e-01 5.43861334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:138.45, Y:16.31, Z:5.44 [[ 9.83163620e-01 -1.75403714e-01 -5.12136097e-02 1.38452722e+02] [ 1.75191997e-01 9.84496470e-01 -8.62933927e-03 1.63071991e+01] [ 5.19332362e-02 -4.88162117e-04 9.98650440e-01 5.43995814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:138.49, Y:16.31, Z:5.44 [[ 9.82702926e-01 -1.78039611e-01 -5.09593654e-02 1.38485930e+02] [ 1.77833750e-01 9.84023121e-01 -8.58226889e-03 1.63062094e+01] [ 5.16731776e-02 -6.28474294e-04 9.98663851e-01 5.44106374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:138.52, Y:16.31, Z:5.44 [[ 9.82534686e-01 -1.79050088e-01 -5.06621882e-02 1.38518283e+02] [ 1.78848180e-01 9.83839723e-01 -8.52802444e-03 1.63086771e+01] [ 5.13704167e-02 -6.81760339e-04 9.98679436e-01 5.44222097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84439141800001 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:138.55, Y:16.31, Z:5.44 [[ 9.82356946e-01 -1.79937505e-01 -5.09639494e-02 1.38550725e+02] [ 1.79554678e-01 9.83674427e-01 -1.20307972e-02 1.63101109e+01] [ 5.22967253e-02 2.66772163e-03 9.98628027e-01 5.44427421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87439141800002 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:138.58, Y:16.31, Z:5.44 [[ 9.82452076e-01 -1.79369463e-01 -5.11323153e-02 1.38582850e+02] [ 1.79343242e-01 9.83773146e-01 -5.13804350e-03 1.63095198e+01] [ 5.12242068e-02 -4.12235371e-03 9.98678670e-01 5.44381183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90439141800002 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:138.61, Y:16.31, Z:5.45 [[ 9.82616078e-01 -1.78697294e-01 -5.03281273e-02 1.38612757e+02] [ 1.78498099e-01 9.83903872e-01 -8.46162543e-03 1.63131698e+01] [ 5.10301089e-02 -6.68945842e-04 9.98696891e-01 5.44603592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93439141800002 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:138.64, Y:16.31, Z:5.45 [[ 9.82990376e-01 -1.76803622e-01 -4.97031230e-02 1.38644295e+02] [ 1.76606983e-01 9.84245986e-01 -8.35541854e-03 1.63126206e+01] [ 5.03973675e-02 -5.64622583e-04 9.98729086e-01 5.44689390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96439141800002 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:138.67, Y:16.32, Z:5.45 [[ 9.83111930e-01 -1.76033093e-01 -5.00328312e-02 1.38674610e+02] [ 1.75832940e-01 9.84384106e-01 -8.40882524e-03 1.63151218e+01] [ 5.07317554e-02 -5.30603424e-04 9.98712174e-01 5.44825745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.994391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:138.71, Y:16.31, Z:5.45 [[ 9.83304198e-01 -1.75004017e-01 -4.98642977e-02 1.38705710e+02] [ 1.74803937e-01 9.84567604e-01 -8.37955512e-03 1.63147295e+01] [ 5.05612280e-02 -4.76823807e-04 9.98720849e-01 5.44942346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.024391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:138.73, Y:16.32, Z:5.45 [[ 9.83103137e-01 -1.75932590e-01 -5.05563709e-02 1.38731603e+02] [ 1.75264341e-01 9.84367724e-01 -1.73952279e-02 1.63208279e+01] [ 5.28264473e-02 8.24057408e-03 9.98569707e-01 5.45345625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.054391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:138.76, Y:16.31, Z:5.45 [[ 9.82961961e-01 -1.76501681e-01 -5.13121805e-02 1.38760943e+02] [ 1.76740280e-01 9.84257517e-01 1.14304826e-04 1.63149371e+01] [ 5.04842244e-02 -9.18128642e-03 9.98682656e-01 5.44995820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:138.79, Y:16.32, Z:5.45 [[ 9.82750926e-01 -1.78105780e-01 -4.97890345e-02 1.38789866e+02] [ 1.77908437e-01 9.84011164e-01 -8.40335348e-03 1.63212702e+01] [ 5.04896517e-02 -5.99485888e-04 9.98724404e-01 5.45314007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.114391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:138.82, Y:16.32, Z:5.45 [[ 9.82081136e-01 -1.81910608e-01 -4.92460391e-02 1.38818172e+02] [ 1.81722209e-01 9.83314759e-01 -8.31399516e-03 1.63201095e+01] [ 4.99367610e-02 -7.84081206e-04 9.98752074e-01 5.45414464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:138.85, Y:16.32, Z:5.46 [[ 9.81582526e-01 -1.84606799e-01 -4.91535813e-02 1.38847273e+02] [ 1.84422193e-01 9.82812034e-01 -8.30421692e-03 1.63220595e+01] [ 4.98417462e-02 -9.13737047e-04 9.98756710e-01 5.45537559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.174391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:138.88, Y:16.32, Z:5.46 [[ 9.81071931e-01 -1.87436191e-01 -4.86368232e-02 1.38875359e+02] [ 1.87258259e-01 9.82276238e-01 -8.23029854e-03 1.63238755e+01] [ 4.93174515e-02 -1.03313194e-03 9.98782620e-01 5.45674079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:138.90, Y:16.33, Z:5.46 [[ 9.80442734e-01 -1.90692073e-01 -4.86680434e-02 1.38903118e+02] [ 1.90517628e-01 9.81649180e-01 -8.24139964e-03 1.63255386e+01] [ 4.93465145e-02 -1.19189978e-03 9.98781007e-01 5.45790854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.234391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:138.93, Y:16.32, Z:5.46 [[ 9.79123855e-01 -1.97413752e-01 -4.84178455e-02 1.38931630e+02] [ 1.97248519e-01 9.80319101e-01 -8.21476801e-03 1.63246944e+01] [ 4.90866469e-02 -1.50707299e-03 9.98793387e-01 5.45881107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:138.96, Y:16.33, Z:5.46 [[ 9.78459453e-01 -2.00595054e-01 -4.87721582e-02 1.38958654e+02] [ 2.00430562e-01 9.79672832e-01 -8.29052390e-03 1.63267596e+01] [ 4.94437964e-02 -1.66348960e-03 9.98775522e-01 5.46031209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.294391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:138.99, Y:16.33, Z:5.46 [[ 9.77348955e-01 -2.05946015e-01 -4.87366192e-02 1.38985538e+02] [ 2.05788049e-01 9.78561460e-01 -8.29147440e-03 1.63266677e+01] [ 4.93993733e-02 -1.92574995e-03 9.98777249e-01 5.46201278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.324391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:139.01, Y:16.33, Z:5.46 [[ 9.76881621e-01 -2.08183501e-01 -4.85996682e-02 1.39013745e+02] [ 2.08028826e-01 9.78087688e-01 -8.27542389e-03 1.63296930e+01] [ 4.92575438e-02 -2.02602240e-03 9.98784056e-01 5.46335333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.354391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:139.05, Y:16.33, Z:5.46 [[ 9.76292724e-01 -2.11076898e-01 -4.79485202e-02 1.39045330e+02] [ 2.11488460e-01 9.77373787e-01 3.62090830e-03 1.63287674e+01] [ 4.60993367e-02 -1.36756251e-02 9.98843245e-01 5.46226132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.384391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:139.07, Y:16.34, Z:5.47 [[ 9.76326407e-01 -2.11235232e-01 -4.65448632e-02 1.39068911e+02] [ 2.10580119e-01 9.77399423e-01 -1.86113460e-02 1.63420601e+01] [ 4.94242944e-02 8.36932569e-03 9.98742806e-01 5.46859049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.414391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:139.10, Y:16.34, Z:5.47 [[ 9.76500460e-01 -2.10020160e-01 -4.83568446e-02 1.39098051e+02] [ 2.09866427e-01 9.77694904e-01 -8.29204776e-03 1.63399626e+01] [ 4.90197377e-02 -2.05128978e-03 9.98795704e-01 5.46798420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:139.12, Y:16.34, Z:5.47 [[ 9.76720195e-01 -2.08927255e-01 -4.86524770e-02 1.39124483e+02] [ 2.08769510e-01 9.77929153e-01 -8.35841164e-03 1.63442819e+01] [ 4.93249757e-02 -1.99332433e-03 9.98780793e-01 5.46944453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:139.15, Y:16.35, Z:5.47 [[ 9.77112371e-01 -2.07055392e-01 -4.87799035e-02 1.39152138e+02] [ 2.06894098e-01 9.78327384e-01 -8.38823832e-03 1.63487982e+01] [ 4.94595454e-02 -1.89602269e-03 9.98774328e-01 5.47073511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:139.18, Y:16.35, Z:5.47 [[ 9.78134617e-01 -2.02131059e-01 -4.89459447e-02 1.39179194e+02] [ 2.01961693e-01 9.79357114e-01 -8.43312460e-03 1.63541105e+01] [ 4.96401556e-02 -1.63647474e-03 9.98765827e-01 5.47177364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:139.21, Y:16.36, Z:5.47 [[ 9.78716998e-01 -1.99274663e-01 -4.90168041e-02 1.39206503e+02] [ 1.99100413e-01 9.79942562e-01 -8.46171098e-03 1.63593643e+01] [ 4.97198572e-02 -1.47764557e-03 9.98762110e-01 5.47286292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:139.23, Y:16.36, Z:5.47 [[ 9.79310735e-01 -1.96244167e-01 -4.93833141e-02 1.39232891e+02] [ 1.96062654e-01 9.80554175e-01 -8.54085064e-03 1.63648847e+01] [ 5.00991069e-02 -1.31807689e-03 9.98743382e-01 5.47401747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59439141800001 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:139.26, Y:16.37, Z:5.48 [[ 9.80471839e-01 -1.90278454e-01 -4.96898719e-02 1.39259984e+02] [ 1.90086630e-01 9.81729640e-01 -8.60156511e-03 1.63710368e+01] [ 5.04187125e-02 -1.01178793e-03 9.98727655e-01 5.47510789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62439141800002 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:139.29, Y:16.38, Z:5.48 [[ 9.80945746e-01 -1.87809970e-01 -4.97278502e-02 1.39286994e+02] [ 1.87614094e-01 9.82204994e-01 -8.61978390e-03 1.63761135e+01] [ 5.04618242e-02 -8.74105214e-04 9.98725608e-01 5.47634237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65439141800002 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:139.31, Y:16.38, Z:5.48 [[ 9.81392990e-01 -1.85557203e-01 -4.93591363e-02 1.39313950e+02] [ 1.85360540e-01 9.82633188e-01 -8.57249634e-03 1.63812830e+01] [ 5.00926139e-02 -7.36248361e-04 9.98744306e-01 5.47694388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68439141800002 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:139.34, Y:16.39, Z:5.48 [[ 9.81880082e-01 -1.82631618e-01 -5.05687249e-02 1.39341208e+02] [ 1.82420840e-01 9.83181235e-01 -8.79181549e-03 1.63869981e+01] [ 5.13238849e-02 -5.92280728e-04 9.98681885e-01 5.47836141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71439141800002 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:139.37, Y:16.39, Z:5.48 [[ 9.81953849e-01 -1.82145749e-01 -5.08877612e-02 1.39368204e+02] [ 1.81930716e-01 9.83271387e-01 -8.86530637e-03 1.63922925e+01] [ 5.16512575e-02 -5.52725150e-04 9.98665030e-01 5.47985231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.744391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:139.40, Y:16.40, Z:5.48 [[ 9.81931145e-01 -1.82228990e-01 -5.10276639e-02 1.39395049e+02] [ 1.82011986e-01 9.83255970e-01 -8.90701961e-03 1.63974141e+01] [ 5.17963723e-02 -5.41566486e-04 9.98657520e-01 5.48091993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.774391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:139.42, Y:16.40, Z:5.48 [[ 9.81756684e-01 -1.83090121e-01 -5.13012706e-02 1.39422878e+02] [ 1.82871239e-01 9.83095964e-01 -8.96853378e-03 1.64024187e+01] [ 5.20761221e-02 -5.76608957e-04 9.98642952e-01 5.48215542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.804391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:139.45, Y:16.41, Z:5.48 [[ 9.81593607e-01 -1.84027487e-01 -5.10673579e-02 1.39450234e+02] [ 1.83810914e-01 9.82920911e-01 -8.94598063e-03 1.64070037e+01] [ 5.18414803e-02 -6.05420316e-04 9.98655143e-01 5.48322521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.834391418 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:139.48, Y:16.41, Z:5.48 [[ 9.81452829e-01 -1.84884722e-01 -5.06752816e-02 1.39477207e+02] [ 1.84671726e-01 9.82760013e-01 -8.89435234e-03 1.64110555e+01] [ 5.14460703e-02 -6.28904466e-04 9.98675576e-01 5.48437778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864391418 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:139.51, Y:16.42, Z:5.49 [[ 9.81174973e-01 -1.86479745e-01 -5.02093298e-02 1.39505174e+02] [ 1.86272280e-01 9.82458558e-01 -8.82150340e-03 1.64155867e+01] [ 5.09736175e-02 -6.97168000e-04 9.98699757e-01 5.48553169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.894391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:139.53, Y:16.42, Z:5.49 [[ 9.80532019e-01 -1.90046029e-01 -4.93909489e-02 1.39533064e+02] [ 1.89848962e-01 9.81774812e-01 -8.69428409e-03 1.64198970e+01] [ 5.01431038e-02 -8.51796434e-04 9.98741680e-01 5.48698010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:139.56, Y:16.42, Z:5.49 [[ 9.80147595e-01 -1.92032353e-01 -4.93382952e-02 1.39559406e+02] [ 1.91837366e-01 9.81388150e-01 -8.70201366e-03 1.64245411e+01] [ 5.00910864e-02 -9.35670821e-04 9.98744215e-01 5.48865993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.954391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:139.59, Y:16.43, Z:5.49 [[ 9.79294614e-01 -1.96541076e-01 -4.85145901e-02 1.39586957e+02] [ 1.96357658e-01 9.80494931e-01 -8.56508847e-03 1.64288939e+01] [ 4.92517013e-02 -1.13846627e-03 9.98785750e-01 5.48940564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:139.61, Y:16.43, Z:5.49 [[ 9.78871223e-01 -1.98738035e-01 -4.81073928e-02 1.39613266e+02] [ 1.98559540e-01 9.80051886e-01 -8.50943195e-03 1.64329064e+01] [ 4.88388889e-02 -1.22254372e-03 9.98805921e-01 5.49025901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.014391418 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:139.64, Y:16.44, Z:5.49 [[ 9.78409785e-01 -2.01039722e-01 -4.79303949e-02 1.39641159e+02] [ 2.00864901e-01 9.79582195e-01 -8.48619326e-03 1.64370237e+01] [ 4.86578234e-02 -1.32455953e-03 9.98814628e-01 5.49122912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:139.67, Y:16.44, Z:5.49 [[ 9.77653644e-01 -2.04863180e-01 -4.71638624e-02 1.39668432e+02] [ 2.04697572e-01 9.78789509e-01 -8.36666533e-03 1.64399914e+01] [ 4.78775153e-02 -1.47462723e-03 9.98852126e-01 5.49178902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.074391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:139.70, Y:16.44, Z:5.49 [[ 9.77258018e-01 -2.06757195e-01 -4.70980702e-02 1.39695782e+02] [ 2.06593867e-01 9.78391045e-01 -8.36286490e-03 1.64445381e+01] [ 4.78094126e-02 -1.55749569e-03 9.98855262e-01 5.49273170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.104391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:139.72, Y:16.45, Z:5.49 [[ 9.76949077e-01 -2.08216307e-01 -4.70794018e-02 1.39723688e+02] [ 2.08053997e-01 9.78081475e-01 -8.37631249e-03 1.64493937e+01] [ 4.77915756e-02 -1.61182697e-03 9.98856029e-01 5.49357928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.134391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:139.75, Y:16.45, Z:5.49 [[ 9.76767631e-01 -2.08931787e-01 -4.76707817e-02 1.39750425e+02] [ 2.08765425e-01 9.77928822e-01 -8.49800253e-03 1.64542582e+01] [ 4.83941343e-02 -1.65143722e-03 9.98826952e-01 5.49435168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.164391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:139.78, Y:16.46, Z:5.50 [[ 9.76757672e-01 -2.08880345e-01 -4.80983539e-02 1.39777605e+02] [ 2.08710520e-01 9.77939804e-01 -8.58245654e-03 1.64592691e+01] [ 4.88300013e-02 -1.65565220e-03 9.98805732e-01 5.49548261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:139.80, Y:16.46, Z:5.50 [[ 9.76846796e-01 -2.08403026e-01 -4.83582118e-02 1.39804229e+02] [ 2.08229957e-01 9.78041686e-01 -8.64550536e-03 1.64641864e+01] [ 4.90980965e-02 -1.62429414e-03 9.98792640e-01 5.49606505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:139.83, Y:16.47, Z:5.50 [[ 9.77009498e-01 -2.07623778e-01 -4.84232119e-02 1.39831913e+02] [ 2.07448875e-01 9.78207480e-01 -8.66550643e-03 1.64694409e+01] [ 4.91671133e-02 -1.57905873e-03 9.98789318e-01 5.49678585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:139.86, Y:16.47, Z:5.50 [[ 9.77636511e-01 -2.04572228e-01 -4.87550528e-02 1.39857990e+02] [ 2.04390311e-01 9.78850443e-01 -8.74136209e-03 1.64742934e+01] [ 4.95121450e-02 -1.41918565e-03 9.98772513e-01 5.49774150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:139.89, Y:16.48, Z:5.50 [[ 9.77571310e-01 -2.04883915e-01 -4.87536211e-02 1.39885906e+02] [ 2.04701987e-01 9.78785240e-01 -8.74934019e-03 1.64794997e+01] [ 4.95119238e-02 -1.42685917e-03 9.98772513e-01 5.49902309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:139.91, Y:16.49, Z:5.50 [[ 9.77876622e-01 -2.03374805e-01 -4.89489605e-02 1.39913721e+02] [ 2.03188718e-01 9.79100043e-01 -8.80065402e-03 1.64852440e+01] [ 4.97157606e-02 -1.33992271e-03 9.98762508e-01 5.50008826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34439141800001 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:139.94, Y:16.49, Z:5.50 [[ 9.78689810e-01 -1.99456218e-01 -4.88208206e-02 1.39939554e+02] [ 1.99265432e-01 9.79906097e-01 -8.79371851e-03 1.64915874e+01] [ 4.95937816e-02 -1.12197922e-03 9.98768841e-01 5.50048676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37439141800002 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:139.97, Y:16.50, Z:5.50 [[ 9.79042987e-01 -1.97762497e-01 -4.86294689e-02 1.39965438e+02] [ 1.97570756e-01 9.80249430e-01 -8.76653909e-03 1.64973202e+01] [ 4.94027019e-02 -1.02494232e-03 9.98778415e-01 5.50136235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40439141800002 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:139.99, Y:16.50, Z:5.50 [[ 9.79434413e-01 -1.95880647e-01 -4.83632308e-02 1.39992439e+02] [ 1.95688317e-01 9.80627315e-01 -8.72648864e-03 1.65031034e+01] [ 4.91356554e-02 -9.17095961e-04 9.98791693e-01 5.50257194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43439141800002 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:140.02, Y:16.51, Z:5.50 [[ 9.80267118e-01 -1.91747392e-01 -4.80553411e-02 1.40019455e+02] [ 1.91551733e-01 9.81444070e-01 -8.68738564e-03 1.65100549e+01] [ 4.88294131e-02 -6.89125407e-04 9.98806895e-01 5.50378599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46439141800002 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:140.05, Y:16.52, Z:5.50 [[ 9.80732762e-01 -1.89497942e-01 -4.74739950e-02 1.40045769e+02] [ 1.89303610e-01 9.81880961e-01 -8.59774080e-03 1.65156134e+01] [ 4.82430661e-02 -5.54912571e-04 9.98835471e-01 5.50470452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.494391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:140.07, Y:16.52, Z:5.51 [[ 9.81080552e-01 -1.87777643e-01 -4.71222641e-02 1.40072938e+02] [ 1.87583839e-01 9.82211457e-01 -8.54151612e-03 1.65216575e+01] [ 4.78879334e-02 -4.59459866e-04 9.98852609e-01 5.50613005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.524391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:140.10, Y:16.53, Z:5.51 [[ 9.81592749e-01 -1.85206651e-01 -4.66280181e-02 1.40099629e+02] [ 1.85013254e-01 9.82699546e-01 -8.46750365e-03 1.65286379e+01] [ 4.73895702e-02 -3.15161197e-04 9.98876433e-01 5.50746300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.554391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:140.13, Y:16.53, Z:5.51 [[ 9.81689224e-01 -1.84784494e-01 -4.62705005e-02 1.40126845e+02] [ 1.84592834e-01 9.82779026e-01 -8.41852490e-03 1.65342591e+01] [ 4.70292903e-02 -2.76827636e-04 9.98893472e-01 5.50840465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:140.15, Y:16.54, Z:5.51 [[ 9.81657633e-01 -1.84969084e-01 -4.62031415e-02 1.40152950e+02] [ 1.84777443e-01 9.82744303e-01 -8.42207043e-03 1.65392253e+01] [ 4.69636967e-02 -2.69708642e-04 9.98896560e-01 5.50929099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.614391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:140.18, Y:16.54, Z:5.51 [[ 9.81288970e-01 -1.86817667e-01 -4.65952409e-02 1.40180737e+02] [ 1.86624482e-01 9.82394541e-01 -8.50110140e-03 1.65437377e+01] [ 4.73630662e-02 -3.53775645e-04 9.98877678e-01 5.50991507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:140.21, Y:16.55, Z:5.51 [[ 9.80931522e-01 -1.88677872e-01 -4.66262659e-02 1.40208145e+02] [ 1.88485764e-01 9.82038939e-01 -8.52288450e-03 1.65483004e+01] [ 4.73968884e-02 -4.28021284e-04 9.98876044e-01 5.51090622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.674391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:140.23, Y:16.55, Z:5.51 [[ 9.80197200e-01 -1.92424441e-01 -4.67577061e-02 1.40234897e+02] [ 1.92234741e-01 9.81311612e-01 -8.56293972e-03 1.65520729e+01] [ 4.75315988e-02 -5.95085976e-04 9.98869558e-01 5.51238030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:140.26, Y:16.56, Z:5.51 [[ 9.79762473e-01 -1.94636585e-01 -4.67129168e-02 1.40262813e+02] [ 1.94449226e-01 9.80875182e-01 -8.56597124e-03 1.65569679e+01] [ 4.74867921e-02 -6.90673348e-04 9.98871627e-01 5.51343528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.734391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:140.29, Y:16.56, Z:5.51 [[ 9.79394099e-01 -1.96420781e-01 -4.69688895e-02 1.40289666e+02] [ 1.96232644e-01 9.80519398e-01 -8.62894792e-03 1.65612488e+01] [ 4.77488119e-02 -7.65688719e-04 9.98859081e-01 5.51490282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:140.32, Y:16.57, Z:5.52 [[ 9.79210385e-01 -1.97362904e-01 -4.68498280e-02 1.40316637e+02] [ 1.97139946e-01 9.80330496e-01 -9.37870698e-03 1.65657787e+01] [ 4.77793239e-02 -5.22452865e-05 9.98857915e-01 5.51610420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.794391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:140.35, Y:16.57, Z:5.52 [[ 9.78358212e-01 -2.01526367e-01 -4.69290231e-02 1.40346589e+02] [ 2.01367481e-01 9.79481960e-01 -8.13807692e-03 1.65693182e+01] [ 4.76061686e-02 -1.48802480e-03 9.98865075e-01 5.51705237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.824391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:140.37, Y:16.57, Z:5.52 [[ 9.78098779e-01 -2.02838525e-01 -4.66830874e-02 1.40374318e+02] [ 2.02658659e-01 9.79211642e-01 -8.60394357e-03 1.65740528e+01] [ 4.74578339e-02 -1.04522517e-03 9.98872695e-01 5.51824767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.854391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:140.40, Y:16.58, Z:5.52 [[ 9.77869711e-01 -2.04023860e-01 -4.63151419e-02 1.40401147e+02] [ 2.03847401e-01 9.78965322e-01 -8.55193253e-03 1.65787802e+01] [ 4.70857161e-02 -1.07854552e-03 9.98890270e-01 5.51965030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.884391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:140.43, Y:16.58, Z:5.52 [[ 9.77728885e-01 -2.04674214e-01 -4.64186856e-02 1.40428278e+02] [ 2.04497343e-01 9.78829528e-01 -8.57853517e-03 1.65835428e+01] [ 4.71917851e-02 -1.10501627e-03 9.98885236e-01 5.52142533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.914391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:140.46, Y:16.59, Z:5.52 [[ 9.77681839e-01 -2.04957867e-01 -4.61572701e-02 1.40455374e+02] [ 2.04782543e-01 9.78770182e-01 -8.54634338e-03 1.65885490e+01] [ 4.69290000e-02 -1.09659842e-03 9.98897626e-01 5.52265875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:140.48, Y:16.59, Z:5.52 [[ 9.77768166e-01 -2.03730529e-01 -4.96314983e-02 1.40483356e+02] [ 2.04050610e-01 9.78959316e-01 1.41626713e-03 1.65884396e+01] [ 4.82986808e-02 -1.15121184e-02 9.98766594e-01 5.52494389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:140.51, Y:16.60, Z:5.53 [[ 9.77849251e-01 -2.04562431e-01 -4.43289225e-02 1.40509261e+02] [ 2.03906034e-01 9.78807943e-01 -1.89034461e-02 1.66028506e+01] [ 4.72564363e-02 9.44578580e-03 9.98838128e-01 5.52696988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:140.54, Y:16.60, Z:5.53 [[ 9.77937679e-01 -2.03691236e-01 -4.63441095e-02 1.40536742e+02] [ 2.03511287e-01 9.79034665e-01 -8.61868136e-03 1.66024686e+01] [ 4.71280396e-02 -1.00301615e-03 9.98888353e-01 5.52606822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:140.56, Y:16.61, Z:5.53 [[ 9.78179363e-01 -2.02434149e-01 -4.67498692e-02 1.40564683e+02] [ 2.02249243e-01 9.79295423e-01 -8.70160893e-03 1.66066590e+01] [ 4.75434358e-02 -9.43391411e-04 9.98868726e-01 5.52711454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:140.59, Y:16.61, Z:5.53 [[ 9.78290730e-01 -2.01917319e-01 -4.66545266e-02 1.40592366e+02] [ 2.01731797e-01 9.79402157e-01 -8.70035493e-03 1.66116730e+01] [ 4.74502963e-02 -9.00224917e-04 9.98873195e-01 5.52841856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09439141800001 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:140.62, Y:16.62, Z:5.53 [[ 9.78505523e-01 -2.00831645e-01 -4.68358004e-02 1.40618966e+02] [ 2.00642650e-01 9.79625415e-01 -8.75062128e-03 1.66164388e+01] [ 4.76389421e-02 -8.34727833e-04 9.98864272e-01 5.53001310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12439141800002 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:140.65, Y:16.62, Z:5.53 [[ 9.79041342e-01 -1.98312032e-01 -4.63722841e-02 1.40646616e+02] [ 1.98123580e-01 9.80138690e-01 -8.67156668e-03 1.66209423e+01] [ 4.71709458e-02 -6.97620644e-04 9.98886588e-01 5.53144422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15439141800002 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:140.67, Y:16.63, Z:5.53 [[ 9.79397783e-01 -1.96587478e-01 -4.61881571e-02 1.40673851e+02] [ 1.96397850e-01 9.80486108e-01 -8.65312636e-03 1.66255464e+01] [ 4.69879426e-02 -5.96401987e-04 9.98895279e-01 5.53262651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18439141800002 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:140.70, Y:16.63, Z:5.53 [[ 9.79698594e-01 -1.95070831e-01 -4.62389013e-02 1.40700885e+02] [ 1.94878347e-01 9.80789025e-01 -8.67857864e-03 1.66303575e+01] [ 4.70435445e-02 -5.08569375e-04 9.98892710e-01 5.53355226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21439141800002 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:140.73, Y:16.63, Z:5.53 [[ 9.80144695e-01 -1.92727526e-01 -4.66098448e-02 1.40727741e+02] [ 1.92528540e-01 9.81252238e-01 -8.76400916e-03 1.66347892e+01] [ 4.74250803e-02 -3.83728265e-04 9.98874724e-01 5.53468964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.244391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:140.75, Y:16.64, Z:5.54 [[ 9.81006533e-01 -1.87953502e-01 -4.79547948e-02 1.40753775e+02] [ 1.87396634e-01 9.82155702e-01 -1.58958504e-02 1.66412922e+01] [ 5.00867559e-02 6.60736598e-03 9.98723014e-01 5.53764967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.274391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:140.78, Y:16.64, Z:5.54 [[ 9.81308508e-01 -1.86193536e-01 -4.86372145e-02 1.40783449e+02] [ 1.86291051e-01 9.82491266e-01 -2.56036208e-03 1.66394984e+01] [ 4.82623614e-02 -6.54817273e-03 9.98813229e-01 5.53604634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.304391418 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:140.81, Y:16.65, Z:5.54 [[ 9.81528195e-01 -1.85379726e-01 -4.72943938e-02 1.40810396e+02] [ 1.85164857e-01 9.82666961e-01 -8.92293716e-03 1.66466148e+01] [ 4.81287699e-02 8.54763469e-07 9.98841139e-01 5.53858494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.334391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:140.84, Y:16.65, Z:5.54 [[ 9.81714060e-01 -1.84286500e-01 -4.77073405e-02 1.40837645e+02] [ 1.84065787e-01 9.82872566e-01 -9.01692283e-03 1.66486636e+01] [ 4.85519333e-02 7.07507264e-05 9.98820657e-01 5.53981802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:140.87, Y:16.64, Z:5.54 [[ 9.81410366e-01 -1.84261972e-01 -5.36769980e-02 1.40868325e+02] [ 1.84893213e-01 9.82733697e-01 6.99866772e-03 1.66440266e+01] [ 5.14606064e-02 -1.67930777e-02 9.98533824e-01 5.54271764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.394391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:140.89, Y:16.66, Z:5.55 [[ 9.81175262e-01 -1.87589571e-01 -4.58831020e-02 1.40891682e+02] [ 1.86577611e-01 9.82110207e-01 -2.54624594e-02 1.66610539e+01] [ 4.98387547e-02 1.64223757e-02 9.98622253e-01 5.54505996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:140.92, Y:16.66, Z:5.54 [[ 9.80819102e-01 -1.88910820e-01 -4.80269782e-02 1.40921034e+02] [ 1.88691075e-01 9.81994239e-01 -9.10999846e-03 1.66566788e+01] [ 4.88831932e-02 -1.27001636e-04 9.98804494e-01 5.54314494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.454391418 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:140.95, Y:16.66, Z:5.55 [[ 9.80415666e-01 -1.90400601e-01 -5.03262641e-02 1.40946734e+02] [ 1.89528353e-01 9.81637318e-01 -2.16143384e-02 1.66646670e+01] [ 5.35175220e-02 1.16527820e-02 9.98498917e-01 5.54835592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:140.98, Y:16.65, Z:5.55 [[ 9.79099037e-01 -1.95804103e-01 -5.50075269e-02 1.40980269e+02] [ 1.96563056e-01 9.80452671e-01 8.69049161e-03 1.66522176e+01] [ 5.22306427e-02 -1.93212995e-02 9.98448120e-01 5.54715441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.514391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:141.01, Y:16.66, Z:5.55 [[ 9.78492184e-01 -1.99263718e-01 -5.33574321e-02 1.41006356e+02] [ 1.99325031e-01 9.79924329e-01 -4.22397470e-03 1.66613459e+01] [ 5.31279307e-02 -6.50234557e-03 9.98566544e-01 5.55199813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:16.66, Z:5.55 [[ 9.77408180e-01 -2.04588772e-01 -5.30724432e-02 1.41034003e+02] [ 2.04459196e-01 9.78843066e-01 -7.91767494e-03 1.66646017e+01] [ 5.35694604e-02 -3.11234880e-03 9.98559275e-01 5.55463362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:16.68, Z:5.55 [[ 9.77388191e-01 -2.06121303e-01 -4.71840377e-02 1.41060708e+02] [ 2.05027405e-01 9.78383542e-01 -2.70075681e-02 1.66764979e+01] [ 5.17309210e-02 1.67228574e-02 9.98521035e-01 5.55476065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.604391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:16.67, Z:5.55 [[ 9.77027383e-01 -2.07133380e-01 -5.01323823e-02 1.41089758e+02] [ 2.06976907e-01 9.78310197e-01 -8.34973736e-03 1.66711721e+01] [ 5.07745301e-02 -2.21832337e-03 9.98707678e-01 5.55317712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:16.67, Z:5.56 [[ 9.76654582e-01 -2.09007044e-01 -4.96173721e-02 1.41116061e+02] [ 2.08795557e-01 9.77913499e-01 -9.46587932e-03 1.66749901e+01] [ 5.04999335e-02 -1.11499245e-03 9.98723442e-01 5.55501016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:16.67, Z:5.56 [[ 9.75534410e-01 -2.13782242e-01 -5.12812601e-02 1.41144672e+02] [ 2.13795645e-01 9.76864093e-01 -5.28824242e-03 1.66747808e+01] [ 5.12253540e-02 -5.80484762e-03 9.98670249e-01 5.55728881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.17, Y:16.68, Z:5.56 [[ 9.75148579e-01 -2.16040629e-01 -4.91090238e-02 1.41171779e+02] [ 2.15612638e-01 9.76379825e-01 -1.39150370e-02 1.66820946e+01] [ 5.09552734e-02 2.98070238e-03 9.98696488e-01 5.55887816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:16.68, Z:5.56 [[ 9.74040232e-01 -2.20711532e-01 -5.03194378e-02 1.41199423e+02] [ 2.20508233e-01 9.75337614e-01 -9.62586217e-03 1.66825217e+01] [ 5.12029792e-02 -1.71987329e-03 9.98686786e-01 5.55971254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:16.69, Z:5.56 [[ 9.73365207e-01 -2.23573500e-01 -5.07450911e-02 1.41227121e+02] [ 2.23370162e-01 9.74685265e-01 -9.71625018e-03 1.66870181e+01] [ 5.16327886e-02 -1.87747936e-03 9.98664373e-01 5.56126496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:141.25, Y:16.69, Z:5.56 [[ 9.72050873e-01 -2.29117190e-01 -5.12094998e-02 1.41254419e+02] [ 2.28916862e-01 9.73396417e-01 -9.82272995e-03 1.66911431e+01] [ 5.20976999e-02 -2.17452476e-03 9.98639625e-01 5.56254064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:141.28, Y:16.70, Z:5.56 [[ 9.71366178e-01 -2.31863801e-01 -5.18355615e-02 1.41281302e+02] [ 2.31661528e-01 9.72745462e-01 -9.96008500e-03 1.66959683e+01] [ 5.27321904e-02 -2.33341569e-03 9.98605964e-01 5.56411378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84439141800001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:141.31, Y:16.70, Z:5.57 [[ 9.70620539e-01 -2.34877426e-01 -5.22337492e-02 1.41309031e+02] [ 2.34675857e-01 9.72021765e-01 -1.00464464e-02 1.67011128e+01] [ 5.31320246e-02 -2.50671260e-03 9.98584350e-01 5.56534737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:16.71, Z:5.57 [[ 9.70082170e-01 -2.37027674e-01 -5.25210854e-02 1.41335584e+02] [ 2.36826076e-01 9.71499361e-01 -1.01193549e-02 1.67058319e+01] [ 5.34227681e-02 -2.62175682e-03 9.98568543e-01 5.56664335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.36, Y:16.71, Z:5.57 [[ 9.69199338e-01 -2.40520094e-01 -5.29407908e-02 1.41363142e+02] [ 2.40319899e-01 9.70640043e-01 -1.02104261e-02 1.67120609e+01] [ 5.38422641e-02 -2.82678723e-03 9.98545452e-01 5.56817541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:16.72, Z:5.57 [[ 9.68955529e-01 -2.41490358e-01 -5.29866880e-02 1.41389789e+02] [ 2.41290318e-01 9.70398986e-01 -1.02367216e-02 1.67184254e+01] [ 5.38902978e-02 -2.86624686e-03 9.98542748e-01 5.56940274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:16.73, Z:5.57 [[ 9.68827404e-01 -2.41961497e-01 -5.31798334e-02 1.41416359e+02] [ 2.41760253e-01 9.70281533e-01 -1.02823596e-02 1.67254526e+01] [ 5.40873454e-02 -2.89493817e-03 9.98532012e-01 5.57085474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.994391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:141.44, Y:16.74, Z:5.57 [[ 9.68832593e-01 -2.41811534e-01 -5.37642019e-02 1.41443137e+02] [ 2.41605054e-01 9.70318877e-01 -1.04055431e-02 1.67352928e+01] [ 5.46846003e-02 -2.90847361e-03 9.98499442e-01 5.57240655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.024391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:141.47, Y:16.74, Z:5.57 [[ 9.68970631e-01 -2.41219381e-01 -5.39363152e-02 1.41469960e+02] [ 2.41009603e-01 9.70466382e-01 -1.04581188e-02 1.67429231e+01] [ 5.48660816e-02 -2.86555995e-03 9.98489610e-01 5.57359342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.054391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:141.50, Y:16.75, Z:5.57 [[ 9.69541648e-01 -2.38815195e-01 -5.43718310e-02 1.41496105e+02] [ 2.38597161e-01 9.71061191e-01 -1.05621457e-02 1.67530608e+01] [ 5.53207758e-02 -2.73252430e-03 9.98464894e-01 5.57493975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:141.52, Y:16.76, Z:5.58 [[ 9.69643956e-01 -2.37653713e-01 -5.75439971e-02 1.41522164e+02] [ 2.37936428e-01 9.71278696e-01 -1.98750752e-03 1.67578974e+01] [ 5.63635970e-02 -1.17646384e-02 9.98340993e-01 5.57714939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.114391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:141.55, Y:16.77, Z:5.58 [[ 9.70263381e-01 -2.36387336e-01 -5.20576549e-02 1.41548373e+02] [ 2.35673379e-01 9.71635877e-01 -1.95392272e-02 1.67738449e+01] [ 5.51999111e-02 6.68959313e-03 9.98452913e-01 5.57941831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:141.58, Y:16.78, Z:5.58 [[ 9.70899783e-01 -2.33693256e-01 -5.23552651e-02 1.41575207e+02] [ 2.33481425e-01 9.72307632e-01 -1.02123651e-02 1.67814494e+01] [ 5.32919847e-02 -2.30879889e-03 9.98576303e-01 5.57919651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.174391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:141.60, Y:16.79, Z:5.58 [[ 9.70826078e-01 -2.34000018e-01 -5.23518598e-02 1.41603046e+02] [ 2.33787694e-01 9.72233853e-01 -1.02297945e-02 1.67870928e+01] [ 5.32920224e-02 -2.30786932e-03 9.98576304e-01 5.58048308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:141.63, Y:16.80, Z:5.58 [[ 9.71070021e-01 -2.33043546e-01 -5.20933779e-02 1.41629738e+02] [ 2.32831031e-01 9.72463749e-01 -1.01964337e-02 1.67953905e+01] [ 5.30351346e-02 -2.22750378e-03 9.98590163e-01 5.58193971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.234391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:141.66, Y:16.80, Z:5.58 [[ 9.71225475e-01 -2.32412246e-01 -5.20156244e-02 1.41656624e+02] [ 2.32198505e-01 9.72614944e-01 -1.01992482e-02 1.68037312e+01] [ 5.29616038e-02 -2.17218061e-03 9.98594187e-01 5.58305731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:141.68, Y:16.81, Z:5.58 [[ 9.71421302e-01 -2.31591105e-01 -5.20212873e-02 1.41683584e+02] [ 2.31375194e-01 9.72810931e-01 -1.02182443e-02 1.68120397e+01] [ 5.29733314e-02 -2.11021523e-03 9.98593698e-01 5.58424727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.294391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:141.71, Y:16.82, Z:5.59 [[ 9.71754247e-01 -2.30214608e-01 -5.19125896e-02 1.41708830e+02] [ 2.29996776e-01 9.73137798e-01 -1.02131712e-02 1.68233723e+01] [ 5.28693243e-02 -2.01503577e-03 9.98599406e-01 5.58548706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.324391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:141.74, Y:16.83, Z:5.59 [[ 9.71816690e-01 -2.30072345e-01 -5.13715634e-02 1.41735983e+02] [ 2.29858369e-01 9.73171519e-01 -1.01156045e-02 1.68320519e+01] [ 5.23206632e-02 -1.97767051e-03 9.98628378e-01 5.58653535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.354391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:141.76, Y:16.84, Z:5.59 [[ 9.71816980e-01 -2.30111426e-01 -5.11907202e-02 1.41762553e+02] [ 2.29898112e-01 9.73162322e-01 -1.00971586e-02 1.68406380e+01] [ 5.21403517e-02 -1.95605982e-03 9.98637851e-01 5.58797285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.384391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:141.79, Y:16.85, Z:5.59 [[ 9.71781659e-01 -2.30338275e-01 -5.08398135e-02 1.41787900e+02] [ 2.30127345e-01 9.73108689e-01 -1.00441620e-02 1.68518440e+01] [ 5.17862192e-02 -1.93889888e-03 9.98656311e-01 5.58899609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.414391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:141.81, Y:16.86, Z:5.59 [[ 9.71725457e-01 -2.30626889e-01 -5.06050737e-02 1.41813883e+02] [ 2.30417733e-01 9.73040336e-01 -1.00086546e-02 1.68600016e+01] [ 5.15490428e-02 -1.93464194e-03 9.98668590e-01 5.59016535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444391418 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:141.84, Y:16.87, Z:5.59 [[ 9.71808367e-01 -2.30416763e-01 -4.99661183e-02 1.41840503e+02] [ 2.30212180e-01 9.73090200e-01 -9.89011845e-03 1.68708640e+01] [ 5.09003891e-02 -1.89150915e-03 9.98701944e-01 5.59093187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:141.87, Y:16.88, Z:5.59 [[ 9.71951717e-01 -2.29897745e-01 -4.95669993e-02 1.41866886e+02] [ 2.29694948e-01 9.73213062e-01 -9.82687522e-03 1.68789195e+01] [ 5.04984276e-02 -1.83404112e-03 9.98722456e-01 5.59172422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:141.89, Y:16.89, Z:5.59 [[ 9.72014768e-01 -2.29653473e-01 -4.94628465e-02 1.41893935e+02] [ 2.29450795e-01 9.73270778e-01 -9.81449701e-03 1.68873758e+01] [ 5.03946765e-02 -1.80945343e-03 9.98727742e-01 5.59288974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:141.92, Y:16.90, Z:5.60 [[ 9.72061118e-01 -2.29218208e-01 -5.05588353e-02 1.41920137e+02] [ 2.28463399e-01 9.73340569e-01 -2.03128480e-02 1.69004924e+01] [ 5.38670402e-02 8.19448638e-03 9.98514493e-01 5.59704507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:141.95, Y:16.89, Z:5.59 [[ 9.72637592e-01 -2.24328740e-01 -6.04378233e-02 1.41949746e+02] [ 2.25917282e-01 9.73924671e-01 2.07874348e-02 1.68918058e+01] [ 5.41986681e-02 -3.38725893e-02 9.97955486e-01 5.59441831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59439141800001 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:141.97, Y:16.93, Z:5.60 [[ 9.73013072e-01 -2.26153493e-01 -4.58275071e-02 1.41971886e+02] [ 2.24443269e-01 9.73681751e-01 -3.96114546e-02 1.69285749e+01] [ 5.35796762e-02 2.82567876e-02 9.98163700e-01 5.60282970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62439141800002 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:142.00, Y:16.92, Z:5.60 [[ 9.73598306e-01 -2.22546827e-01 -5.07863089e-02 1.42003008e+02] [ 2.22670765e-01 9.74888196e-01 -3.27638403e-03 1.69218155e+01] [ 5.02401220e-02 -8.11874432e-03 9.98704168e-01 5.59579312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65439141800002 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:142.03, Y:16.93, Z:5.60 [[ 9.73831363e-01 -2.21890426e-01 -4.91641734e-02 1.42029832e+02] [ 2.21677265e-01 9.75070687e-01 -9.81560837e-03 1.69327999e+01] [ 5.01165339e-02 -1.33983224e-03 9.98742478e-01 5.59871732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68439141800002 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:142.06, Y:16.94, Z:5.60 [[ 9.74120906e-01 -2.20660709e-01 -4.89623565e-02 1.42056910e+02] [ 2.20447033e-01 9.75349820e-01 -9.78953854e-03 1.69420418e+01] [ 4.99155921e-02 -1.25741207e-03 9.98752648e-01 5.59976758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71439141800002 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:142.09, Y:16.95, Z:5.60 [[ 9.74166535e-01 -2.20479814e-01 -4.88693519e-02 1.42085233e+02] [ 2.20266075e-01 9.75390758e-01 -9.78391574e-03 1.69491010e+01] [ 4.98238701e-02 -1.23309704e-03 9.98757259e-01 5.60082623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.744391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:142.11, Y:16.96, Z:5.60 [[ 9.74066970e-01 -2.20823076e-01 -4.93022100e-02 1.42114518e+02] [ 2.20605868e-01 9.75313069e-01 -9.87262480e-03 1.69561707e+01] [ 5.02651931e-02 -1.25975912e-03 9.98735112e-01 5.60200998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.774391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:142.14, Y:16.96, Z:5.60 [[ 9.73620936e-01 -2.22909669e-01 -4.87191180e-02 1.42142736e+02] [ 2.22700080e-01 9.74838171e-01 -9.75785010e-03 1.69640114e+01] [ 4.96683750e-02 -1.34930431e-03 9.98764853e-01 5.60287122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.804391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:142.17, Y:16.97, Z:5.60 [[ 9.73362149e-01 -2.24069972e-01 -4.85672148e-02 1.42170821e+02] [ 2.23863026e-01 9.74572051e-01 -9.72952770e-03 1.69704041e+01] [ 4.95123452e-02 -1.40204970e-03 9.98772528e-01 5.60409006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.834391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:142.20, Y:16.95, Z:5.61 [[ 9.70866653e-01 -2.26645880e-01 -7.77790898e-02 1.42200097e+02] [ 2.31398842e-01 9.71087347e-01 5.86850902e-02 1.69470917e+01] [ 6.22295561e-02 -7.49733884e-02 9.95241917e-01 5.61124847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:142.22, Y:17.02, Z:5.63 [[ 9.71807457e-01 -2.32787997e-01 -3.74167595e-02 1.42221278e+02] [ 2.28552950e-01 9.69077954e-01 -9.30132704e-02 1.70235798e+01] [ 5.79121297e-02 8.18392791e-02 9.94961566e-01 5.63251767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.894391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:142.26, Y:16.95, Z:5.61 [[ 9.69946952e-01 -2.29256124e-01 -8.15140521e-02 1.42258586e+02] [ 2.35729630e-01 9.68406960e-01 8.13603185e-02 1.69493815e+01] [ 6.02864241e-02 -9.81304702e-02 9.93345840e-01 5.60778142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:142.28, Y:17.04, Z:5.63 [[ 9.71876905e-01 -2.33738163e-01 -2.86662465e-02 1.42278943e+02] [ 2.29933823e-01 9.68177033e-01 -9.88112847e-02 1.70379658e+01] [ 5.08499696e-02 8.94410659e-02 9.94693207e-01 5.62925864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.954391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:142.32, Y:17.00, Z:5.61 [[ 9.71792192e-01 -2.31200616e-01 -4.65425730e-02 1.42316969e+02] [ 2.31020073e-01 9.72904579e-01 -9.29545532e-03 1.70025316e+01] [ 4.74305974e-02 -1.71901772e-03 9.98873057e-01 5.60707946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:142.35, Y:17.01, Z:5.61 [[ 9.71835013e-01 -2.31010436e-01 -4.65927674e-02 1.42347115e+02] [ 2.30829205e-01 9.72949770e-01 -9.30717015e-03 1.70088291e+01] [ 4.74824757e-02 -1.70993763e-03 9.98870608e-01 5.60844525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.014391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:142.38, Y:17.02, Z:5.61 [[ 9.71980362e-01 -2.30285836e-01 -4.71445577e-02 1.42377610e+02] [ 2.30099489e-01 9.73121554e-01 -9.41627425e-03 1.70156535e+01] [ 4.80458198e-02 -1.69550498e-03 9.98843694e-01 5.60975439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:142.41, Y:17.02, Z:5.61 [[ 9.72668938e-01 -2.27392327e-01 -4.69879503e-02 1.42407853e+02] [ 2.27203938e-01 9.73801997e-01 -9.38301572e-03 1.70234768e+01] [ 4.78905856e-02 -1.54927942e-03 9.98851386e-01 5.61094042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.074391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:142.44, Y:17.03, Z:5.61 [[ 9.73118512e-01 -2.25465526e-01 -4.69644403e-02 1.42437630e+02] [ 2.25275174e-01 9.74250059e-01 -9.37644571e-03 1.70305589e+01] [ 4.78691740e-02 -1.45552958e-03 9.98852553e-01 5.61240897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.104391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:142.47, Y:17.04, Z:5.61 [[ 9.74077464e-01 -2.21445847e-01 -4.62042329e-02 1.42465668e+02] [ 2.21257132e-01 9.75171884e-01 -9.22378835e-03 1.70388097e+01] [ 4.70996385e-02 -1.23833170e-03 9.98889429e-01 5.61379185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.134391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:142.50, Y:17.05, Z:5.62 [[ 9.74641158e-01 -2.18938770e-01 -4.62647618e-02 1.42496534e+02] [ 2.18746754e-01 9.75737958e-01 -9.23549809e-03 1.70459253e+01] [ 4.71642928e-02 -1.11896993e-03 9.98886519e-01 5.61543798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.164391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:142.53, Y:17.05, Z:5.62 [[ 9.75130973e-01 -2.16716731e-01 -4.64052153e-02 1.42525639e+02] [ 2.16521130e-01 9.76234001e-01 -9.26147201e-03 1.70526705e+01] [ 4.73094649e-02 -1.01656145e-03 9.98879763e-01 5.61685958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:142.56, Y:17.06, Z:5.62 [[ 9.76119303e-01 -2.12216235e-01 -4.64260180e-02 1.42556144e+02] [ 2.12015515e-01 9.77222404e-01 -9.26253843e-03 1.70598904e+01] [ 4.73342060e-02 -8.01693561e-04 9.98878787e-01 5.61777401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:142.59, Y:17.07, Z:5.62 [[ 9.76508764e-01 -2.10366711e-01 -4.66527680e-02 1.42586213e+02] [ 2.10162003e-01 9.77622285e-01 -9.30592202e-03 1.70666884e+01] [ 4.75664419e-02 -7.17324757e-04 9.98867819e-01 5.61883299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:142.62, Y:17.07, Z:5.62 [[ 9.76890589e-01 -2.08504410e-01 -4.70179596e-02 1.42616680e+02] [ 2.08294379e-01 9.78021222e-01 -9.37767754e-03 1.70733266e+01] [ 4.79398494e-02 -6.32611784e-04 9.98850024e-01 5.62051784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284391418 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:142.65, Y:17.08, Z:5.62 [[ 9.77284519e-01 -2.06575698e-01 -4.73439579e-02 1.42646982e+02] [ 2.06360576e-01 9.78430470e-01 -9.44072332e-03 1.70795674e+01] [ 4.82729950e-02 -5.43653690e-04 9.98834031e-01 5.62167050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:142.68, Y:17.09, Z:5.62 [[ 9.77830565e-01 -2.03743082e-01 -4.83336556e-02 1.42677765e+02] [ 2.03515508e-01 9.79024303e-01 -9.63603206e-03 1.70855764e+01] [ 4.92830984e-02 -4.14241790e-04 9.98784764e-01 5.62302253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34439141800001 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:142.71, Y:17.09, Z:5.62 [[ 9.77992640e-01 -2.02948672e-01 -4.83966261e-02 1.42707682e+02] [ 2.02719624e-01 9.79189305e-01 -9.64672579e-03 1.70914516e+01] [ 4.93472488e-02 -3.76519024e-04 9.98781611e-01 5.62421123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37439141800002 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:142.74, Y:17.10, Z:5.63 [[ 9.78083536e-01 -2.02201908e-01 -4.96687509e-02 1.42738316e+02] [ 2.01959752e-01 9.79343794e-01 -9.89908871e-03 1.70969370e+01] [ 5.06443975e-02 -3.48952893e-04 9.98716688e-01 5.62576820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40439141800002 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:142.77, Y:17.10, Z:5.63 [[ 9.78034107e-01 -2.02403224e-01 -4.98218948e-02 1.42768966e+02] [ 2.02159939e-01 9.79302202e-01 -9.92751069e-03 1.71025274e+01] [ 5.08000515e-02 -3.62547166e-04 9.98708778e-01 5.62702877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43439141800002 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:142.80, Y:17.11, Z:5.63 [[ 9.77669119e-01 -2.04134228e-01 -4.99230513e-02 1.42799248e+02] [ 2.03892329e-01 9.78942802e-01 -9.94529791e-03 1.71076946e+01] [ 5.09019874e-02 -4.55716560e-04 9.98703550e-01 5.62882424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46439141800002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:142.83, Y:17.11, Z:5.63 [[ 9.77472188e-01 -2.05089747e-01 -4.98629768e-02 1.42830520e+02] [ 2.04849863e-01 9.78743039e-01 -9.92959668e-03 1.71130186e+01] [ 5.08395000e-02 -5.08519356e-04 9.98706707e-01 5.63026649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.494391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:142.86, Y:17.12, Z:5.63 [[ 9.77190382e-01 -2.06420465e-01 -4.98953821e-02 1.42861280e+02] [ 2.06182212e-01 9.78463210e-01 -9.93189640e-03 1.71184393e+01] [ 5.08709424e-02 -5.82186620e-04 9.98705066e-01 5.63196858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.524391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:142.89, Y:17.12, Z:5.63 [[ 9.76986359e-01 -2.07430537e-01 -4.97013775e-02 1.42892014e+02] [ 2.07195594e-01 9.78249543e-01 -9.89025161e-03 1.71236692e+01] [ 5.06718900e-02 -6.35265518e-04 9.98715153e-01 5.63365238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.554391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:142.92, Y:17.13, Z:5.64 [[ 9.76442979e-01 -2.09995279e-01 -4.96093861e-02 1.42921548e+02] [ 2.09764610e-01 9.77702098e-01 -9.86998875e-03 1.71283291e+01] [ 5.05758519e-02 -7.68812301e-04 9.98719927e-01 5.63594253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:142.95, Y:17.13, Z:5.64 [[ 9.76143978e-01 -2.11429755e-01 -4.94003399e-02 1.42952804e+02] [ 2.11202922e-01 9.77392834e-01 -9.82719447e-03 1.71337758e+01] [ 5.03612996e-02 -8.40739448e-04 9.98730711e-01 5.63775580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.614391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:142.98, Y:17.14, Z:5.64 [[ 9.75311957e-01 -2.15377116e-01 -4.87779168e-02 1.42981727e+02] [ 2.15160973e-01 9.76530405e-01 -9.70176942e-03 1.71377347e+01] [ 4.97226579e-02 -1.03285234e-03 9.98762530e-01 5.63910352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644391418 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:143.01, Y:17.14, Z:5.64 [[ 9.74743608e-01 -2.17823381e-01 -4.92734554e-02 1.43011976e+02] [ 2.17605898e-01 9.75987505e-01 -9.80121415e-03 1.71424599e+01] [ 5.02252104e-02 -1.16852367e-03 9.98737234e-01 5.64040959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.674391418 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:143.04, Y:17.15, Z:5.64 [[ 9.74146882e-01 -2.20414158e-01 -4.95525163e-02 1.43041883e+02] [ 2.20197549e-01 9.75405497e-01 -9.85672345e-03 1.71469445e+01] [ 5.05063582e-02 -1.30944624e-03 9.98722881e-01 5.64175272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:143.07, Y:17.15, Z:5.64 [[ 9.73019701e-01 -2.24976906e-01 -5.11669260e-02 1.43071750e+02] [ 2.24752218e-01 9.74362789e-01 -1.01782412e-02 1.71501897e+01] [ 5.21450179e-02 -1.59625092e-03 9.98638247e-01 5.64295586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.734391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:143.10, Y:17.16, Z:5.64 [[ 9.72384791e-01 -2.27847801e-01 -5.05291762e-02 1.43100081e+02] [ 2.27632432e-01 9.73695230e-01 -1.00536448e-02 1.71555890e+01] [ 5.14907187e-02 -1.72606799e-03 9.98671981e-01 5.64479597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:143.13, Y:17.16, Z:5.65 [[ 9.71391213e-01 -2.31782537e-01 -5.17297444e-02 1.43126851e+02] [ 2.31562157e-01 9.72765618e-01 -1.02965703e-02 1.71597381e+01] [ 5.27074820e-02 -1.97665327e-03 9.98608038e-01 5.64678029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.794391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:143.15, Y:17.16, Z:5.65 [[ 9.70957214e-01 -2.33634593e-01 -5.15457592e-02 1.43153605e+02] [ 2.33418002e-01 9.72322283e-01 -1.02671503e-02 1.71643925e+01] [ 5.25178518e-02 -2.06274450e-03 9.98617855e-01 5.64801607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.824391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:143.18, Y:17.17, Z:5.65 [[ 9.70890208e-01 -2.33913254e-01 -5.15440872e-02 1.43181420e+02] [ 2.33696610e-01 9.72255269e-01 -1.02755379e-02 1.71700985e+01] [ 5.25175948e-02 -2.06925927e-03 9.98617855e-01 5.64923098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.854391418 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:143.21, Y:17.18, Z:5.65 [[ 9.70801688e-01 -2.34144511e-01 -5.21577439e-02 1.43207884e+02] [ 2.33922261e-01 9.72199551e-01 -1.04119306e-02 1.71754757e+01] [ 5.31456316e-02 -2.09293755e-03 9.98584579e-01 5.65115464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.884391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:143.23, Y:17.18, Z:5.65 [[ 9.70813733e-01 -2.34068240e-01 -5.22757669e-02 1.43234928e+02] [ 2.33844387e-01 9.72217935e-01 -1.04445774e-02 1.71813784e+01] [ 5.32681820e-02 -2.08465551e-03 9.98578067e-01 5.65216019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.914391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:143.26, Y:17.19, Z:5.65 [[ 9.71078181e-01 -2.32892907e-01 -5.26123525e-02 1.43260664e+02] [ 2.32663595e-01 9.72500294e-01 -1.05275475e-02 1.71879793e+01] [ 5.36173194e-02 -2.01790740e-03 9.98559518e-01 5.65319679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:143.29, Y:17.19, Z:5.65 [[ 9.71183986e-01 -2.32363501e-01 -5.29987704e-02 1.43287781e+02] [ 2.32129336e-01 9.72626979e-01 -1.06175229e-02 1.71943185e+01] [ 5.40151588e-02 -1.99100116e-03 9.98538131e-01 5.65431867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:143.32, Y:17.20, Z:5.65 [[ 9.71379403e-01 -2.31569712e-01 -5.28916212e-02 1.43316436e+02] [ 2.31723456e-01 9.72776133e-01 -3.29157131e-03 1.71975830e+01] [ 5.22139350e-02 -9.05886469e-03 9.98594834e-01 5.65339703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:143.34, Y:17.21, Z:5.66 [[ 9.71365647e-01 -2.31814383e-01 -5.20660276e-02 1.43342317e+02] [ 2.31192713e-01 9.72746144e-01 -1.77445465e-02 1.72111227e+01] [ 5.47604687e-02 5.19915670e-03 9.98485984e-01 5.65794188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:143.37, Y:17.21, Z:5.66 [[ 9.71340026e-01 -2.31707226e-01 -5.30124001e-02 1.43369989e+02] [ 2.31469973e-01 9.72783675e-01 -1.06570729e-02 1.72141084e+01] [ 5.40389182e-02 -1.91913739e-03 9.98536986e-01 5.65730463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064391418 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:143.40, Y:17.22, Z:5.66 [[ 9.71239479e-01 -2.32188221e-01 -5.27494471e-02 1.43397556e+02] [ 2.31953111e-01 9.72668980e-01 -1.06211701e-02 1.72206623e+01] [ 5.37738615e-02 -1.91969866e-03 9.98551294e-01 5.65865856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09439141800001 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:143.43, Y:17.23, Z:5.66 [[ 9.71194753e-01 -2.32375918e-01 -5.27464125e-02 1.43425388e+02] [ 2.32140268e-01 9.72624165e-01 -1.06362212e-02 1.72264168e+01] [ 5.37740371e-02 -1.91472414e-03 9.98551294e-01 5.65987667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12439141800002 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:143.45, Y:17.23, Z:5.66 [[ 9.71119969e-01 -2.32815309e-01 -5.21827393e-02 1.43453988e+02] [ 2.32584838e-01 9.72519092e-01 -1.05312979e-02 1.72328596e+01] [ 5.32005577e-02 -1.90976028e-03 9.98582021e-01 5.66174584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15439141800002 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:143.48, Y:17.24, Z:5.66 [[ 9.71045326e-01 -2.33260294e-01 -5.15811078e-02 1.43482032e+02] [ 2.33035613e-01 9.72412458e-01 -1.04122162e-02 1.72388195e+01] [ 5.25868684e-02 -1.90950118e-03 9.98614528e-01 5.66293658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18439141800002 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:143.51, Y:17.25, Z:5.66 [[ 9.70935345e-01 -2.33793285e-01 -5.12372469e-02 1.43510962e+02] [ 2.33572174e-01 9.72284425e-01 -1.03457900e-02 1.72455155e+01] [ 5.22359533e-02 -1.92250197e-03 9.98632920e-01 5.66454863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21439141800002 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:143.54, Y:17.25, Z:5.67 [[ 9.70793920e-01 -2.34519883e-01 -5.05923815e-02 1.43540051e+02] [ 2.34305183e-01 9.72109398e-01 -1.02176422e-02 1.72529343e+01] [ 5.15775698e-02 -1.93483227e-03 9.98667117e-01 5.66609854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.244391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:143.57, Y:17.26, Z:5.67 [[ 9.70811043e-01 -2.34516444e-01 -5.02787923e-02 1.43569514e+02] [ 2.34304289e-01 9.72110255e-01 -1.01563653e-02 1.72591713e+01] [ 5.12583643e-02 -1.92062512e-03 9.98683579e-01 5.66703756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.274391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:143.60, Y:17.27, Z:5.67 [[ 9.70881064e-01 -2.34281511e-01 -5.00213329e-02 1.43598575e+02] [ 2.34071107e-01 9.72166949e-01 -1.01064068e-02 1.72660652e+01] [ 5.09968309e-02 -1.89642976e-03 9.98697015e-01 5.66846808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.304391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:143.63, Y:17.27, Z:5.67 [[ 9.71161248e-01 -2.33202529e-01 -4.96226841e-02 1.43627735e+02] [ 2.32993966e-01 9.72426479e-01 -1.00277289e-02 1.72728062e+01] [ 5.05929037e-02 -1.82324422e-03 9.98717695e-01 5.66974979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.334391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:143.65, Y:17.28, Z:5.67 [[ 9.71414917e-01 -2.32058247e-01 -5.00202798e-02 1.43653874e+02] [ 2.32093454e-01 9.72679678e-01 -5.18383622e-03 1.72765431e+01] [ 4.98566616e-02 -6.57372370e-03 9.98734749e-01 5.66892400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:143.68, Y:17.29, Z:5.67 [[ 9.71856854e-01 -2.30489358e-01 -4.86714723e-02 1.43680302e+02] [ 2.30043525e-01 9.73070101e-01 -1.46477195e-02 1.72890759e+01] [ 5.07368979e-02 3.03892957e-03 9.98707431e-01 5.67362191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.394391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:143.71, Y:17.29, Z:5.67 [[ 9.72348065e-01 -2.28118628e-01 -5.00113197e-02 1.43709928e+02] [ 2.27898580e-01 9.73632124e-01 -1.01353180e-02 1.72938520e+01] [ 5.10046822e-02 -1.54245193e-03 9.98697223e-01 5.67397599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:143.74, Y:17.30, Z:5.68 [[ 9.73546792e-01 -2.22977125e-01 -4.98783124e-02 1.43740644e+02] [ 2.22751562e-01 9.74822849e-01 -1.01071555e-02 1.73018089e+01] [ 5.08761831e-02 -1.27068314e-03 9.98704160e-01 5.67575136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.454391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:143.77, Y:17.31, Z:5.68 [[ 9.73551188e-01 -2.22957848e-01 -4.98786794e-02 1.43771005e+02] [ 2.22732353e-01 9.74827257e-01 -1.01053442e-02 1.73079564e+01] [ 5.08761620e-02 -1.27152578e-03 9.98704160e-01 5.67706950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:143.80, Y:17.32, Z:5.68 [[ 9.74890146e-01 -2.17112735e-01 -4.95102383e-02 1.43799931e+02] [ 2.16883072e-01 9.76146064e-01 -1.00296888e-02 1.73158092e+01] [ 5.05067974e-02 -9.60087743e-04 9.98723256e-01 5.67831352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.514391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:143.83, Y:17.32, Z:5.68 [[ 9.75510751e-01 -2.14235342e-01 -4.98196079e-02 1.43829927e+02] [ 2.13999108e-01 9.76781731e-01 -1.00911669e-02 1.73231542e+01] [ 5.08247674e-02 -8.17309842e-04 9.98707252e-01 5.67987548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.544391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:143.86, Y:17.33, Z:5.68 [[ 9.76086204e-01 -2.11671131e-01 -4.95081302e-02 1.43859190e+02] [ 2.11434641e-01 9.77340712e-01 -1.00261904e-02 1.73301044e+01] [ 5.05085663e-02 -6.81307546e-04 9.98723395e-01 5.68111822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.574391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:143.89, Y:17.34, Z:5.68 [[ 9.77138598e-01 -2.06677750e-01 -4.98444360e-02 1.43889424e+02] [ 2.06431597e-01 9.78408977e-01 -1.00930886e-02 1.73370511e+01] [ 5.08542605e-02 -4.27120071e-04 9.98705994e-01 5.68239569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.604391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:143.92, Y:17.35, Z:5.68 [[ 9.77552154e-01 -2.04664192e-01 -5.00435355e-02 1.43919599e+02] [ 2.04138594e-01 9.78820035e-01 -1.54523294e-02 1.73458846e+01] [ 5.21461536e-02 4.88964088e-03 9.98627493e-01 5.68484939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.634391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:143.95, Y:17.35, Z:5.68 [[ 9.77685813e-01 -2.03816755e-01 -5.08840046e-02 1.43950328e+02] [ 2.03823374e-01 9.78994320e-01 -5.11408188e-03 1.73474616e+01] [ 5.08574870e-02 -5.37138417e-03 9.98691476e-01 5.68360220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.664391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:143.98, Y:17.35, Z:5.69 [[ 9.77873056e-01 -2.03189022e-01 -4.97846154e-02 1.43976939e+02] [ 2.03039693e-01 9.79137070e-01 -8.09202806e-03 1.73539324e+01] [ 5.03901737e-02 -2.19527682e-03 9.98727196e-01 5.68520292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:144.01, Y:17.36, Z:5.69 [[ 9.77490001e-01 -2.05224328e-01 -4.89517511e-02 1.44005149e+02] [ 2.04874768e-01 9.78713293e-01 -1.21086827e-02 1.73617533e+01] [ 5.03947257e-02 1.80713761e-03 9.98727744e-01 5.68783115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:144.04, Y:17.37, Z:5.69 [[ 9.76859704e-01 -2.08197997e-01 -4.89766493e-02 1.44035303e+02] [ 2.07961326e-01 9.78086583e-01 -9.93592060e-03 1.73658401e+01] [ 4.99720424e-02 -4.79248462e-04 9.98750502e-01 5.68907851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:144.07, Y:17.37, Z:5.69 [[ 9.76396889e-01 -2.10295489e-01 -4.92434996e-02 1.44065693e+02] [ 2.10058937e-01 9.77637693e-01 -9.98921945e-03 1.73711328e+01] [ 5.02429892e-02 -5.90594370e-04 9.98736849e-01 5.69043874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:144.10, Y:17.38, Z:5.69 [[ 9.75884990e-01 -2.12566324e-01 -4.96391352e-02 1.44095253e+02] [ 2.12328871e-01 9.77146381e-01 -1.00697899e-02 1.73759528e+01] [ 5.06451996e-02 -7.12864679e-04 9.98716454e-01 5.69166800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:144.12, Y:17.38, Z:5.69 [[ 9.74928918e-01 -2.17015702e-01 -4.91710357e-02 1.44123868e+02] [ 2.16788253e-01 9.76167667e-01 -9.97690360e-03 1.73795602e+01] [ 5.01643199e-02 -9.32931118e-04 9.98740542e-01 5.69236485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84439141800001 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:144.15, Y:17.37, Z:5.70 [[ 9.73304894e-01 -2.19400849e-01 -6.73858304e-02 1.44153960e+02] [ 2.21941743e-01 9.74508751e-01 3.27804396e-02 1.73679147e+01] [ 5.84760251e-02 -4.68610909e-02 9.97188344e-01 5.69830521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87439141800002 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:144.18, Y:17.42, Z:5.71 [[ 9.73565755e-01 -2.24310983e-01 -4.30616171e-02 1.44176712e+02] [ 2.21426069e-01 9.73139711e-01 -6.30047463e-02 1.74150047e+01] [ 5.60376262e-02 5.18042988e-02 9.97083797e-01 5.71318312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90439141800002 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:144.21, Y:17.39, Z:5.70 [[ 9.72394094e-01 -2.24700913e-01 -6.29223794e-02 1.44209775e+02] [ 2.25701863e-01 9.74153103e-01 9.18697305e-03 1.73893609e+01] [ 5.92317099e-02 -2.31350566e-02 9.97976139e-01 5.70486011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93439141800002 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:144.24, Y:17.41, Z:5.70 [[ 9.72667199e-01 -2.27137706e-01 -4.82388037e-02 1.44238163e+02] [ 2.26265604e-01 9.73796382e-01 -2.29015794e-02 1.74084122e+01] [ 5.21765847e-02 1.13608330e-02 9.98573250e-01 5.70434723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96439141800002 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:144.27, Y:17.41, Z:5.70 [[ 9.72267198e-01 -2.28254159e-01 -5.09562052e-02 1.44266263e+02] [ 2.28018920e-01 9.73600504e-01 -1.04608986e-02 1.74072774e+01] [ 5.19987307e-02 -1.44819032e-03 9.98646101e-01 5.70239368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.994391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:144.29, Y:17.41, Z:5.70 [[ 9.72024136e-01 -2.29294162e-01 -5.09241226e-02 1.44293261e+02] [ 2.29060225e-01 9.73356026e-01 -1.04623659e-02 1.74124054e+01] [ 5.19662610e-02 -1.49501883e-03 9.98647722e-01 5.70357785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.024391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:144.32, Y:17.42, Z:5.71 [[ 9.71905500e-01 -2.29819156e-01 -5.08217973e-02 1.44324127e+02] [ 2.29586222e-01 9.73232183e-01 -1.04539358e-02 1.74182849e+01] [ 5.18639234e-02 -1.50774676e-03 9.98653023e-01 5.70512255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.054391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:144.35, Y:17.42, Z:5.71 [[ 9.71658815e-01 -2.30801216e-01 -5.10876189e-02 1.44354248e+02] [ 2.30567298e-01 9.72999657e-01 -1.05065954e-02 1.74237500e+01] [ 5.21331707e-02 -1.57030817e-03 9.98638907e-01 5.70682104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:144.38, Y:17.43, Z:5.71 [[ 9.71658456e-01 -2.30652825e-01 -5.17602077e-02 1.44381569e+02] [ 2.30413037e-01 9.73034808e-01 -1.06346433e-02 1.74288926e+01] [ 5.28173943e-02 -1.59298561e-03 9.98602917e-01 5.70827851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.114391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:144.41, Y:17.43, Z:5.71 [[ 9.71222594e-01 -2.32470465e-01 -5.18088322e-02 1.44409988e+02] [ 2.32219659e-01 9.72602373e-01 -1.08928570e-02 1.74347811e+01] [ 5.29216607e-02 -1.45164056e-03 9.98597612e-01 5.70964500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:144.44, Y:17.44, Z:5.71 [[ 9.70745934e-01 -2.34369549e-01 -5.21847366e-02 1.44439796e+02] [ 2.34129718e-01 9.72145943e-01 -1.07490012e-02 1.74393591e+01] [ 5.32504185e-02 -1.78344841e-03 9.98579597e-01 5.71073988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.174391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:144.47, Y:17.44, Z:5.71 [[ 9.70484974e-01 -2.35307301e-01 -5.28146643e-02 1.44468782e+02] [ 2.35063007e-01 9.71919249e-01 -1.08791583e-02 1.74443972e+01] [ 5.38915342e-02 -1.85671410e-03 9.98545069e-01 5.71194782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:144.50, Y:17.45, Z:5.71 [[ 9.70074727e-01 -2.36873722e-01 -5.33466293e-02 1.44496794e+02] [ 2.36626709e-01 9.71538468e-01 -1.09911814e-02 1.74491351e+01] [ 5.44318246e-02 -1.96097002e-03 9.98515564e-01 5.71255935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.234391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:144.53, Y:17.46, Z:5.71 [[ 9.69937676e-01 -2.37354323e-01 -5.37013051e-02 1.44525407e+02] [ 2.37104434e-01 9.71421095e-01 -1.10699809e-02 1.74550707e+01] [ 5.47940884e-02 -1.99562605e-03 9.98495681e-01 5.71342615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:144.55, Y:17.46, Z:5.71 [[ 9.69874092e-01 -2.37609892e-01 -5.37194982e-02 1.44553992e+02] [ 2.37359381e-01 9.71358613e-01 -1.10891028e-02 1.74610631e+01] [ 5.48157778e-02 -1.99579337e-03 9.98494490e-01 5.71455906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.294391418 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:144.58, Y:17.47, Z:5.72 [[ 9.69997571e-01 -2.37136948e-01 -5.35796600e-02 1.44582913e+02] [ 2.36886322e-01 9.71474271e-01 -1.10729790e-02 1.74672198e+01] [ 5.46770736e-02 -1.95152583e-03 9.98502183e-01 5.71588252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.324391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:144.61, Y:17.47, Z:5.72 [[ 9.70402368e-01 -2.35665606e-01 -5.27348649e-02 1.44610581e+02] [ 2.35420519e-01 9.71832470e-01 -1.09009328e-02 1.74737351e+01] [ 5.38184289e-02 -1.83657825e-03 9.98549049e-01 5.71743009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.354391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:144.64, Y:17.48, Z:5.72 [[ 9.70733424e-01 -2.34359963e-01 -5.24597767e-02 1.44639631e+02] [ 2.34115317e-01 9.72148312e-01 -1.08479138e-02 1.74804828e+01] [ 5.35410000e-02 -1.75120473e-03 9.98564116e-01 5.71910826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.384391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:144.67, Y:17.49, Z:5.72 [[ 9.71135713e-01 -2.32738677e-01 -5.22315551e-02 1.44668262e+02] [ 2.32493699e-01 9.72537906e-01 -1.08028731e-02 1.74867936e+01] [ 5.33114136e-02 -1.65245155e-03 9.98576568e-01 5.72073853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.414391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:144.70, Y:17.49, Z:5.72 [[ 9.71894517e-01 -2.29644907e-01 -5.18098901e-02 1.44696976e+02] [ 2.29399374e-01 9.73273374e-01 -1.07176352e-02 1.74943099e+01] [ 5.28864368e-02 -1.46874541e-03 9.98599453e-01 5.72276264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:144.73, Y:17.50, Z:5.72 [[ 9.72182313e-01 -2.28397466e-01 -5.19244527e-02 1.44726239e+02] [ 2.28149001e-01 9.73566962e-01 -1.07425936e-02 1.75014613e+01] [ 5.30055128e-02 -1.40275250e-03 9.98593234e-01 5.72428018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:144.75, Y:17.51, Z:5.73 [[ 9.72632851e-01 -2.26504845e-01 -5.17773351e-02 1.44754868e+02] [ 2.26254996e-01 9.74009179e-01 -1.07142748e-02 1.75093903e+01] [ 5.28584349e-02 -1.29382507e-03 9.98601178e-01 5.72560006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:144.79, Y:17.52, Z:5.73 [[ 9.72765052e-01 -2.26027914e-01 -5.13764123e-02 1.44785595e+02] [ 2.25781184e-01 9.74120014e-01 -1.06327106e-02 1.75162737e+01] [ 5.24500809e-02 -1.25669791e-03 9.98622756e-01 5.72689426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:144.82, Y:17.52, Z:5.73 [[ 9.72799120e-01 -2.25989690e-01 -5.08972623e-02 1.44815865e+02] [ 2.25747601e-01 9.74128898e-01 -1.05314169e-02 1.75229092e+01] [ 5.19604857e-02 -1.24498174e-03 9.98648366e-01 5.72788432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:144.85, Y:17.53, Z:5.73 [[ 9.72476934e-01 -2.27537776e-01 -5.01515015e-02 1.44845803e+02] [ 2.27304888e-01 9.73768373e-01 -1.03751643e-02 1.75293699e+01] [ 5.11966879e-02 -1.31007348e-03 9.98687730e-01 5.72830066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59439141800001 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:144.88, Y:17.54, Z:5.73 [[ 9.72197324e-01 -2.28877717e-01 -4.94707413e-02 1.44875340e+02] [ 2.28652887e-01 9.73454228e-01 -1.02334409e-02 1.75356688e+01] [ 5.04997088e-02 -1.36270398e-03 9.98723146e-01 5.72917796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62439141800002 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:144.91, Y:17.54, Z:5.73 [[ 9.71786413e-01 -2.30618929e-01 -4.94578303e-02 1.44907170e+02] [ 2.30396496e-01 9.73043060e-01 -1.02302153e-02 1.75426775e+01] [ 5.04838798e-02 -1.45332655e-03 9.98723819e-01 5.73050372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65439141800002 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:144.94, Y:17.55, Z:5.73 [[ 9.70888938e-01 -2.34446614e-01 -4.90862121e-02 1.44937265e+02] [ 2.34232598e-01 9.72127606e-01 -1.01492430e-02 1.75496858e+01] [ 5.00975175e-02 -1.64380324e-03 9.98742978e-01 5.73113701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68439141800002 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:144.97, Y:17.56, Z:5.73 [[ 9.70460923e-01 -2.36195405e-01 -4.91663313e-02 1.44968696e+02] [ 2.35983096e-01 9.71704020e-01 -1.01624866e-02 1.75563932e+01] [ 5.01754544e-02 -1.74012694e-03 9.98738903e-01 5.73257658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71439141800002 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:145.00, Y:17.56, Z:5.73 [[ 9.69490048e-01 -2.40123478e-01 -4.92926082e-02 1.44999529e+02] [ 2.39915347e-01 9.70740389e-01 -1.01844445e-02 1.75631989e+01] [ 5.02958499e-02 -1.95233562e-03 9.98732455e-01 5.73335184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.744391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:145.03, Y:17.57, Z:5.74 [[ 9.69003433e-01 -2.42007695e-01 -4.96449628e-02 1.45028525e+02] [ 2.41616605e-01 9.70273319e-01 -1.38239610e-02 1.75710663e+01] [ 5.15146878e-02 1.40041829e-03 9.98671255e-01 5.73519150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.774391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:145.06, Y:17.58, Z:5.74 [[ 9.68486641e-01 -2.44091962e-01 -4.95251463e-02 1.45057317e+02] [ 2.43899257e-01 9.69749111e-01 -9.99070994e-03 1.75755143e+01] [ 5.04656186e-02 -2.40327726e-03 9.98722907e-01 5.73525332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.804391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:145.08, Y:17.58, Z:5.74 [[ 9.68048154e-01 -2.45838271e-01 -4.94602442e-02 1.45083558e+02] [ 2.45605545e-01 9.69309423e-01 -1.08240093e-02 1.75813378e+01] [ 5.06032365e-02 -1.66954797e-03 9.98717440e-01 5.73638939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.834391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:145.11, Y:17.59, Z:5.74 [[ 9.67049492e-01 -2.49850605e-01 -4.88871691e-02 1.45113780e+02] [ 2.49837211e-01 9.68266151e-01 -6.48299316e-03 1.75872456e+01] [ 4.89555708e-02 -5.94445875e-03 9.98783268e-01 5.73630172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864391418 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:145.14, Y:17.60, Z:5.74 [[ 9.66616087e-01 -2.51700136e-01 -4.79622892e-02 1.45143137e+02] [ 2.51516671e-01 9.67802111e-01 -9.92159590e-03 1.75965422e+01] [ 4.89152718e-02 -2.47294110e-03 9.98799870e-01 5.73835532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.894391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:145.17, Y:17.61, Z:5.74 [[ 9.65993790e-01 -2.54024221e-01 -4.82461751e-02 1.45174617e+02] [ 2.53841530e-01 9.67194343e-01 -9.97899299e-03 1.76053456e+01] [ 4.91983335e-02 -2.60723762e-03 9.98785626e-01 5.74010545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:145.21, Y:17.61, Z:5.74 [[ 9.65777171e-01 -2.55015893e-01 -4.73429020e-02 1.45206017e+02] [ 2.54841358e-01 9.66933334e-01 -9.78821586e-03 1.76127544e+01] [ 4.82735807e-02 -2.61169399e-03 9.98830737e-01 5.74119337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.954391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:145.23, Y:17.60, Z:5.74 [[ 9.63450506e-01 -2.58593711e-01 -6.99458062e-02 1.45233194e+02] [ 2.62121051e-01 9.63892044e-01 4.69540489e-02 1.75984962e+01] [ 5.52781843e-02 -6.35721704e-02 9.96445132e-01 5.74418077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:145.26, Y:17.63, Z:5.76 [[ 9.63741036e-01 -2.60740394e-01 -5.67244474e-02 1.45259680e+02] [ 2.60526776e-01 9.65400966e-01 -1.12593981e-02 1.76318900e+01] [ 5.76976162e-02 -3.92709340e-03 9.98326381e-01 5.75941916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.014391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:145.29, Y:17.66, Z:5.76 [[ 9.65812705e-01 -2.57068350e-01 -3.34915274e-02 1.45290740e+02] [ 2.54256849e-01 9.64517243e-01 -7.11332693e-02 1.76633488e+01] [ 5.05892679e-02 6.01859650e-02 9.96904396e-01 5.76066619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.044391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:145.33, Y:17.62, Z:5.75 [[ 9.64080561e-01 -2.57056056e-01 -6.68644626e-02 1.45325015e+02] [ 2.60068940e-01 9.64719926e-01 4.09830598e-02 1.76227644e+01] [ 5.39705357e-02 -5.69003412e-02 9.96920023e-01 5.74678601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.074391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:145.35, Y:17.66, Z:5.76 [[ 9.64378721e-01 -2.59546801e-01 -5.10797530e-02 1.45350686e+02] [ 2.58754697e-01 9.65699997e-01 -2.16684794e-02 1.76607989e+01] [ 5.49517018e-02 7.67949438e-03 9.98459481e-01 5.76151996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.104391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:145.38, Y:17.67, Z:5.76 [[ 9.64911376e-01 -2.57729247e-01 -5.02162522e-02 1.45381029e+02] [ 2.57262440e-01 9.66214695e-01 -1.56588858e-02 1.76668683e+01] [ 5.25554336e-02 2.19068151e-03 9.98615605e-01 5.75976697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.134391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:145.41, Y:17.67, Z:5.76 [[ 9.65245389e-01 -2.56116853e-01 -5.20143935e-02 1.45411456e+02] [ 2.55920651e-01 9.66640645e-01 -1.05111540e-02 1.76717869e+01] [ 5.29713105e-02 -3.16571448e-03 9.98591017e-01 5.75913471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.164391418 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:145.44, Y:17.68, Z:5.76 [[ 9.65916038e-01 -2.53758094e-01 -5.11178694e-02 1.45441694e+02] [ 2.53598541e-01 9.67261006e-01 -9.69154201e-03 1.76805578e+01] [ 5.19036290e-02 -3.60220125e-03 9.98645602e-01 5.75883313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194391418 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:145.47, Y:17.70, Z:5.76 [[ 9.67879827e-01 -2.49063470e-01 -3.42932659e-02 1.45474237e+02] [ 2.47131262e-01 9.67570315e-01 -5.22859897e-02 1.77041205e+01] [ 4.62036761e-02 4.21316166e-02 9.98043159e-01 5.75968341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:145.51, Y:17.69, Z:5.75 [[ 9.68266234e-01 -2.46081827e-01 -4.36375254e-02 1.45509635e+02] [ 2.45930647e-01 9.69246716e-01 -8.88366161e-03 1.76919714e+01] [ 4.44816358e-02 -2.13005528e-03 9.99007931e-01 5.74845074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254391418 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:145.54, Y:17.70, Z:5.75 [[ 9.69098808e-01 -2.42697223e-01 -4.41084889e-02 1.45541573e+02] [ 2.42539437e-01 9.70100025e-01 -8.97565809e-03 1.77029166e+01] [ 4.49680135e-02 -1.99974852e-03 9.98986426e-01 5.74966908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:145.57, Y:17.70, Z:5.75 [[ 9.68117655e-01 -2.43509819e-01 -5.87467011e-02 1.45568854e+02] [ 2.45462629e-01 9.68984411e-01 2.85886062e-02 1.76980055e+01] [ 4.99630312e-02 -4.20972540e-02 9.97863476e-01 5.75165903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314391418 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:145.60, Y:17.74, Z:5.76 [[ 9.70705862e-01 -2.37807473e-01 -3.43181583e-02 1.45597361e+02] [ 2.36029951e-01 9.70512655e-01 -4.89392361e-02 1.77412726e+01] [ 4.49443229e-02 3.94054901e-02 9.98212009e-01 5.76413628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34439141800001 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:145.63, Y:17.73, Z:5.75 [[ 9.71176171e-01 -2.34607902e-01 -4.21423481e-02 1.45632519e+02] [ 2.34457212e-01 9.72088811e-01 -8.55337879e-03 1.77314151e+01] [ 4.29727953e-02 -1.57373976e-03 9.99075003e-01 5.75372627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37439141800002 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:145.66, Y:17.73, Z:5.76 [[ 9.70989180e-01 -2.32127403e-01 -5.74184715e-02 1.45655540e+02] [ 2.34303840e-01 9.71549663e-01 3.45392938e-02 1.77273570e+01] [ 4.77673801e-02 -4.69906490e-02 9.97752553e-01 5.75547998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40439141800002 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:145.69, Y:17.76, Z:5.77 [[ 9.71425539e-01 -2.32548117e-01 -4.74741458e-02 1.45685095e+02] [ 2.32153343e-01 9.72582103e-01 -1.37432866e-02 1.77586647e+01] [ 4.93684800e-02 2.32929793e-03 9.98777917e-01 5.76998024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43439141800002 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:145.72, Y:17.78, Z:5.77 [[ 9.73690514e-01 -2.25609077e-01 -3.20519354e-02 1.45719053e+02] [ 2.23862916e-01 9.73316085e-01 -5.04102448e-02 1.77789290e+01] [ 4.25696731e-02 4.19087375e-02 9.98214146e-01 5.76916970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46439141800002 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:145.75, Y:17.75, Z:5.76 [[ 9.72762463e-01 -2.24988005e-01 -5.57995283e-02 1.45750246e+02] [ 2.26925990e-01 9.73413380e-01 3.11606611e-02 1.77538070e+01] [ 4.73052325e-02 -4.29742846e-02 9.97955623e-01 5.75766062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.494391418 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:145.78, Y:17.78, Z:5.77 [[ 9.74008426e-01 -2.21444319e-01 -4.76445048e-02 1.45776242e+02] [ 2.21236289e-01 9.75172363e-01 -9.66261440e-03 1.77829204e+01] [ 4.86013354e-02 -1.12922560e-03 9.98817619e-01 5.77059505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.524391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:145.80, Y:17.79, Z:5.77 [[ 9.75094298e-01 -2.16550798e-01 -4.79255884e-02 1.45802331e+02] [ 2.16215272e-01 9.76270237e-01 -1.21400679e-02 1.77907646e+01] [ 4.94172669e-02 1.47546686e-03 9.98777131e-01 5.77365447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.554391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:145.83, Y:17.81, Z:5.78 [[ 9.75906700e-01 -2.14828618e-01 -3.81415439e-02 1.45834654e+02] [ 2.13644338e-01 9.76359060e-01 -3.28494119e-02 1.78075982e+01] [ 4.42968357e-02 2.39092363e-02 9.98732266e-01 5.77568577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:145.87, Y:17.81, Z:5.77 [[ 9.75914597e-01 -2.14557526e-01 -3.94432108e-02 1.45869991e+02] [ 2.13680261e-01 9.76575912e-01 -2.53028473e-02 1.78114017e+01] [ 4.39482059e-02 1.62651824e-02 9.98901396e-01 5.76972521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.614391418 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:145.90, Y:17.81, Z:5.77 [[ 9.75873969e-01 -2.14035942e-01 -4.31116285e-02 1.45903915e+02] [ 2.13856996e-01 9.76825565e-01 -8.77500164e-03 1.78105052e+01] [ 4.39907066e-02 -6.56427675e-04 9.99031725e-01 5.76540438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:145.94, Y:17.82, Z:5.77 [[ 9.75676661e-01 -2.14816228e-01 -4.36925778e-02 1.45936610e+02] [ 2.14633433e-01 9.76654232e-01 -8.88817681e-03 1.78176536e+01] [ 4.45818657e-02 -7.05901303e-04 9.99005485e-01 5.76663250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.674391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:145.97, Y:17.83, Z:5.77 [[ 9.74922357e-01 -2.18055471e-01 -4.44770737e-02 1.45968168e+02] [ 2.17869643e-01 9.75935985e-01 -9.04274728e-03 1.78250095e+01] [ 4.53785973e-02 -8.74227702e-04 9.98969478e-01 5.76742716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:146.00, Y:17.82, Z:5.77 [[ 9.73744575e-01 -2.20504101e-01 -5.65636266e-02 1.45995079e+02] [ 2.21993438e-01 9.74811541e-01 2.14795932e-02 1.78198757e+01] [ 5.04025376e-02 -3.34723913e-02 9.98167913e-01 5.77030389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.734391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:146.03, Y:17.85, Z:5.78 [[ 9.73955342e-01 -2.23473929e-01 -3.83457267e-02 1.46026595e+02] [ 2.21890734e-01 9.74185676e-01 -4.15544290e-02 1.78527927e+01] [ 4.66421892e-02 3.19635966e-02 9.98400138e-01 5.77981107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764391418 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:146.06, Y:17.84, Z:5.77 [[ 9.72760198e-01 -2.27231848e-01 -4.58615858e-02 1.46061605e+02] [ 2.27044945e-01 9.73839749e-01 -9.31324391e-03 1.78443896e+01] [ 4.67781008e-02 -1.35308822e-03 9.98904389e-01 5.77066162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.794391418 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:146.09, Y:17.85, Z:5.77 [[ 9.72110740e-01 -2.30001116e-01 -4.58278969e-02 1.46092674e+02] [ 2.29817717e-01 9.73189227e-01 -9.30300720e-03 1.78509955e+01] [ 4.67389176e-02 -1.48850943e-03 9.98906031e-01 5.77210922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.824391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:146.13, Y:17.86, Z:5.77 [[ 9.71030735e-01 -2.34515212e-01 -4.58467718e-02 1.46125106e+02] [ 2.34336857e-01 9.72110946e-01 -9.30303463e-03 1.78584103e+01] [ 4.67498518e-02 -1.71005587e-03 9.98905164e-01 5.77363255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.854391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:146.16, Y:17.87, Z:5.78 [[ 9.70527382e-01 -2.36596376e-01 -4.58121731e-02 1.46156695e+02] [ 2.36420854e-01 9.71606332e-01 -9.29064716e-03 1.78655251e+01] [ 4.67095309e-02 -1.81412561e-03 9.98906867e-01 5.77520380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.884391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:146.19, Y:17.87, Z:5.78 [[ 9.70119144e-01 -2.38327063e-01 -4.54868884e-02 1.46188463e+02] [ 2.38156140e-01 9.71183116e-01 -9.22000818e-03 1.78726113e+01] [ 4.63734755e-02 -1.88847529e-03 9.98922387e-01 5.77666809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.914391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:146.22, Y:17.88, Z:5.78 [[ 9.69714165e-01 -2.39971616e-01 -4.54759468e-02 1.46220584e+02] [ 2.39802829e-01 9.70777902e-01 -9.21236462e-03 1.78797475e+01] [ 4.63577502e-02 -1.97190024e-03 9.98922955e-01 5.77814538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:146.25, Y:17.89, Z:5.78 [[ 9.69324963e-01 -2.41531092e-01 -4.55175488e-02 1.46252721e+02] [ 2.41363962e-01 9.70390908e-01 -9.21539003e-03 1.78868065e+01] [ 4.63956188e-02 -2.05358834e-03 9.98921033e-01 5.77932654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:146.28, Y:17.89, Z:5.78 [[ 9.68398275e-01 -2.45473785e-01 -4.41293806e-02 1.46283646e+02] [ 2.45320998e-01 9.69400781e-01 -8.92938877e-03 1.78939944e+01] [ 4.49709868e-02 -2.17865898e-03 9.98985918e-01 5.78089444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:146.31, Y:17.90, Z:5.79 [[ 9.68572042e-01 -2.44702716e-01 -4.45957355e-02 1.46311992e+02] [ 2.44247571e-01 9.69589529e-01 -1.54683388e-02 1.79026290e+01] [ 4.70247027e-02 4.08980047e-03 9.98885354e-01 5.78503387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:146.35, Y:17.91, Z:5.78 [[ 9.67055805e-01 -2.50574815e-01 -4.48924574e-02 1.46346388e+02] [ 2.50691582e-01 9.68062040e-01 -3.10112416e-03 1.79060077e+01] [ 4.42357475e-02 -8.25520106e-03 9.98987012e-01 5.78199494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:146.37, Y:17.91, Z:5.79 [[ 9.67587785e-01 -2.48671681e-01 -4.40031059e-02 1.46372938e+02] [ 2.48457314e-01 9.68587412e-01 -1.03628419e-02 1.79147342e+01] [ 4.51977998e-02 -9.05934322e-04 9.98977646e-01 5.78560857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09439141800001 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:146.41, Y:17.92, Z:5.79 [[ 9.66368931e-01 -2.53331824e-01 -4.42049287e-02 1.46407602e+02] [ 2.53228701e-01 9.67373280e-01 -8.01015895e-03 1.79224158e+01] [ 4.47918950e-02 -3.45318793e-03 9.98990371e-01 5.78611041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12439141800002 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:146.44, Y:17.93, Z:5.79 [[ 9.66015823e-01 -2.54678346e-01 -4.41856213e-02 1.46439194e+02] [ 2.54535631e-01 9.67022248e-01 -8.92098007e-03 1.79313625e+01] [ 4.50004593e-02 -2.62900712e-03 9.98983507e-01 5.78791322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15439141800002 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:146.47, Y:17.94, Z:5.79 [[ 9.65979930e-01 -2.54746822e-01 -4.45738810e-02 1.46471113e+02] [ 2.54601889e-01 9.67004126e-01 -8.99433835e-03 1.79388890e+01] [ 4.53944059e-02 -2.66024396e-03 9.98965601e-01 5.78924633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18439141800002 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:146.50, Y:17.95, Z:5.79 [[ 9.66175987e-01 -2.53994828e-01 -4.46160231e-02 1.46503272e+02] [ 2.53849051e-01 9.67201995e-01 -8.99781463e-03 1.79467560e+01] [ 4.54381049e-02 -2.63226268e-03 9.98963688e-01 5.79087960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21439141800002 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:146.53, Y:17.96, Z:5.79 [[ 9.66711166e-01 -2.51688190e-01 -4.60714221e-02 1.46534191e+02] [ 2.51530392e-01 9.67804853e-01 -9.28587170e-03 1.79564550e+01] [ 4.69252902e-02 -2.61160702e-03 9.98894988e-01 5.79282932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.244391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:146.57, Y:17.96, Z:5.79 [[ 9.67222693e-01 -2.49651665e-01 -4.64145289e-02 1.46566683e+02] [ 2.49489396e-01 9.68332388e-01 -9.35025639e-03 1.79647479e+01] [ 4.72789987e-02 -2.53615263e-03 9.98878503e-01 5.79391889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.274391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:146.60, Y:17.97, Z:5.80 [[ 9.68502778e-01 -2.44585409e-01 -4.66941873e-02 1.46598287e+02] [ 2.44415569e-01 9.69625006e-01 -9.40097649e-03 1.79749072e+01] [ 4.75751933e-02 -2.30791450e-03 9.98864993e-01 5.79527579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.304391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:146.63, Y:17.98, Z:5.80 [[ 9.69362565e-01 -2.41105701e-01 -4.69495366e-02 1.46629722e+02] [ 2.40930279e-01 9.70496467e-01 -9.44498486e-03 1.79831327e+01] [ 4.78415991e-02 -2.15595022e-03 9.98852608e-01 5.79677727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.334391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:146.66, Y:17.99, Z:5.80 [[ 9.71029873e-01 -2.34112426e-01 -4.78785714e-02 1.46659022e+02] [ 2.33922091e-01 9.72207754e-01 -9.61969788e-03 1.79932788e+01] [ 4.88000092e-02 -1.85884154e-03 9.98806840e-01 5.79776822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:146.69, Y:18.00, Z:5.80 [[ 9.71998695e-01 -2.29925812e-01 -4.85042110e-02 1.46691191e+02] [ 2.29725539e-01 9.73206717e-01 -9.73977815e-03 1.80020647e+01] [ 4.94440503e-02 -1.67560438e-03 9.98775489e-01 5.79932162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.394391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:146.72, Y:18.01, Z:5.80 [[ 9.73338151e-01 -2.24217401e-01 -4.83673561e-02 1.46720059e+02] [ 2.24115256e-01 9.74533053e-01 -7.59478700e-03 1.80092022e+01] [ 4.88384706e-02 -3.44756646e-03 9.98800740e-01 5.79974407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:146.75, Y:18.02, Z:5.80 [[ 9.74072675e-01 -2.21012056e-01 -4.83331643e-02 1.46752724e+02] [ 2.20685321e-01 9.75270475e-01 -1.20619332e-02 1.80203442e+01] [ 4.98037408e-02 1.08277969e-03 9.98758437e-01 5.80316846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.454391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:146.78, Y:18.03, Z:5.80 [[ 9.75247816e-01 -2.14189253e-01 -5.49059365e-02 1.46778283e+02] [ 2.14800151e-01 9.76643051e-01 5.40802915e-03 1.80265606e+01] [ 5.24651596e-02 -1.70679721e-02 9.98476886e-01 5.80429922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:146.81, Y:18.05, Z:5.81 [[ 9.77047603e-01 -2.08227437e-01 -4.49368110e-02 1.46813281e+02] [ 2.07195653e-01 9.77938824e-01 -2.65634855e-02 1.80452367e+01] [ 4.94766985e-02 1.66430779e-02 9.98636603e-01 5.81195928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.514391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:146.85, Y:18.05, Z:5.81 [[ 9.77929895e-01 -2.03456918e-01 -4.75226531e-02 1.46847517e+02] [ 2.03235804e-01 9.79083827e-01 -9.49040220e-03 1.80451600e+01] [ 4.84595491e-02 -3.77356587e-04 9.98825075e-01 5.80737716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.544391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:146.88, Y:18.05, Z:5.81 [[ 9.78796744e-01 -1.99453282e-01 -4.66403600e-02 1.46879229e+02] [ 1.99236103e-01 9.79907320e-01 -9.30700622e-03 1.80526951e+01] [ 4.75595431e-02 -1.82776186e-04 9.98868388e-01 5.80837856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.574391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:146.91, Y:18.06, Z:5.81 [[ 9.80270598e-01 -1.92205018e-01 -4.61170899e-02 1.46910452e+02] [ 1.91985306e-01 9.81354782e-01 -9.18885861e-03 1.80611531e+01] [ 4.70233714e-02 1.53764324e-04 9.98893778e-01 5.81016187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.604391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:146.94, Y:18.07, Z:5.81 [[ 9.80916715e-01 -1.89004424e-01 -4.56040081e-02 1.46942344e+02] [ 1.88786757e-01 9.81976193e-01 -9.07287217e-03 1.80687283e+01] [ 4.64968632e-02 2.90299165e-04 9.98918394e-01 5.81138632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.634391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:146.97, Y:18.08, Z:5.81 [[ 9.81928346e-01 -1.83790317e-01 -4.51424616e-02 1.46973838e+02] [ 1.83572210e-01 9.82965336e-01 -8.96616626e-03 1.80763927e+01] [ 4.60213695e-02 5.17231389e-04 9.98940322e-01 5.81227116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.664391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:147.00, Y:18.08, Z:5.81 [[ 9.82329769e-01 -1.81609656e-01 -4.52344744e-02 1.47004608e+02] [ 1.81276129e-01 9.83366116e-01 -1.14037711e-02 1.80833800e+01] [ 4.65530844e-02 3.00233336e-03 9.98911306e-01 5.81374547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:147.04, Y:18.08, Z:5.81 [[ 9.81782587e-01 -1.83335605e-01 -4.99100066e-02 1.47035080e+02] [ 1.83750657e-01 9.82965466e-01 3.81941423e-03 1.80840124e+01] [ 4.83595783e-02 -1.29208309e-02 9.98746416e-01 5.81166087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:147.07, Y:18.10, Z:5.82 [[ 9.82022533e-01 -1.83921480e-01 -4.24809904e-02 1.47066435e+02] [ 1.83002766e-01 9.82804041e-01 -2.46212208e-02 1.80997129e+01] [ 4.62788604e-02 1.64044548e-02 9.98793853e-01 5.81885067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:147.10, Y:18.10, Z:5.81 [[ 9.81293713e-01 -1.87030421e-01 -4.56319081e-02 1.47101071e+02] [ 1.86966296e-01 9.82349750e-01 -5.70733367e-03 1.80962161e+01] [ 4.58939385e-02 -2.93105816e-03 9.98942018e-01 5.81269633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:147.13, Y:18.10, Z:5.81 [[ 9.80323984e-01 -1.91377210e-01 -4.83699309e-02 1.47127301e+02] [ 1.91505211e-01 9.81489523e-01 -2.01727613e-03 1.81010957e+01] [ 4.78606411e-02 -7.28550966e-03 9.98827453e-01 5.81466618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:147.16, Y:18.11, Z:5.82 [[ 9.79128456e-01 -1.98458319e-01 -4.38379027e-02 1.47161166e+02] [ 1.97737127e-01 9.80045686e-01 -2.02603623e-02 1.81102460e+01] [ 4.69839849e-02 1.11691164e-02 9.98833197e-01 5.81960491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84439141800001 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:147.20, Y:18.11, Z:5.82 [[ 9.78048846e-01 -2.03361443e-01 -4.54376298e-02 1.47196753e+02] [ 2.03304404e-01 9.79097671e-01 -5.92190948e-03 1.81089451e+01] [ 4.56921656e-02 -3.44575352e-03 9.98949625e-01 5.81568300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87439141800002 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:147.23, Y:18.11, Z:5.82 [[ 9.76494010e-01 -2.10864283e-01 -4.46732891e-02 1.47229352e+02] [ 2.10684306e-01 9.77514965e-01 -8.75307824e-03 1.81131750e+01] [ 4.55145202e-02 -8.64632459e-04 9.98963303e-01 5.81780590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90439141800002 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:147.26, Y:18.12, Z:5.82 [[ 9.76523356e-01 -2.10728112e-01 -4.46743632e-02 1.47262282e+02] [ 2.10548244e-01 9.77544330e-01 -8.74759298e-03 1.81195001e+01] [ 4.55145342e-02 -8.63879866e-04 9.98963303e-01 5.81908042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93439141800002 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:147.29, Y:18.12, Z:5.82 [[ 9.76223896e-01 -2.12220601e-01 -4.41511121e-02 1.47292318e+02] [ 2.11948320e-01 9.77221050e-01 -1.08134080e-02 1.81238432e+01] [ 4.54402241e-02 1.19855321e-03 9.98966341e-01 5.82082666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96439141800002 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:147.33, Y:18.14, Z:5.83 [[ 9.75742674e-01 -2.15366117e-01 -3.92895653e-02 1.47328817e+02] [ 2.14163202e-01 9.76251610e-01 -3.26637063e-02 1.81391394e+01] [ 4.53911569e-02 2.34569930e-02 9.98693853e-01 5.83009693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.994391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:147.36, Y:18.13, Z:5.82 [[ 9.75367851e-01 -2.16894808e-01 -4.01770805e-02 1.47364252e+02] [ 2.16465847e-01 9.76178182e-01 -1.47883192e-02 1.81325606e+01] [ 4.24274991e-02 5.72708538e-03 9.99083134e-01 5.82304212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.024391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:147.39, Y:18.12, Z:5.82 [[ 9.73916322e-01 -2.20207876e-01 -5.47310589e-02 1.47391643e+02] [ 2.22073987e-01 9.74547406e-01 3.06675226e-02 1.81189801e+01] [ 4.65847814e-02 -4.20219453e-02 9.98030067e-01 5.81795518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.054391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:147.42, Y:18.14, Z:5.83 [[ 9.73858859e-01 -2.22448710e-01 -4.59944950e-02 1.47420131e+02] [ 2.22268464e-01 9.74943391e-01 -9.06167923e-03 1.81429948e+01] [ 4.68577878e-02 -1.39832915e-03 9.98900592e-01 5.83270212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:147.45, Y:18.15, Z:5.83 [[ 9.73938148e-01 -2.22325286e-01 -4.48993385e-02 1.47453081e+02] [ 2.22153642e-01 9.74971592e-01 -8.84045875e-03 1.81478683e+01] [ 4.57410371e-02 -1.36449156e-03 9.98952399e-01 5.83368501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.114391418 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:147.49, Y:18.15, Z:5.84 [[ 9.74358291e-01 -2.20572421e-01 -4.44266638e-02 1.47486041e+02] [ 2.20402800e-01 9.75369768e-01 -8.74195924e-03 1.81519726e+01] [ 4.52606599e-02 -1.27396063e-03 9.98974399e-01 5.83512621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:147.52, Y:18.16, Z:5.84 [[ 9.74759506e-01 -2.18744128e-01 -4.46644436e-02 1.47517989e+02] [ 2.18571041e-01 9.75781514e-01 -8.78275439e-03 1.81574454e+01] [ 4.55039143e-02 -1.20128060e-03 9.98963438e-01 5.83629742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.174391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:147.55, Y:18.16, Z:5.84 [[ 9.75224712e-01 -2.16634983e-01 -4.47888888e-02 1.47550739e+02] [ 2.16459324e-01 9.76252033e-01 -8.79371846e-03 1.81630093e+01] [ 4.56302708e-02 -1.11912102e-03 9.98957770e-01 5.83751673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:147.58, Y:18.17, Z:5.84 [[ 9.76456163e-01 -2.10959877e-01 -4.50476699e-02 1.47582296e+02] [ 2.10776425e-01 9.77494339e-01 -8.83834343e-03 1.81678211e+01] [ 4.58983782e-02 -8.64731895e-04 9.98945740e-01 5.83821674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.234391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:147.61, Y:18.17, Z:5.84 [[ 9.77193544e-01 -2.07534819e-01 -4.49675150e-02 1.47614334e+02] [ 2.07349037e-01 9.78227369e-01 -8.80857840e-03 1.81734139e+01] [ 4.58165406e-02 -7.16284977e-04 9.98949614e-01 5.83921030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:147.65, Y:18.18, Z:5.84 [[ 9.78557228e-01 -2.00962855e-01 -4.51628362e-02 1.47646994e+02] [ 2.00769072e-01 9.79598771e-01 -8.83333909e-03 1.81788191e+01] [ 4.60166319e-02 -4.23372914e-04 9.98940584e-01 5.83978882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.294391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:147.68, Y:18.18, Z:5.84 [[ 9.79176303e-01 -1.97910320e-01 -4.52246896e-02 1.47679925e+02] [ 1.97713008e-01 9.80220089e-01 -8.83984547e-03 1.81847613e+01] [ 4.60796460e-02 -2.85742228e-04 9.98937728e-01 5.84116388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.324391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:147.71, Y:18.19, Z:5.84 [[ 9.80231171e-01 -1.92577823e-01 -4.53941931e-02 1.47711521e+02] [ 1.92373589e-01 9.81281703e-01 -8.86689603e-03 1.81900780e+01] [ 4.62520586e-02 -4.10359676e-05 9.98929800e-01 5.84202893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.354391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:147.74, Y:18.20, Z:5.84 [[ 9.80578572e-01 -1.90781056e-01 -4.54780420e-02 1.47744000e+02] [ 1.90574752e-01 9.81632613e-01 -8.86996671e-03 1.81958197e+01] [ 4.63349509e-02 3.07327220e-05 9.98925959e-01 5.84347574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.384391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:147.78, Y:18.20, Z:5.84 [[ 9.80853449e-01 -1.89429402e-01 -4.51996920e-02 1.47776734e+02] [ 1.89224440e-01 9.81894339e-01 -8.81009200e-03 1.82017229e+01] [ 4.60502122e-02 8.85227350e-05 9.98939122e-01 5.84472580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.414391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:147.81, Y:18.21, Z:5.85 [[ 9.80941959e-01 -1.88975433e-01 -4.51791908e-02 1.47808019e+02] [ 1.88770445e-01 9.81981810e-01 -8.80023717e-03 1.82072486e+01] [ 4.60281722e-02 1.04025919e-04 9.98940137e-01 5.84602989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:147.84, Y:18.21, Z:5.85 [[ 9.80908000e-01 -1.89175841e-01 -4.50776669e-02 1.47840760e+02] [ 1.88972403e-01 9.81943223e-01 -8.77137053e-03 1.82129152e+01] [ 4.59230409e-02 8.54724973e-05 9.98944977e-01 5.84757359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:147.87, Y:18.22, Z:5.85 [[ 9.80581509e-01 -1.91018991e-01 -4.44032563e-02 1.47873351e+02] [ 1.90823732e-01 9.81586341e-01 -8.63470353e-03 1.82171496e+01] [ 4.52350222e-02 -6.16447093e-06 9.98976372e-01 5.84917850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:147.91, Y:18.22, Z:5.85 [[ 9.80365880e-01 -1.92255228e-01 -4.38254302e-02 1.47906376e+02] [ 1.92066495e-01 9.81344956e-01 -8.51697109e-03 1.82223269e+01] [ 4.46452971e-02 -6.76489211e-05 9.99002899e-01 5.85036249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:147.94, Y:18.23, Z:5.85 [[ 9.79802666e-01 -1.95245018e-01 -4.31985909e-02 1.47939299e+02] [ 1.95064782e-01 9.80754475e-01 -8.38991009e-03 1.82254905e+01] [ 4.40052995e-02 -2.06067429e-04 9.99031276e-01 5.85126270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:147.97, Y:18.23, Z:5.85 [[ 9.79540054e-01 -1.96598029e-01 -4.30174198e-02 1.47970925e+02] [ 1.96420842e-01 9.80484136e-01 -8.34932194e-03 1.82297439e+01] [ 4.38193580e-02 -2.71022580e-04 9.99039434e-01 5.85258747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59439141800001 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:148.00, Y:18.23, Z:5.85 [[ 9.79339569e-01 -1.97796648e-01 -4.20772541e-02 1.48003933e+02] [ 1.97628780e-01 9.80243019e-01 -8.15405452e-03 1.82343556e+01] [ 4.28587792e-02 -3.30088128e-04 9.99081086e-01 5.85365442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62439141800002 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:148.04, Y:18.24, Z:5.85 [[ 9.78841761e-01 -2.00393239e-01 -4.13685356e-02 1.48037172e+02] [ 2.00233506e-01 9.79715446e-01 -8.01175279e-03 1.82381243e+01] [ 4.21348943e-02 -4.41128683e-04 9.99111834e-01 5.85498882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65439141800002 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:148.07, Y:18.24, Z:5.86 [[ 9.78657762e-01 -2.01323329e-01 -4.12055999e-02 1.48070072e+02] [ 2.01165890e-01 9.79524723e-01 -7.97507397e-03 1.82428937e+01] [ 4.19674723e-02 -4.84293145e-04 9.99118860e-01 5.85627136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68439141800002 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:148.10, Y:18.25, Z:5.86 [[ 9.78584804e-01 -2.01748511e-01 -4.08573062e-02 1.48101486e+02] [ 2.01594297e-01 9.79437229e-01 -7.90279494e-03 1.82470390e+01] [ 4.16115439e-02 -5.03044888e-04 9.99133738e-01 5.85729857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71439141800002 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:148.13, Y:18.25, Z:5.86 [[ 9.78384969e-01 -2.02711365e-01 -4.08773157e-02 1.48134996e+02] [ 2.02558396e-01 9.79238373e-01 -7.89331441e-03 1.82500112e+01] [ 4.16287007e-02 -5.57343318e-04 9.99132994e-01 5.85859029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.744391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:148.17, Y:18.25, Z:5.86 [[ 9.78443795e-01 -2.02523359e-01 -4.03983682e-02 1.48166904e+02] [ 2.02373997e-01 9.79277279e-01 -7.79592229e-03 1.82545674e+01] [ 4.11400605e-02 -5.47707444e-04 9.99153239e-01 5.85957020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.774391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:148.20, Y:18.26, Z:5.86 [[ 9.78573086e-01 -2.01871666e-01 -4.05283397e-02 1.48199380e+02] [ 2.01721143e-01 9.79411838e-01 -7.81226083e-03 1.82594849e+01] [ 4.12710098e-02 -5.30554813e-04 9.99147848e-01 5.86106559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.804391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:148.23, Y:18.26, Z:5.86 [[ 9.79071459e-01 -1.99434828e-01 -4.05564704e-02 1.48232639e+02] [ 1.99282217e-01 9.79910997e-01 -7.81255982e-03 1.82638587e+01] [ 4.12998278e-02 -4.33128978e-04 9.99146704e-01 5.86234988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.834391418 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:148.26, Y:18.27, Z:5.86 [[ 9.79509092e-01 -1.97257297e-01 -4.06386244e-02 1.48264010e+02] [ 1.97102391e-01 9.80351691e-01 -7.82359168e-03 1.82689160e+01] [ 4.13834047e-02 -3.46690863e-04 9.99143280e-01 5.86369627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:148.30, Y:18.27, Z:5.86 [[ 9.79969567e-01 -1.95002842e-01 -4.04170721e-02 1.48296626e+02] [ 1.94848241e-01 9.80802642e-01 -7.76791351e-03 1.82743613e+01] [ 4.11559363e-02 -2.62876569e-04 9.99152701e-01 5.86486033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.894391418 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:148.33, Y:18.28, Z:5.87 [[ 9.80838962e-01 -1.90575024e-01 -4.04486245e-02 1.48329507e+02] [ 1.90416625e-01 9.81672630e-01 -7.76888140e-03 1.82790066e+01] [ 4.11878624e-02 -8.20689987e-05 9.99151417e-01 5.86588844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:148.36, Y:18.28, Z:5.87 [[ 9.81230773e-01 -1.88490900e-01 -4.07105641e-02 1.48362026e+02] [ 1.88328862e-01 9.82074936e-01 -7.81403403e-03 1.82840414e+01] [ 4.14536990e-02 3.96437391e-07 9.99140426e-01 5.86721072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.954391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:148.39, Y:18.29, Z:5.87 [[ 9.81603829e-01 -1.86436426e-01 -4.11750231e-02 1.48394383e+02] [ 1.86269083e-01 9.82467023e-01 -7.89789348e-03 1.82886075e+01] [ 4.19255574e-02 8.29686880e-05 9.99120734e-01 5.86840984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:148.43, Y:18.29, Z:5.87 [[ 9.81801717e-01 -1.85195587e-01 -4.20473965e-02 1.48427300e+02] [ 1.85020168e-01 9.82701672e-01 -8.05981869e-03 1.82915024e+01] [ 4.28126897e-02 1.33527451e-04 9.99083108e-01 5.86904230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.014391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:148.46, Y:18.30, Z:5.87 [[ 9.81735139e-01 -1.85407096e-01 -4.26652655e-02 1.48460195e+02] [ 1.85226916e-01 9.82661790e-01 -8.17283864e-03 1.82955584e+01] [ 4.34408285e-02 1.20807327e-04 9.99055994e-01 5.87001401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.044391418 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:148.49, Y:18.30, Z:5.87 [[ 9.81565889e-01 -1.86144931e-01 -4.33413225e-02 1.48493124e+02] [ 1.85959955e-01 9.82522294e-01 -8.29684465e-03 1.82993602e+01] [ 4.41282312e-02 8.41493268e-05 9.99025872e-01 5.87102974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.074391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:148.53, Y:18.30, Z:5.87 [[ 9.80845791e-01 -1.89588151e-01 -4.46975023e-02 1.48525811e+02] [ 1.89395242e-01 9.81863701e-01 -8.55076683e-03 1.83004941e+01] [ 4.55079791e-02 -7.85105885e-05 9.98963972e-01 5.87199924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.104391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:148.56, Y:18.30, Z:5.87 [[ 9.80344092e-01 -1.91998617e-01 -4.54091630e-02 1.48557834e+02] [ 1.91802313e-01 9.81395176e-01 -8.68222890e-03 1.83039799e+01] [ 4.62313095e-02 -1.98010676e-04 9.98930742e-01 5.87315452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.134391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:148.59, Y:18.31, Z:5.87 [[ 9.79822321e-01 -1.94518706e-01 -4.59422781e-02 1.48590015e+02] [ 1.94320708e-01 9.80898755e-01 -8.78037120e-03 1.83074550e+01] [ 4.67726698e-02 -3.24332290e-04 9.98905507e-01 5.87460689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.164391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:148.62, Y:18.31, Z:5.88 [[ 9.78810844e-01 -1.99204323e-01 -4.74022075e-02 1.48621875e+02] [ 1.98999206e-01 9.79957812e-01 -9.05552485e-03 1.83077377e+01] [ 4.82560632e-02 -5.69355719e-04 9.98834835e-01 5.87602421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:148.65, Y:18.31, Z:5.88 [[ 9.78352089e-01 -2.01372487e-01 -4.77107062e-02 1.48653785e+02] [ 2.01167410e-01 9.79514499e-01 -9.11146661e-03 1.83111434e+01] [ 4.85681272e-02 -6.83616835e-04 9.98819638e-01 5.87755659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:148.69, Y:18.31, Z:5.88 [[ 9.77797572e-01 -2.03963787e-01 -4.80695437e-02 1.48685534e+02] [ 2.03758917e-01 9.78978089e-01 -9.17636761e-03 1.83119148e+01] [ 4.89306767e-02 -8.21968187e-04 9.98801839e-01 5.87940339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:148.72, Y:18.31, Z:5.88 [[ 9.77732082e-01 -2.04360032e-01 -4.77174415e-02 1.48715838e+02] [ 2.04158722e-01 9.78895437e-01 -9.10716261e-03 1.83149815e+01] [ 4.85715258e-02 -8.37566808e-04 9.98819356e-01 5.88065821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:148.75, Y:18.32, Z:5.88 [[ 9.77731331e-01 -2.04438856e-01 -4.73940689e-02 1.48746522e+02] [ 2.04240497e-01 9.78878977e-01 -9.04258642e-03 1.83181599e+01] [ 4.82417137e-02 -8.38568131e-04 9.98835339e-01 5.88195126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:148.78, Y:18.32, Z:5.88 [[ 9.78038136e-01 -2.02960912e-01 -4.74159476e-02 1.48779249e+02] [ 2.02760693e-01 9.79186540e-01 -9.04554118e-03 1.83194356e+01] [ 4.82649489e-02 -7.67206158e-04 9.98834274e-01 5.88384955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34439141800001 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:148.81, Y:18.32, Z:5.88 [[ 9.78319409e-01 -2.01561080e-01 -4.75842883e-02 1.48810334e+02] [ 2.01357971e-01 9.79475694e-01 -9.07373969e-03 1.83229046e+01] [ 4.84365666e-02 -7.04460107e-04 9.98826012e-01 5.88491739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37439141800002 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:148.84, Y:18.33, Z:5.89 [[ 9.78561342e-01 -2.00329095e-01 -4.78116546e-02 1.48839201e+02] [ 2.00122687e-01 9.79728448e-01 -9.11468805e-03 1.83261431e+01] [ 4.86683754e-02 -6.48915455e-04 9.98814782e-01 5.88608588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40439141800002 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:148.87, Y:18.33, Z:5.89 [[ 9.79094956e-01 -1.97358792e-01 -4.92196549e-02 1.48872138e+02] [ 1.97136192e-01 9.80331190e-01 -9.38504700e-03 1.83273738e+01] [ 5.01037844e-02 -5.14123149e-04 9.98743884e-01 5.88740308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43439141800002 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:148.90, Y:18.33, Z:5.89 [[ 9.79379778e-01 -1.95873720e-01 -4.94846986e-02 1.48903281e+02] [ 1.95647025e-01 9.80629027e-01 -9.43149945e-03 1.83306549e+01] [ 5.03735148e-02 -4.44514246e-04 9.98730350e-01 5.88855138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46439141800002 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:148.93, Y:18.33, Z:5.89 [[ 9.79620262e-01 -1.94449900e-01 -5.03326849e-02 1.48934646e+02] [ 1.94213644e-01 9.80912377e-01 -9.59004143e-03 1.83338712e+01] [ 5.12367362e-02 -3.80695275e-04 9.98686463e-01 5.88997499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.494391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:148.96, Y:18.34, Z:5.89 [[ 9.79897814e-01 -1.92771140e-01 -5.13766648e-02 1.48962547e+02] [ 1.92148788e-01 9.81221375e-01 -1.68361546e-02 1.83380788e+01] [ 5.36574064e-02 6.62574717e-03 9.98537422e-01 5.89307723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.524391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:148.99, Y:18.33, Z:5.89 [[ 9.80274505e-01 -1.90397514e-01 -5.30158666e-02 1.48990954e+02] [ 1.90524647e-01 9.81678721e-01 -2.69230050e-03 1.83338058e+01] [ 5.25571554e-02 -7.46163572e-03 9.98590041e-01 5.89051825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.554391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:149.02, Y:18.34, Z:5.89 [[ 9.80614951e-01 -1.88922662e-01 -5.19860201e-02 1.49020524e+02] [ 1.88661434e-01 9.81991967e-01 -9.93177680e-03 1.83403377e+01] [ 5.29261918e-02 -6.85082584e-05 9.98598425e-01 5.89347397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:149.05, Y:18.34, Z:5.89 [[ 9.81117652e-01 -1.86015067e-01 -5.29768663e-02 1.49049199e+02] [ 1.85952336e-01 9.82539493e-01 -6.15419628e-03 1.83391369e+01] [ 5.31966366e-02 -3.81318146e-03 9.98576776e-01 5.89372646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.614391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:149.08, Y:18.35, Z:5.90 [[ 9.81482612e-01 -1.84272728e-01 -5.23014803e-02 1.49076622e+02] [ 1.83792853e-01 9.82866958e-01 -1.38827132e-02 1.83453822e+01] [ 5.39636023e-02 4.01300338e-03 9.98534839e-01 5.89674381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:149.10, Y:18.35, Z:5.90 [[ 9.81775936e-01 -1.82357202e-01 -5.34963777e-02 1.49103750e+02] [ 1.82068833e-01 9.83232293e-01 -1.02565967e-02 1.83458357e+01] [ 5.44697304e-02 3.29656777e-04 9.98515368e-01 5.89747610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.674391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:149.13, Y:18.34, Z:5.90 [[ 9.82072315e-01 -1.80744130e-01 -5.35306199e-02 1.49133872e+02] [ 1.80690176e-01 9.83522452e-01 -5.88618003e-03 1.83443257e+01] [ 5.37124590e-02 -3.89180266e-03 9.98548860e-01 5.89775022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:149.16, Y:18.35, Z:5.90 [[ 9.82333321e-01 -1.79467694e-01 -5.30338855e-02 1.49159775e+02] [ 1.78954218e-01 9.83753241e-01 -1.43160248e-02 1.83505178e+01] [ 5.47415207e-02 4.57247071e-03 9.98490089e-01 5.90121399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.734391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:149.19, Y:18.35, Z:5.90 [[ 9.82362521e-01 -1.79140528e-01 -5.35961666e-02 1.49188296e+02] [ 1.78843693e-01 9.83823339e-01 -1.03233362e-02 1.83515048e+01] [ 5.45784875e-02 5.55922242e-04 9.98509329e-01 5.90163133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:149.22, Y:18.35, Z:5.90 [[ 9.82163751e-01 -1.79952021e-01 -5.45127082e-02 1.49215959e+02] [ 1.79645271e-01 9.83675243e-01 -1.05163562e-02 1.83508472e+01] [ 5.55152410e-02 5.35833583e-04 9.98457696e-01 5.90335113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.794391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:149.24, Y:18.36, Z:5.90 [[ 9.82127496e-01 -1.80150283e-01 -5.45110718e-02 1.49243832e+02] [ 1.79843368e-01 9.83638954e-01 -1.05248321e-02 1.83564132e+01] [ 5.55152651e-02 5.33272307e-04 9.98457696e-01 5.90458297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.824391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:149.27, Y:18.36, Z:5.91 [[ 9.81710356e-01 -1.82222716e-01 -5.51330967e-02 1.49272455e+02] [ 1.81686028e-01 9.83247647e-01 -1.46373356e-02 1.83610133e+01] [ 5.68767427e-02 4.35271058e-03 9.98371719e-01 5.90706926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.854391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:149.30, Y:18.36, Z:5.91 [[ 9.81105291e-01 -1.85557627e-01 -5.47793315e-02 1.49301155e+02] [ 1.85481617e-01 9.82626150e-01 -6.51304312e-03 1.83557677e+01] [ 5.50361485e-02 -3.77057795e-03 9.98477243e-01 5.90657788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.884391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:149.33, Y:18.36, Z:5.91 [[ 9.80661359e-01 -1.88322328e-01 -5.32728737e-02 1.49328589e+02] [ 1.88039352e-01 9.82107270e-01 -1.03204697e-02 1.83598753e+01] [ 5.42632515e-02 1.03489161e-04 9.98526659e-01 5.90892089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.914391418 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:149.36, Y:18.36, Z:5.91 [[ 9.80190277e-01 -1.90943983e-01 -5.26062420e-02 1.49355597e+02] [ 1.90670935e-01 9.81600935e-01 -1.02078233e-02 1.83620358e+01] [ 5.35874587e-02 -2.48722277e-05 9.98563160e-01 5.91064013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944391418 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:149.38, Y:18.36, Z:5.91 [[ 9.79651701e-01 -1.93791838e-01 -5.22232440e-02 1.49383432e+02] [ 1.93526265e-01 9.81042657e-01 -1.01434753e-02 1.83643379e+01] [ 5.31989528e-02 -1.69496475e-04 9.98583919e-01 5.91250583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:149.41, Y:18.36, Z:5.91 [[ 9.78751307e-01 -1.98410380e-01 -5.17609907e-02 1.49411565e+02] [ 1.98154973e-01 9.80118953e-01 -1.00719543e-02 1.83641211e+01] [ 5.27303083e-02 -3.98759347e-04 9.98608710e-01 5.91414493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:149.44, Y:18.37, Z:5.92 [[ 9.78327793e-01 -2.00575859e-01 -5.14203628e-02 1.49439283e+02] [ 2.00325819e-01 9.79678050e-01 -1.00242272e-02 1.83669314e+01] [ 5.23860187e-02 -4.93846211e-04 9.98626788e-01 5.91565053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:149.47, Y:18.37, Z:5.92 [[ 9.77918988e-01 -2.02524884e-01 -5.15570083e-02 1.49466973e+02] [ 2.02275239e-01 9.79276944e-01 -1.00694788e-02 1.83695567e+01] [ 5.25279095e-02 -5.81571672e-04 9.98619287e-01 5.91686943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064391418 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:149.49, Y:18.37, Z:5.92 [[ 9.77436618e-01 -2.04781288e-01 -5.17907447e-02 1.49494094e+02] [ 2.04531647e-01 9.78807514e-01 -1.01319685e-02 1.83694334e+01] [ 5.27680076e-02 -6.89489272e-04 9.98606560e-01 5.91783858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09439141800001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:149.52, Y:18.37, Z:5.92 [[ 9.77268498e-01 -2.05643259e-01 -5.15473931e-02 1.49522048e+02] [ 2.05396634e-01 9.78626756e-01 -1.00943057e-02 1.83729108e+01] [ 5.25214840e-02 -7.22814086e-04 9.98619533e-01 5.91908497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12439141800002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.55, Y:18.38, Z:5.92 [[ 9.77316485e-01 -2.05499785e-01 -5.12086546e-02 1.49548466e+02] [ 2.05255307e-01 9.78656915e-01 -1.00449867e-02 1.83764198e+01] [ 5.21799465e-02 -6.93717069e-04 9.98637458e-01 5.92022451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15439141800002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:149.58, Y:18.38, Z:5.92 [[ 9.77480596e-01 -2.04491763e-01 -5.21037674e-02 1.49575031e+02] [ 2.04236737e-01 9.78868074e-01 -1.02297927e-02 1.83793427e+01] [ 5.30946228e-02 -6.42079594e-04 9.98589279e-01 5.92153336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18439141800002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.60, Y:18.38, Z:5.92 [[ 9.77708091e-01 -2.03354970e-01 -5.22842681e-02 1.49603011e+02] [ 2.03095823e-01 9.79104914e-01 -1.02788284e-02 1.83837991e+01] [ 5.32820346e-02 -5.69022828e-04 9.98579341e-01 5.92283885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21439141800002 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:149.63, Y:18.39, Z:5.92 [[ 9.77971397e-01 -2.02126272e-01 -5.21240531e-02 1.49630359e+02] [ 2.01866017e-01 9.79359350e-01 -1.02652004e-02 1.83883429e+01] [ 5.31230455e-02 -4.83002636e-04 9.98587857e-01 5.92413244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.244391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:149.66, Y:18.39, Z:5.93 [[ 9.78912092e-01 -1.97740812e-01 -5.12804807e-02 1.49657322e+02] [ 1.97482042e-01 9.80254314e-01 -1.01154543e-02 1.83912624e+01] [ 5.22681506e-02 -2.24833550e-04 9.98633061e-01 5.92539705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.274391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:149.68, Y:18.40, Z:5.93 [[ 9.79295342e-01 -1.95904930e-01 -5.10087347e-02 1.49684890e+02] [ 1.95645907e-01 9.80622886e-01 -1.00714550e-02 1.83959358e+01] [ 5.19933803e-02 -1.16721195e-04 9.98647423e-01 5.92688137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.304391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:149.71, Y:18.40, Z:5.93 [[ 9.80089359e-01 -1.92075977e-01 -5.03156788e-02 1.49711582e+02] [ 1.91818082e-01 9.81380053e-01 -9.95060161e-03 1.83995148e+01] [ 5.12900750e-02 1.01021754e-04 9.98683793e-01 5.92780027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.334391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:149.74, Y:18.40, Z:5.93 [[ 9.80219005e-01 -1.91404168e-01 -5.03502373e-02 1.49738714e+02] [ 1.91144558e-01 9.81511296e-01 -9.96667447e-03 1.84044631e+01] [ 5.13269896e-02 1.45349915e-04 9.98681891e-01 5.92884530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.77, Y:18.41, Z:5.93 [[ 9.80275560e-01 -1.91004073e-01 -5.07668249e-02 1.49766177e+02] [ 1.90738695e-01 9.81589227e-01 -1.00667802e-02 1.84089560e+01] [ 5.17549644e-02 1.85020643e-04 9.98659797e-01 5.92992066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.394391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:18.41, Z:5.93 [[ 9.79871245e-01 -1.92927805e-01 -5.12952740e-02 1.49794031e+02] [ 1.92658565e-01 9.81212949e-01 -1.01894892e-02 1.84119102e+01] [ 5.22974228e-02 1.01913568e-04 9.98631548e-01 5.93014242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:18.42, Z:5.93 [[ 9.79333320e-01 -1.95422494e-01 -5.21180998e-02 1.49821642e+02] [ 1.95147061e-01 9.80719149e-01 -1.03718820e-02 1.84159357e+01] [ 5.31401175e-02 -1.31643924e-05 9.98587066e-01 5.93110836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.85, Y:18.42, Z:5.93 [[ 9.77980749e-01 -2.01826832e-01 -5.30997674e-02 1.49849184e+02] [ 2.01549400e-01 9.79421159e-01 -1.05845364e-02 1.84181594e+01] [ 5.41432792e-02 -3.50753408e-04 9.98533115e-01 5.93204695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:18.42, Z:5.93 [[ 9.77204549e-01 -2.05565327e-01 -5.30487028e-02 1.49876359e+02] [ 2.05293368e-01 9.78643243e-01 -1.05847216e-02 1.84223637e+01] [ 5.40916063e-02 -5.47108752e-04 9.98535828e-01 5.93337343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:18.43, Z:5.94 [[ 9.76372216e-01 -2.09520770e-01 -5.28993675e-02 1.49903972e+02] [ 2.09255128e-01 9.77803912e-01 -1.05735841e-02 1.84268310e+01] [ 5.39405940e-02 -7.45710124e-04 9.98543868e-01 5.93517497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:18.43, Z:5.94 [[ 9.75607277e-01 -2.13204775e-01 -5.22892410e-02 1.49930794e+02] [ 2.12949644e-01 9.77007100e-01 -1.04678688e-02 1.84312118e+01] [ 5.33187593e-02 -9.22446233e-04 9.98577117e-01 5.93665127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:18.43, Z:5.94 [[ 9.74334395e-01 -2.19222759e-01 -5.11260051e-02 1.49958828e+02] [ 2.18986636e-01 9.75674078e-01 -1.02443316e-02 1.84349624e+01] [ 5.21281085e-02 -1.21450721e-03 9.98639667e-01 5.93898074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.604391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:18.44, Z:5.94 [[ 9.73806925e-01 -2.21674304e-01 -5.06021235e-02 1.49986512e+02] [ 2.21445396e-01 9.75119877e-01 -1.01568899e-02 1.84398323e+01] [ 5.15946579e-02 -1.31475754e-03 9.98667243e-01 5.94073980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.01, Y:18.44, Z:5.94 [[ 9.72891676e-01 -2.24548647e-01 -5.53144743e-02 1.50010616e+02] [ 2.25145289e-01 9.74313764e-01 4.72100691e-03 1.84389681e+01] [ 5.28335580e-02 -1.70468216e-02 9.98457821e-01 5.94272968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:18.45, Z:5.95 [[ 9.72478477e-01 -2.27203551e-01 -5.16154872e-02 1.50037999e+02] [ 2.26934585e-01 9.73846849e-01 -1.10909042e-02 1.84507342e+01] [ 5.27854724e-02 -9.27673528e-04 9.98605444e-01 5.94740652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.07, Y:18.46, Z:5.95 [[ 9.72787015e-01 -2.27344490e-01 -4.47203065e-02 1.50068152e+02] [ 2.26388417e-01 9.73704296e-01 -2.54603236e-02 1.84617069e+01] [ 4.93326188e-02 1.46433128e-02 9.98675055e-01 5.94667341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.10, Y:18.46, Z:5.95 [[ 9.72721873e-01 -2.26927856e-01 -4.81238536e-02 1.50097553e+02] [ 2.26726314e-01 9.73910421e-01 -9.67833064e-03 1.84598832e+01] [ 4.90646054e-02 -1.49662004e-03 9.98794486e-01 5.94570110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.13, Y:18.47, Z:5.95 [[ 9.72825336e-01 -2.26517064e-01 -4.79675372e-02 1.50125093e+02] [ 2.26315500e-01 9.74006111e-01 -9.66385749e-03 1.84655294e+01] [ 4.89097030e-02 -1.45455177e-03 9.98802145e-01 5.94699885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.15, Y:18.47, Z:5.95 [[ 9.73078719e-01 -2.25486951e-01 -4.76806165e-02 1.50151605e+02] [ 2.25285797e-01 9.74245212e-01 -9.62166865e-03 1.84709004e+01] [ 4.86221730e-02 -1.37912470e-03 9.98816291e-01 5.94802523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.18, Y:18.48, Z:5.95 [[ 9.73412829e-01 -2.24014237e-01 -4.78025638e-02 1.50178191e+02] [ 2.23809922e-01 9.74585002e-01 -9.65358512e-03 1.84767743e+01] [ 4.87502022e-02 -1.30176447e-03 9.98810154e-01 5.94928730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.21, Y:18.48, Z:5.95 [[ 9.74321563e-01 -2.20003048e-01 -4.79181721e-02 1.50205363e+02] [ 2.19792481e-01 9.75498569e-01 -9.68535907e-03 1.84836111e+01] [ 4.88749169e-02 -1.09539976e-03 9.98804306e-01 5.95026471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:18.49, Z:5.95 [[ 9.74810522e-01 -2.17885892e-01 -4.76464459e-02 1.50232961e+02] [ 2.17674383e-01 9.75973771e-01 -9.64682511e-03 1.84900736e+01] [ 4.86035886e-02 -9.67584090e-04 9.98817679e-01 5.95151167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:18.50, Z:5.95 [[ 9.75282787e-01 -2.15801100e-01 -4.74696924e-02 1.50260157e+02] [ 2.15587882e-01 9.76436978e-01 -9.62769408e-03 1.84965485e+01] [ 4.84288299e-02 -8.44166120e-04 9.98826279e-01 5.95254825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.29, Y:18.51, Z:5.95 [[ 9.76515669e-01 -2.11747427e-01 -3.97514122e-02 1.50286920e+02] [ 2.10650826e-01 9.77099448e-01 -3.00482770e-02 1.85136121e+01] [ 4.52037282e-02 2.09689455e-02 9.98757691e-01 5.95174785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.32, Y:18.50, Z:5.95 [[ 9.76835110e-01 -2.07316794e-01 -5.30369204e-02 1.50316148e+02] [ 2.08176794e-01 9.78027324e-01 1.11792441e-02 1.85006466e+01] [ 4.95539123e-02 -2.19613343e-02 9.98529974e-01 5.95124697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.34, Y:18.52, Z:5.96 [[ 9.77328603e-01 -2.06262926e-01 -4.77954776e-02 1.50340045e+02] [ 2.05734871e-01 9.78480700e-01 -1.57696709e-02 1.85191725e+01] [ 5.00196508e-02 5.57895400e-03 9.98732652e-01 5.95507807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.37, Y:18.52, Z:5.96 [[ 9.76972222e-01 -2.07197600e-01 -5.09355646e-02 1.50369872e+02] [ 2.07229350e-01 9.78281026e-01 -4.71500868e-03 1.85214243e+01] [ 5.08062348e-02 -5.94891145e-03 9.98690811e-01 5.95515722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:18.53, Z:5.96 [[ 9.76927382e-01 -2.07706228e-01 -4.97092957e-02 1.50395149e+02] [ 2.07458843e-01 9.78191167e-01 -1.01424362e-02 1.85300696e+01] [ 5.07318412e-02 -4.04209356e-04 9.98712229e-01 5.95697020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:150.41, Y:18.55, Z:5.96 [[ 9.77071575e-01 -2.07595941e-01 -4.72764463e-02 1.50408987e+02] [ 2.05886773e-01 9.77814745e-01 -3.85870528e-02 1.85469080e+01] [ 5.42381219e-02 2.79687175e-02 9.98136252e-01 5.96115445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.114391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:150.45, Y:18.53, Z:5.96 [[ 9.76252227e-01 -2.09819637e-01 -5.39194671e-02 1.50451589e+02] [ 2.10967333e-01 9.77353967e-01 1.64926505e-02 1.85288296e+01] [ 4.92379231e-02 -2.74762330e-02 9.98409076e-01 5.95536966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.48, Y:18.55, Z:5.96 [[ 9.75893764e-01 -2.12768486e-01 -4.85894342e-02 1.50475658e+02] [ 2.12535438e-01 9.77102461e-01 -9.97341578e-03 1.85472032e+01] [ 4.95988843e-02 -5.93982430e-04 9.98769041e-01 5.96104880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.174391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:150.50, Y:18.55, Z:5.96 [[ 9.75001369e-01 -2.16893117e-01 -4.82670372e-02 1.50502813e+02] [ 2.16667378e-01 9.76195044e-01 -9.92387929e-03 1.85532364e+01] [ 4.92704636e-02 -7.82096470e-04 9.98785167e-01 5.96235931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:150.52, Y:18.56, Z:5.97 [[ 9.73938301e-01 -2.20573999e-01 -5.28327257e-02 1.50524497e+02] [ 2.19954597e-01 9.75356035e-01 -1.73372634e-02 1.85638696e+01] [ 5.53548674e-02 5.26462396e-03 9.98452864e-01 5.96795740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.234391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:150.55, Y:18.56, Z:5.96 [[ 9.73686446e-01 -2.21469338e-01 -5.37218566e-02 1.50554734e+02] [ 2.22079796e-01 9.75012424e-01 5.59792249e-03 1.85584810e+01] [ 5.11397094e-02 -1.73811602e-02 9.98540247e-01 5.96475549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:150.58, Y:18.57, Z:5.97 [[ 9.73205084e-01 -2.24411198e-01 -5.01146612e-02 1.50580689e+02] [ 2.24140437e-01 9.74494416e-01 -1.10316310e-02 1.85715273e+01] [ 5.13120790e-02 -4.96682699e-04 9.98682544e-01 5.96852960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.294391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:150.61, Y:18.58, Z:5.97 [[ 9.72956301e-01 -2.26532059e-01 -4.51581957e-02 1.50611868e+02] [ 2.25800917e-01 9.73952456e-01 -2.07499447e-02 1.85779668e+01] [ 4.86824633e-02 9.99202743e-03 9.98764325e-01 5.96911090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.64, Y:18.58, Z:5.97 [[ 9.72638912e-01 -2.27508248e-01 -4.70483218e-02 1.50640126e+02] [ 2.27306667e-01 9.73775291e-01 -9.66244156e-03 1.85777867e+01] [ 4.80127784e-02 -1.29633056e-03 9.98845880e-01 5.96881331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:18.58, Z:5.97 [[ 9.72087912e-01 -2.29121249e-01 -5.04831070e-02 1.50661942e+02] [ 2.28918027e-01 9.73395873e-01 -9.84945369e-03 1.85835148e+01] [ 5.13967671e-02 -1.98195840e-03 9.98676346e-01 5.97275939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:18.59, Z:5.97 [[ 9.72349103e-01 -2.28893964e-01 -4.63117249e-02 1.50693946e+02] [ 2.28641176e-01 9.73451353e-01 -1.07553005e-02 1.85889442e+01] [ 4.75440347e-02 -1.30860446e-04 9.98869134e-01 5.97143459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.414391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:150.72, Y:18.60, Z:5.97 [[ 9.72543653e-01 -2.27904895e-01 -4.70977837e-02 1.50720219e+02] [ 2.27701431e-01 9.73682559e-01 -9.71253840e-03 1.85950824e+01] [ 4.80718256e-02 -1.27836518e-03 9.98843063e-01 5.97212682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.75, Y:18.60, Z:5.97 [[ 9.72479651e-01 -2.27201810e-01 -5.16010196e-02 1.50746003e+02] [ 2.27542459e-01 9.73767873e-01 7.47807820e-04 1.85974164e+01] [ 5.00775118e-02 -1.24686508e-02 9.98667500e-01 5.97490604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.77, Y:18.61, Z:5.98 [[ 9.73101654e-01 -2.25936485e-01 -4.50097244e-02 1.50773149e+02] [ 2.25190054e-01 9.74086734e-01 -2.10825367e-02 1.86129564e+01] [ 4.86066897e-02 1.03797090e-02 9.98764062e-01 5.97637850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.80, Y:18.61, Z:5.98 [[ 9.73483989e-01 -2.23847106e-01 -4.71316925e-02 1.50800233e+02] [ 2.23637128e-01 9.74623708e-01 -9.74998304e-03 1.86138866e+01] [ 4.81181705e-02 -1.04894396e-03 9.98841099e-01 5.97574400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:150.83, Y:18.62, Z:5.98 [[ 9.74581103e-01 -2.18987071e-01 -4.72899216e-02 1.50825961e+02] [ 2.18769615e-01 9.75727429e-01 -9.78980432e-03 1.86213482e+01] [ 4.82859142e-02 -8.04639653e-04 9.98833231e-01 5.97732490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:150.85, Y:18.63, Z:5.98 [[ 9.75181445e-01 -2.16296374e-01 -4.72972380e-02 1.50853031e+02] [ 2.16075295e-01 9.76327526e-01 -9.79942328e-03 1.86281289e+01] [ 4.82971751e-02 -6.63548890e-04 9.98832790e-01 5.97824142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59439141800001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:150.88, Y:18.64, Z:5.98 [[ 9.76221624e-01 -2.11733013e-01 -4.64808756e-02 1.50879023e+02] [ 2.11513639e-01 9.77327457e-01 -9.64479015e-03 1.86352501e+01] [ 4.74691564e-02 -4.15886446e-04 9.98872618e-01 5.97978497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:18.64, Z:5.98 [[ 9.76494742e-01 -2.10352956e-01 -4.70069413e-02 1.50906616e+02] [ 2.10126604e-01 9.77625447e-01 -9.76192425e-03 1.86418938e+01] [ 4.80086317e-02 -3.44941260e-04 9.98846861e-01 5.98085669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65439141800002 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:150.93, Y:18.65, Z:5.98 [[ 9.76667433e-01 -2.09345351e-01 -4.79087522e-02 1.50933999e+02] [ 2.09108217e-01 9.77841727e-01 -9.96548403e-03 1.86481371e+01] [ 4.89334048e-02 -2.85150067e-04 9.98802003e-01 5.98153083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68439141800002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:150.96, Y:18.65, Z:5.98 [[ 9.76747480e-01 -2.08500375e-01 -4.99194822e-02 1.50961211e+02] [ 2.08497668e-01 9.78008397e-01 -5.31948783e-03 1.86513244e+01] [ 4.99307880e-02 -5.21229929e-03 9.98739079e-01 5.98357347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71439141800002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:150.99, Y:18.66, Z:5.99 [[ 9.76721103e-01 -2.08890845e-01 -4.87903783e-02 1.50988458e+02] [ 2.08638636e-01 9.77938950e-01 -1.02629948e-02 1.86596072e+01] [ 4.98578570e-02 -1.55474351e-04 9.98756312e-01 5.98545538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.744391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:151.02, Y:18.67, Z:5.99 [[ 9.76182821e-01 -2.11662782e-01 -4.76021713e-02 1.51015882e+02] [ 2.11173014e-01 9.77331277e-01 -1.51503262e-02 1.86677233e+01] [ 4.97298511e-02 4.73719419e-03 9.98751471e-01 5.98577866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.774391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:151.05, Y:18.67, Z:5.98 [[ 9.75688496e-01 -2.13432692e-01 -4.97839829e-02 1.51046662e+02] [ 2.13827697e-01 9.76867699e-01 2.68604914e-03 1.86652160e+01] [ 4.80590742e-02 -1.32659417e-02 9.98756397e-01 5.98373436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:18.68, Z:5.99 [[ 9.74074879e-01 -2.21618182e-01 -4.54258987e-02 1.51071112e+02] [ 2.20844871e-01 9.75073005e-01 -2.14517757e-02 1.86813777e+01] [ 4.90476711e-02 1.08635590e-02 9.98737357e-01 5.98958722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.10, Y:18.68, Z:5.99 [[ 9.73076171e-01 -2.24833748e-01 -5.07203168e-02 1.51101533e+02] [ 2.24973674e-01 9.74360201e-01 -3.00736696e-03 1.86779107e+01] [ 5.00960157e-02 -8.48433890e-03 9.98708368e-01 5.99056883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.13, Y:18.69, Z:5.99 [[ 9.72121788e-01 -2.29284020e-01 -4.90720666e-02 1.51127607e+02] [ 2.29052223e-01 9.73358875e-01 -1.03720739e-02 1.86864940e+01] [ 5.01428823e-02 -1.15714696e-03 9.98741384e-01 5.99286088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.15, Y:18.69, Z:6.00 [[ 9.70036307e-01 -2.37161962e-01 -5.27614177e-02 1.51154893e+02] [ 2.37567891e-01 9.71369826e-01 1.46899126e-03 1.86858124e+01] [ 5.09024603e-02 -1.39593936e-02 9.98606066e-01 5.99507395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:151.18, Y:18.70, Z:6.00 [[ 9.69332907e-01 -2.40779313e-01 -4.91837170e-02 1.51181871e+02] [ 2.40571284e-01 9.70577931e-01 -1.01949593e-02 1.86966818e+01] [ 5.01913656e-02 -1.94988041e-03 9.98737716e-01 5.99783155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:18.70, Z:6.00 [[ 9.68831388e-01 -2.43298412e-01 -4.66006852e-02 1.51209769e+02] [ 2.42859271e-01 9.69946313e-01 -1.49507068e-02 1.87042949e+01] [ 4.88376461e-02 3.16730558e-03 9.98801708e-01 5.99821724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:18.71, Z:6.00 [[ 9.68043103e-01 -2.45968992e-01 -4.89060986e-02 1.51237735e+02] [ 2.45986738e-01 9.69256141e-01 -5.74959931e-03 1.87057830e+01] [ 4.88167596e-02 -6.46439172e-03 9.98786832e-01 5.99899920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.014391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.26, Y:18.71, Z:6.00 [[ 9.67747448e-01 -2.47073078e-01 -4.91911765e-02 1.51263459e+02] [ 2.46900371e-01 9.68992793e-01 -9.65270724e-03 1.87138720e+01] [ 5.00508196e-02 -2.80393693e-03 9.98742736e-01 6.00104190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:18.72, Z:6.00 [[ 9.67974500e-01 -2.46494227e-01 -4.76021360e-02 1.51290714e+02] [ 2.46240299e-01 9.69143876e-01 -1.12188449e-02 1.87207410e+01] [ 4.88986992e-02 -8.62008399e-04 9.98803371e-01 6.00126859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.074391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.32, Y:18.74, Z:6.00 [[ 9.68807863e-01 -2.44392352e-01 -4.10329517e-02 1.51317699e+02] [ 2.43376511e-01 9.69520939e-01 -2.82315727e-02 1.87354245e+01] [ 4.66818864e-02 1.73645130e-02 9.98758867e-01 5.99983598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.104391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.35, Y:18.73, Z:6.00 [[ 9.69211984e-01 -2.42044548e-01 -4.51947704e-02 1.51346378e+02] [ 2.41861699e-01 9.70263698e-01 -9.55380339e-03 1.87332961e+01] [ 4.61632911e-02 -1.67122320e-03 9.98932509e-01 5.99829997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.134391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.37, Y:18.73, Z:6.00 [[ 9.69278593e-01 -2.40197096e-01 -5.29562504e-02 1.51373413e+02] [ 2.41176240e-01 9.70396228e-01 1.28523229e-02 1.87306548e+01] [ 4.83014550e-02 -2.52292707e-02 9.98514123e-01 6.00146204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:18.76, Z:6.01 [[ 9.70675879e-01 -2.36892251e-01 -4.08705260e-02 1.51394920e+02] [ 2.35092661e-01 9.70959147e-01 -4.43821593e-02 1.87624417e+01] [ 5.01974007e-02 3.34723307e-02 9.98178253e-01 6.00681765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:18.75, Z:6.00 [[ 9.71556926e-01 -2.32011605e-01 -4.74104800e-02 1.51429376e+02] [ 2.32288494e-01 9.72646873e-01 3.40276358e-04 1.87508722e+01] [ 4.60347070e-02 -1.13435068e-02 9.98875433e-01 6.00031531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.46, Y:18.76, Z:6.00 [[ 9.72113039e-01 -2.30130077e-01 -4.51263447e-02 1.51455400e+02] [ 2.29933493e-01 9.73159287e-01 -9.57035163e-03 1.87624992e+01] [ 4.61175472e-02 -1.07259447e-03 9.98935444e-01 6.00258941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:151.48, Y:18.77, Z:6.00 [[ 9.73279483e-01 -2.25152402e-01 -4.50937272e-02 1.51480768e+02] [ 2.24950031e-01 9.74323213e-01 -9.57919993e-03 1.87706575e+01] [ 4.60926450e-02 -8.20596571e-04 9.98936832e-01 6.00312213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:151.51, Y:18.78, Z:6.00 [[ 9.73834081e-01 -2.22708276e-01 -4.52571201e-02 1.51506712e+02] [ 2.22501301e-01 9.74884885e-01 -9.62459642e-03 1.87775847e+01] [ 4.62639596e-02 -6.97008119e-04 9.98929007e-01 6.00414519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:151.53, Y:18.78, Z:6.00 [[ 9.74308962e-01 -2.20606922e-01 -4.53280433e-02 1.51533301e+02] [ 2.20396630e-01 9.75362619e-01 -9.64818009e-03 1.87847490e+01] [ 4.63397343e-02 -5.89839660e-04 9.98925563e-01 6.00483508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34439141800001 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:151.56, Y:18.79, Z:6.01 [[ 9.74815652e-01 -2.18355701e-01 -4.53346770e-02 1.51559190e+02] [ 2.18142190e-01 9.75869135e-01 -9.66517850e-03 1.87917463e+01] [ 4.63511589e-02 -4.67638443e-04 9.98925098e-01 6.00584974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37439141800002 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:151.59, Y:18.80, Z:6.01 [[ 9.75689165e-01 -2.14380293e-01 -4.55164022e-02 1.51585982e+02] [ 2.14160329e-01 9.76750232e-01 -9.71271256e-03 1.87996620e+01] [ 4.65403705e-02 -2.71219260e-04 9.98916373e-01 6.00647434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40439141800002 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:151.61, Y:18.81, Z:6.01 [[ 9.76172264e-01 -2.12167260e-01 -4.55276163e-02 1.51611352e+02] [ 2.11885221e-01 9.77232769e-01 -1.09894290e-02 1.88062653e+01] [ 4.68226756e-02 1.08094673e-03 9.98902632e-01 6.00766044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43439141800002 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:151.64, Y:18.81, Z:6.01 [[ 9.76681942e-01 -2.09816803e-01 -4.54894934e-02 1.51637675e+02] [ 2.09690444e-01 9.77738397e-01 -7.58580438e-03 1.88107726e+01] [ 4.60684535e-02 -2.12979392e-03 9.98936015e-01 6.00785476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46439141800002 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:151.67, Y:18.82, Z:6.01 [[ 9.76494601e-01 -2.10937281e-01 -4.43143063e-02 1.51666667e+02] [ 2.10661975e-01 9.77498790e-01 -1.08465216e-02 1.88194210e+01] [ 4.56051166e-02 1.25623047e-03 9.98958756e-01 6.00981583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.494391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:151.69, Y:18.82, Z:6.01 [[ 9.76543339e-01 -2.10670409e-01 -4.45093928e-02 1.51694084e+02] [ 2.10453979e-01 9.77557148e-01 -9.54704110e-03 1.88249580e+01] [ 4.55217541e-02 -4.40794217e-05 9.98963347e-01 6.01083670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.524391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:151.72, Y:18.83, Z:6.01 [[ 9.76601562e-01 -2.10497868e-01 -4.40458580e-02 1.51720632e+02] [ 2.10285089e-01 9.77594316e-01 -9.46225070e-03 1.88306634e+01] [ 4.50507640e-02 -2.13383732e-05 9.98984699e-01 6.01196705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.554391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:151.75, Y:18.84, Z:6.01 [[ 9.76607263e-01 -2.10586580e-01 -4.34919068e-02 1.51748434e+02] [ 2.10378870e-01 9.77575210e-01 -9.35088703e-03 1.88362962e+01] [ 4.44857813e-02 -1.76340360e-05 9.99010017e-01 6.01320915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584391418 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:151.78, Y:18.84, Z:6.01 [[ 9.76551660e-01 -2.10931854e-01 -4.30651630e-02 1.51775982e+02] [ 2.10727877e-01 9.77500769e-01 -9.27411493e-03 1.88415778e+01] [ 4.40524362e-02 -1.83780425e-05 9.99029220e-01 6.01422639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.614391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:151.80, Y:18.85, Z:6.02 [[ 9.76568751e-01 -2.11003191e-01 -4.23217230e-02 1.51803070e+02] [ 2.10805620e-01 9.77485372e-01 -9.12893772e-03 1.88460402e+01] [ 4.32951002e-02 -6.62175433e-06 9.99062328e-01 6.01543065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:151.83, Y:18.85, Z:6.02 [[ 9.76507816e-01 -2.11265098e-01 -4.24210366e-02 1.51830381e+02] [ 2.11066187e-01 9.77428800e-01 -9.16549728e-03 1.88514120e+01] [ 4.33998926e-02 -3.46671779e-06 9.99057781e-01 6.01637892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.674391418 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:151.86, Y:18.86, Z:6.02 [[ 9.76861721e-01 -2.09372187e-01 -4.36401794e-02 1.51855693e+02] [ 2.08972461e-01 9.77827233e-01 -1.35798882e-02 1.88562895e+01] [ 4.55158067e-02 4.14607727e-03 9.98955015e-01 6.01821787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:151.88, Y:18.86, Z:6.02 [[ 9.76669725e-01 -2.10081933e-01 -4.45177381e-02 1.51884902e+02] [ 2.10032180e-01 9.77677002e-01 -5.84491940e-03 1.88583346e+01] [ 4.47518807e-02 -3.64160176e-03 9.98991495e-01 6.01791465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.734391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.91, Y:18.86, Z:6.02 [[ 9.76725552e-01 -2.09982179e-01 -4.37570764e-02 1.51911564e+02] [ 2.09767500e-01 9.77705209e-01 -9.49315736e-03 1.88646449e+01] [ 4.47749154e-02 9.33968514e-05 9.98997096e-01 6.01958283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.764391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:18.87, Z:6.02 [[ 9.77058652e-01 -2.08508103e-01 -4.33677428e-02 1.51938273e+02] [ 2.08295115e-01 9.78020624e-01 -9.42360198e-03 1.88671935e+01] [ 4.43794443e-02 1.74122857e-04 9.99014732e-01 6.02075796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:18.87, Z:6.02 [[ 9.77303294e-01 -2.07394453e-01 -4.31950461e-02 1.51964986e+02] [ 2.07181768e-01 9.78257373e-01 -9.39294234e-03 1.88713831e+01] [ 4.42039165e-02 2.30527459e-04 9.99022503e-01 6.02197839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.824391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:18.88, Z:6.02 [[ 9.77531654e-01 -2.06324115e-01 -4.31535155e-02 1.51991593e+02] [ 2.06110478e-01 9.78483663e-01 -9.39110093e-03 1.88759925e+01] [ 4.41626205e-02 2.85706703e-04 9.99024315e-01 6.02349474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:18.88, Z:6.02 [[ 9.78060819e-01 -2.03858354e-01 -4.28812988e-02 1.52019480e+02] [ 2.03644564e-01 9.79000310e-01 -9.34257854e-03 1.88793499e+01] [ 4.38853675e-02 4.05066597e-04 9.99036491e-01 6.02484611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:18.88, Z:6.03 [[ 9.77892978e-01 -2.03489779e-01 -4.81376574e-02 1.52042810e+02] [ 2.03592412e-01 9.79051692e-01 -2.81323531e-03 1.88823409e+01] [ 4.77017195e-02 -7.04941873e-03 9.98836749e-01 6.02938782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.914391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:18.89, Z:6.03 [[ 9.79119805e-01 -1.99102584e-01 -4.10191279e-02 1.52074879e+02] [ 1.98566701e-01 9.79943553e-01 -1.67898218e-02 1.88879951e+01] [ 4.35393269e-02 8.29421415e-03 9.99017284e-01 6.02699066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:18.88, Z:6.03 [[ 9.78768381e-01 -1.99047496e-01 -4.89137101e-02 1.52100953e+02] [ 1.99506797e-01 9.79885433e-01 4.64496574e-03 1.88824532e+01] [ 4.70052632e-02 -1.43049632e-02 9.98792207e-01 6.02881531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:18.90, Z:6.03 [[ 9.79027320e-01 -1.99328151e-01 -4.21164520e-02 1.52127065e+02] [ 1.98652909e-01 9.79872012e-01 -1.96942336e-02 1.88969959e+01] [ 4.51943478e-02 1.09146370e-02 9.98918586e-01 6.03026166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:18.90, Z:6.03 [[ 9.79236004e-01 -1.98213887e-01 -4.25218090e-02 1.52158922e+02] [ 1.97728136e-01 9.80136195e-01 -1.53825813e-02 1.88966804e+01] [ 4.47262053e-02 6.65541939e-03 9.98977113e-01 6.02898854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:18.90, Z:6.03 [[ 9.79051777e-01 -1.98724248e-01 -4.43428903e-02 1.52186190e+02] [ 1.98490498e-01 9.80055226e-01 -9.65800148e-03 1.88968619e+01] [ 4.53777604e-02 6.54041155e-04 9.98969685e-01 6.02945438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:18.90, Z:6.03 [[ 9.78625250e-01 -2.01193213e-01 -4.25900309e-02 1.52212620e+02] [ 2.00759847e-01 9.79536648e-01 -1.42632119e-02 1.88997341e+01] [ 4.45881575e-02 5.40797122e-03 9.98990816e-01 6.03002552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:18.90, Z:6.03 [[ 9.78294983e-01 -2.02079489e-01 -4.58563606e-02 1.52241691e+02] [ 2.02071889e-01 9.79358684e-01 -4.84966131e-03 1.88978828e+01] [ 4.58898421e-02 -4.52188208e-03 9.98936272e-01 6.03203509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:18.90, Z:6.03 [[ 9.78001076e-01 -2.03944910e-01 -4.38220137e-02 1.52270680e+02] [ 2.03669871e-01 9.78981157e-01 -1.06994363e-02 1.88990325e+01] [ 4.50830212e-02 1.53883631e-03 9.98982058e-01 6.03371381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:18.90, Z:6.03 [[ 9.77871135e-01 -2.04723284e-01 -4.30861914e-02 1.52298922e+02] [ 2.04390120e-01 9.78815369e-01 -1.20478949e-02 1.89020455e+01] [ 4.46399110e-02 2.97489682e-03 9.98998713e-01 6.03438229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:18.90, Z:6.04 [[ 9.77817707e-01 -2.04753049e-01 -4.41443161e-02 1.52328330e+02] [ 2.04544860e-01 9.78813664e-01 -9.23101054e-03 1.89028350e+01] [ 4.50991373e-02 -3.24736654e-06 9.98982516e-01 6.03571013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.36, Y:18.90, Z:6.04 [[ 9.77891553e-01 -2.03675250e-01 -4.73761916e-02 1.52357973e+02] [ 2.03767264e-01 9.79014972e-01 -2.93044346e-03 1.88989009e+01] [ 4.69788597e-02 -6.78806103e-03 9.98872819e-01 6.03789733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:18.91, Z:6.04 [[ 9.78039974e-01 -2.03278765e-01 -4.59951522e-02 1.52384550e+02] [ 2.02985025e-01 9.79119844e-01 -1.10186425e-02 1.89053670e+01] [ 4.72746223e-02 1.44034566e-03 9.98880892e-01 6.03972461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.274391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:18.90, Z:6.04 [[ 9.78431462e-01 -2.01269889e-01 -4.65006111e-02 1.52412811e+02] [ 2.01354262e-01 9.79514159e-01 -2.91095495e-03 1.89038444e+01] [ 4.61338946e-02 -6.51492634e-03 9.98914020e-01 6.03981281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:18.91, Z:6.04 [[ 9.78268791e-01 -2.01789148e-01 -4.76582812e-02 1.52440811e+02] [ 2.01545979e-01 9.79428983e-01 -9.90379989e-03 1.89062354e+01] [ 4.86763813e-02 8.32433865e-05 9.98814599e-01 6.04360562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:18.91, Z:6.05 [[ 9.78061002e-01 -2.02643309e-01 -4.82945656e-02 1.52469755e+02] [ 2.02492549e-01 9.79250754e-01 -8.04538007e-03 1.89078334e+01] [ 4.89228322e-02 -1.91041718e-03 9.98800734e-01 6.04574809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:18.91, Z:6.05 [[ 9.77780705e-01 -2.04142082e-01 -4.76539876e-02 1.52498107e+02] [ 2.03922403e-01 9.78941167e-01 -9.47867301e-03 1.89105814e+01] [ 4.85854463e-02 -4.49652093e-04 9.98818929e-01 6.04746671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.394391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:18.91, Z:6.05 [[ 9.76596696e-01 -2.09549833e-01 -4.84536868e-02 1.52528481e+02] [ 2.09485949e-01 9.77790384e-01 -6.44999361e-03 1.89074169e+01] [ 4.87291441e-02 -3.85132414e-03 9.98804604e-01 6.05062076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:18.91, Z:6.05 [[ 9.75833646e-01 -2.13260178e-01 -4.76318394e-02 1.52556759e+02] [ 2.13063253e-01 9.76994780e-01 -9.23310375e-03 1.89108860e+01] [ 4.85051118e-02 -1.13862135e-03 9.98822285e-01 6.05260277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:18.91, Z:6.05 [[ 9.74892440e-01 -2.17744356e-01 -4.66060724e-02 1.52585501e+02] [ 2.17455634e-01 9.76005491e-01 -1.12395966e-02 1.89145911e+01] [ 4.79351413e-02 8.22644737e-04 9.98850112e-01 6.05376334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:18.93, Z:6.05 [[ 9.74220613e-01 -2.22149720e-01 -3.92899350e-02 1.52611607e+02] [ 2.21112372e-01 9.74814668e-01 -2.90806092e-02 1.89257937e+01] [ 4.47606542e-02 1.96434382e-02 9.98804595e-01 6.05063782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.514391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:152.65, Y:18.91, Z:6.06 [[ 9.72267877e-01 -2.28225995e-01 -5.10692677e-02 1.52645178e+02] [ 2.29106187e-01 9.73327178e-01 1.20233289e-02 1.89051989e+01] [ 4.69630700e-02 -2.33901816e-02 9.98622736e-01 6.05610302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.544391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.67, Y:18.93, Z:6.05 [[ 9.71972905e-01 -2.31950186e-01 -3.83116478e-02 1.52669144e+02] [ 2.30824240e-01 9.72480864e-01 -3.16407722e-02 1.89288310e+01] [ 4.45964274e-02 2.19107163e-02 9.98764777e-01 6.05298245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.574391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:152.70, Y:18.92, Z:6.05 [[ 9.70702667e-01 -2.36115377e-01 -4.45630005e-02 1.52700164e+02] [ 2.35911364e-01 9.71724570e-01 -9.85845901e-03 1.89190460e+01] [ 4.56306962e-02 -9.43285778e-04 9.98957932e-01 6.05284113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.604391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:152.73, Y:18.92, Z:6.05 [[ 9.70175371e-01 -2.38215598e-01 -4.48673383e-02 1.52727018e+02] [ 2.38010348e-01 9.71211747e-01 -9.94061817e-03 1.89222324e+01] [ 4.59436963e-02 -1.03474789e-03 9.98943495e-01 6.05319243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.634391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:152.75, Y:18.93, Z:6.05 [[ 9.70123531e-01 -2.38426938e-01 -4.48656851e-02 1.52754769e+02] [ 2.38221570e-01 9.71159884e-01 -9.94807451e-03 1.89285662e+01] [ 4.59436425e-02 -1.03711277e-03 9.98943495e-01 6.05423430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:18.93, Z:6.06 [[ 9.69024056e-01 -2.42574578e-01 -4.63675852e-02 1.52782416e+02] [ 2.42359434e-01 9.70131937e-01 -1.02921697e-02 1.89299294e+01] [ 4.74792939e-02 -1.26426166e-03 9.98871422e-01 6.05556070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:18.92, Z:6.06 [[ 9.68066777e-01 -2.44750849e-01 -5.42562147e-02 1.52811072e+02] [ 2.45648289e-01 9.69302839e-01 1.04366915e-02 1.89248802e+01] [ 5.00363138e-02 -2.34313606e-02 9.98472503e-01 6.06228544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:18.94, Z:6.06 [[ 9.67630411e-01 -2.47322683e-01 -5.02282536e-02 1.52836957e+02] [ 2.47243055e-01 9.68921364e-01 -7.89062533e-03 1.89382923e+01] [ 5.06187586e-02 -4.78337783e-03 9.98706594e-01 6.06439582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:18.95, Z:6.06 [[ 9.66845938e-01 -2.50718655e-01 -4.84673944e-02 1.52863269e+02] [ 2.50335646e-01 9.68059094e-01 -1.39159813e-02 1.89454257e+01] [ 5.04082980e-02 1.32149346e-03 9.98727819e-01 6.06477849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:18.96, Z:6.06 [[ 9.66784370e-01 -2.52326600e-01 -4.07341286e-02 1.52890436e+02] [ 2.51138334e-01 9.67417908e-01 -3.21267585e-02 1.89598721e+01] [ 4.75133612e-02 2.08297468e-02 9.98653394e-01 6.06002900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:18.96, Z:6.06 [[ 9.66305758e-01 -2.53383212e-01 -4.52783586e-02 1.52919946e+02] [ 2.53186839e-01 9.67364510e-01 -1.01157879e-02 1.89555993e+01] [ 4.63638480e-02 -1.68894038e-03 9.98923191e-01 6.06041578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:18.96, Z:6.06 [[ 9.65798849e-01 -2.55425305e-01 -4.46149822e-02 1.52947029e+02] [ 2.55236106e-01 9.66827216e-01 -9.98317458e-03 1.89618330e+01] [ 4.56849345e-02 -1.74561582e-03 9.98954373e-01 6.06109687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:18.96, Z:6.06 [[ 9.64693253e-01 -2.59122667e-01 -4.71420382e-02 1.52975247e+02] [ 2.59386711e-01 9.65773394e-01 -5.33875732e-04 1.89641451e+01] [ 4.56668655e-02 -1.17129919e-02 9.98888053e-01 6.06396170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:18.98, Z:6.06 [[ 9.64106414e-01 -2.62359944e-01 -4.08176733e-02 1.52999878e+02] [ 2.61771426e-01 9.64937989e-01 -1.92457310e-02 1.89807282e+01] [ 4.44358325e-02 7.87003218e-03 9.98981241e-01 6.06178552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:18.98, Z:6.06 [[ 9.63899158e-01 -2.62732281e-01 -4.32453775e-02 1.53027862e+02] [ 2.62560231e-01 9.64866716e-01 -9.71313114e-03 1.89838744e+01] [ 4.42779785e-02 -1.99203737e-03 9.99017263e-01 6.06261741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:18.99, Z:6.06 [[ 9.63931853e-01 -2.62664345e-01 -4.29281397e-02 1.53054045e+02] [ 2.62494165e-01 9.64885275e-01 -9.65501492e-03 1.89919527e+01] [ 4.39567580e-02 -1.96160974e-03 9.99031509e-01 6.06338729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:19.00, Z:6.06 [[ 9.64017898e-01 -2.62398760e-01 -4.26190415e-02 1.53081038e+02] [ 2.62230426e-01 9.64957602e-01 -9.59322533e-03 1.90004691e+01] [ 4.36428185e-02 -1.92796846e-03 9.99045338e-01 6.06448868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:19.01, Z:6.07 [[ 9.64832505e-01 -2.59524495e-01 -4.17764652e-02 1.53106105e+02] [ 2.59359516e-01 9.65734940e-01 -9.41631351e-03 1.90109692e+01] [ 4.27887561e-02 -1.74995845e-03 9.99082609e-01 6.06600091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:19.02, Z:6.07 [[ 9.65272734e-01 -2.57974520e-01 -4.12031069e-02 1.53132969e+02] [ 2.57812329e-01 9.66150309e-01 -9.29421520e-03 1.90204150e+01] [ 4.22060652e-02 -1.65121645e-03 9.99107563e-01 6.06735532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:19.03, Z:6.07 [[ 9.65750794e-01 -2.56279555e-01 -4.05733048e-02 1.53159514e+02] [ 2.56120240e-01 9.66601478e-01 -9.16542156e-03 1.90295335e+01] [ 4.15671266e-02 -1.54013144e-03 9.99134526e-01 6.06846687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:19.04, Z:6.08 [[ 9.66151904e-01 -2.54019603e-01 -4.49948756e-02 1.53185369e+02] [ 2.53820437e-01 9.67197773e-01 -1.01810511e-02 1.90422507e+01] [ 4.61051300e-02 -1.58417714e-03 9.98935337e-01 6.07537659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:19.04, Z:6.08 [[ 9.66768378e-01 -2.50539052e-01 -5.08830606e-02 1.53213752e+02] [ 2.51803397e-01 9.67570189e-01 2.00743426e-02 1.90363600e+01] [ 4.42035257e-02 -3.22197671e-02 9.98502847e-01 6.07558609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.174391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:19.07, Z:6.07 [[ 9.67698428e-01 -2.50022668e-01 -3.23792803e-02 1.53236339e+02] [ 2.48731865e-01 9.67778868e-01 -3.91984935e-02 1.90734820e+01] [ 4.11364951e-02 2.98785617e-02 9.98706694e-01 6.07169498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:19.06, Z:6.07 [[ 9.67964795e-01 -2.46371888e-01 -4.84256940e-02 1.53264815e+02] [ 2.47293764e-01 9.68839759e-01 1.39755698e-02 1.90612894e+01] [ 4.34735502e-02 -2.55032317e-02 9.98729010e-01 6.07474462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:19.09, Z:6.08 [[ 9.68628852e-01 -2.44802197e-01 -4.27788790e-02 1.53285599e+02] [ 2.43857413e-01 9.69458712e-01 -2.61413096e-02 1.90876611e+01] [ 4.78718069e-02 1.48892799e-02 9.98742509e-01 6.07779072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.264391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.32, Y:19.09, Z:6.07 [[ 9.69011072e-01 -2.42955687e-01 -4.46102799e-02 1.53317665e+02] [ 2.43141893e-01 9.69989879e-01 -1.28604804e-03 1.90857888e+01] [ 4.35839727e-02 -9.60043311e-03 9.99003638e-01 6.07473515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.294391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.34, Y:19.10, Z:6.07 [[ 9.69906525e-01 -2.40094858e-01 -4.04449246e-02 1.53341591e+02] [ 2.39627361e-01 9.70731314e-01 -1.61072310e-02 1.91045944e+01] [ 4.31284182e-02 5.93079790e-03 9.99051933e-01 6.07493167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:19.11, Z:6.07 [[ 9.70479721e-01 -2.37618602e-01 -4.13099480e-02 1.53369820e+02] [ 2.37394116e-01 9.71358509e-01 -1.03286371e-02 1.91099522e+01] [ 4.25810458e-02 2.16994219e-04 9.99092992e-01 6.07457880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.40, Y:19.12, Z:6.07 [[ 9.71247596e-01 -2.35280147e-01 -3.63505030e-02 1.53398099e+02] [ 2.34684826e-01 9.71867428e-01 -1.99182195e-02 1.91221925e+01] [ 4.00142314e-02 1.08146113e-02 9.99140583e-01 6.07337793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:19.13, Z:6.07 [[ 9.71981816e-01 -2.31962002e-01 -3.80128838e-02 1.53425541e+02] [ 2.31800867e-01 9.72724766e-01 -8.65382695e-03 1.91275706e+01] [ 3.89834325e-02 -4.00056990e-04 9.99239777e-01 6.07379032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:19.14, Z:6.07 [[ 9.72321049e-01 -2.30749427e-01 -3.66944231e-02 1.53452502e+02] [ 2.30597937e-01 9.73013153e-01 -8.36636428e-03 1.91360695e+01] [ 3.76346900e-02 -3.26866173e-04 9.99291511e-01 6.07440048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:19.15, Z:6.07 [[ 9.72434001e-01 -2.30511190e-01 -3.51668110e-02 1.53477985e+02] [ 2.30287576e-01 9.73067713e-01 -1.03372308e-02 1.91458560e+01] [ 3.66025357e-02 1.95379503e-03 9.99327993e-01 6.07444043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:19.15, Z:6.08 [[ 9.72651904e-01 -2.29490822e-01 -3.58083253e-02 1.53505518e+02] [ 2.29354183e-01 9.73310699e-01 -7.93362361e-03 1.91519284e+01] [ 3.66733200e-02 -4.96135094e-04 9.99327184e-01 6.07528021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:19.17, Z:6.07 [[ 9.72936129e-01 -2.29163001e-01 -2.96581767e-02 1.53533127e+02] [ 2.28588442e-01 9.73284774e-01 -2.15423417e-02 1.91660799e+01] [ 3.38025595e-02 1.41798062e-02 9.99327934e-01 6.07249470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:19.17, Z:6.07 [[ 9.72717187e-01 -2.29414413e-01 -3.45007402e-02 1.53561904e+02] [ 2.29340335e-01 9.73326911e-01 -6.14292534e-03 1.91652226e+01] [ 3.49897745e-02 -1.93708227e-03 9.99385793e-01 6.07259729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.59, Y:19.18, Z:6.07 [[ 9.72340427e-01 -2.31570663e-01 -3.04815218e-02 1.53589017e+02] [ 2.31188216e-01 9.72784405e-01 -1.55727230e-02 1.91770232e+01] [ 3.32581348e-02 8.09501951e-03 9.99414012e-01 6.07192758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.62, Y:19.17, Z:6.08 [[ 9.71903637e-01 -2.32028361e-01 -3.95747392e-02 1.53618743e+02] [ 2.32693197e-01 9.72462633e-01 1.30500740e-02 1.91699191e+01] [ 3.54569678e-02 -2.18921870e-02 9.99131391e-01 6.07629357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.64, Y:19.19, Z:6.08 [[ 9.71482609e-01 -2.34723017e-01 -3.35655322e-02 1.53643889e+02] [ 2.34596553e-01 9.72062220e-01 -7.71343968e-03 1.91869380e+01] [ 3.44383076e-02 -3.80885666e-04 9.99406753e-01 6.07885368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:19.19, Z:6.08 [[ 9.71212159e-01 -2.35873037e-01 -3.33294536e-02 1.53670617e+02] [ 2.35748612e-01 9.71783795e-01 -7.67116829e-03 1.91931675e+01] [ 3.41984446e-02 -4.07040513e-04 9.99414979e-01 6.07963811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:19.21, Z:6.07 [[ 9.70888274e-01 -2.38475792e-01 -2.24779115e-02 1.53695291e+02] [ 2.37640509e-01 9.70740085e-01 -3.45061812e-02 1.92133923e+01] [ 3.00490986e-02 2.81599844e-02 9.99151674e-01 6.07479153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:19.19, Z:6.08 [[ 9.70409472e-01 -2.38110879e-01 -4.01081797e-02 1.53729305e+02] [ 2.39028339e-01 9.70810333e-01 1.98179564e-02 1.91920482e+01] [ 3.42185643e-02 -2.88185242e-02 9.98998790e-01 6.07861870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:19.21, Z:6.08 [[ 9.69286885e-01 -2.43492173e-01 -3.45614907e-02 1.53753475e+02] [ 2.43362457e-01 9.69902624e-01 -7.97593373e-03 1.92110538e+01] [ 3.54633580e-02 -6.80001328e-04 9.99370746e-01 6.08117292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:19.23, Z:6.08 [[ 9.68698130e-01 -2.46559745e-01 -2.88483185e-02 1.53778327e+02] [ 2.45902308e-01 9.68984366e-01 -2.45224960e-02 1.92264906e+01] [ 3.39998300e-02 1.66610279e-02 9.99282954e-01 6.07866369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.81, Y:19.22, Z:6.08 [[ 9.68263543e-01 -2.46892134e-01 -3.88585341e-02 1.53809570e+02] [ 2.47391465e-01 9.68877991e-01 8.53820831e-03 1.92157773e+01] [ 3.55411620e-02 -1.78805055e-02 9.99208243e-01 6.08144434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:19.24, Z:6.08 [[ 9.67639863e-01 -2.50500777e-01 -3.03719658e-02 1.53831365e+02] [ 2.50010844e-01 9.68055817e-01 -1.90397929e-02 1.92370297e+01] [ 3.41712411e-02 1.08303418e-02 9.99357308e-01 6.08116889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:19.23, Z:6.08 [[ 9.67291144e-01 -2.50974811e-01 -3.68712252e-02 1.53863183e+02] [ 2.51255905e-01 9.67915655e-01 3.12340927e-03 1.92308498e+01] [ 3.49043391e-02 -1.22853592e-02 9.99315144e-01 6.08388506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:19.24, Z:6.09 [[ 9.67007138e-01 -2.52375632e-01 -3.46948868e-02 1.53888080e+02] [ 2.52249023e-01 9.67628858e-01 -8.05130098e-03 1.92425353e+01] [ 3.56037259e-02 -9.66085768e-04 9.99365519e-01 6.08602762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:19.25, Z:6.09 [[ 9.66631799e-01 -2.53960251e-01 -3.35731376e-02 1.53913101e+02] [ 2.53746858e-01 9.67213212e-01 -1.05420100e-02 1.92515571e+01] [ 3.51496338e-02 1.67116390e-03 9.99380663e-01 6.08614724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:19.26, Z:6.09 [[ 9.66371902e-01 -2.54749589e-01 -3.50427349e-02 1.53942052e+02] [ 2.54711890e-01 9.67000709e-01 -5.61083819e-03 1.92551176e+01] [ 3.53157082e-02 -3.50364487e-03 9.99370064e-01 6.08782969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:19.26, Z:6.09 [[ 9.66136478e-01 -2.55791275e-01 -3.39283049e-02 1.53967694e+02] [ 2.55625555e-01 9.66732007e-01 -9.20882648e-03 1.92647507e+01] [ 3.51551158e-02 2.24041418e-04 9.99381843e-01 6.08844442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:19.27, Z:6.09 [[ 9.66361473e-01 -2.54966455e-01 -3.37284828e-02 1.53996032e+02] [ 2.54886720e-01 9.66947602e-01 -6.71527997e-03 1.92706472e+01] [ 3.43258467e-02 -2.10755450e-03 9.99408472e-01 6.08980514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.02, Y:19.28, Z:6.09 [[ 9.66638430e-01 -2.54040288e-01 -3.27670061e-02 1.54021706e+02] [ 2.53929322e-01 9.67193121e-01 -7.57400780e-03 1.92784061e+01] [ 3.36161260e-02 -9.99176652e-04 9.99434319e-01 6.09054533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.05, Y:19.29, Z:6.09 [[ 9.67083274e-01 -2.52428276e-01 -3.20921456e-02 1.54048005e+02] [ 2.52214125e-01 9.67613158e-01 -1.06212771e-02 1.92869408e+01] [ 3.37338930e-02 2.17756703e-03 9.99428478e-01 6.09162787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:19.29, Z:6.09 [[ 9.68324040e-01 -2.47274204e-01 -3.46990117e-02 1.54076576e+02] [ 2.47309919e-01 9.68930718e-01 -3.32667651e-03 1.92923111e+01] [ 3.44435397e-02 -5.36010895e-03 9.99392271e-01 6.09301961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:19.30, Z:6.09 [[ 9.68975522e-01 -2.44871306e-01 -3.35332855e-02 1.54102553e+02] [ 2.44672782e-01 9.69554505e-01 -9.96447500e-03 1.93025799e+01] [ 3.49523620e-02 1.45065012e-03 9.99387927e-01 6.09361634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:19.31, Z:6.09 [[ 9.69517113e-01 -2.42423324e-01 -3.56019584e-02 1.54127980e+02] [ 2.42218774e-01 9.70169960e-01 -1.00157372e-02 1.93098322e+01] [ 3.69679988e-02 1.08696588e-03 9.99315859e-01 6.09435664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.16, Y:19.32, Z:6.09 [[ 9.69887203e-01 -2.40747786e-01 -3.68689009e-02 1.54156477e+02] [ 2.40653748e-01 9.70585544e-01 -7.03385230e-03 1.93161795e+01] [ 3.74778066e-02 -2.05059586e-03 9.99295356e-01 6.09474891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.18, Y:19.33, Z:6.10 [[ 9.70602854e-01 -2.37895700e-01 -3.65477033e-02 1.54183208e+02] [ 2.37636495e-01 9.71287925e-01 -1.13430040e-02 1.93261908e+01] [ 3.81967948e-02 2.32448397e-03 9.99267533e-01 6.09516162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.21, Y:19.33, Z:6.10 [[ 9.70617069e-01 -2.37646673e-01 -3.77698955e-02 1.54210751e+02] [ 2.37444768e-01 9.71351508e-01 -9.80964192e-03 1.93328367e+01] [ 3.90190737e-02 5.53141797e-04 9.99238313e-01 6.09624028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:19.34, Z:6.10 [[ 9.70742392e-01 -2.37302270e-01 -3.66993350e-02 1.54237663e+02] [ 2.37042935e-01 9.71433149e-01 -1.13262369e-02 1.93404561e+01] [ 3.83386923e-02 2.29554018e-03 9.99262165e-01 6.09701403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:19.35, Z:6.10 [[ 9.70710266e-01 -2.37389768e-01 -3.69821230e-02 1.54263668e+02] [ 2.37303218e-01 9.71411996e-01 -6.77620189e-03 1.93458317e+01] [ 3.75334789e-02 -2.19824805e-03 9.99292953e-01 6.09789518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.29, Y:19.35, Z:6.10 [[ 9.70422931e-01 -2.38383752e-01 -3.81119630e-02 1.54290982e+02] [ 2.38299435e-01 9.71167880e-01 -6.80643949e-03 1.93530180e+01] [ 3.86356589e-02 -2.47693431e-03 9.99250294e-01 6.10046423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.32, Y:19.36, Z:6.10 [[ 9.70130741e-01 -2.39694799e-01 -3.73195451e-02 1.54317468e+02] [ 2.39498972e-01 9.70848176e-01 -9.69848294e-03 1.93610445e+01] [ 3.85562882e-02 4.70803747e-04 9.99256319e-01 6.10155589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.34, Y:19.37, Z:6.10 [[ 9.69188091e-01 -2.43379368e-01 -3.79595639e-02 1.54343900e+02] [ 2.43331071e-01 9.69924994e-01 -5.95780746e-03 1.93659998e+01] [ 3.82679372e-02 -3.46250531e-03 9.99261515e-01 6.10296648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:19.37, Z:6.10 [[ 9.68648501e-01 -2.45641425e-01 -3.71533583e-02 1.54371867e+02] [ 2.45392448e-01 9.69359234e-01 -1.11903002e-02 1.93747052e+01] [ 3.87637522e-02 1.72231393e-03 9.99246919e-01 6.10422799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:19.38, Z:6.11 [[ 9.67191060e-01 -2.51064994e-01 -3.88306914e-02 1.54398881e+02] [ 2.50992637e-01 9.67965064e-01 -6.80669259e-03 1.93800281e+01] [ 3.92956749e-02 -3.16284539e-03 9.99222621e-01 6.10705008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.43, Y:19.39, Z:6.11 [[ 9.67105444e-01 -2.51477398e-01 -3.82907151e-02 1.54426235e+02] [ 2.51314687e-01 9.67862808e-01 -9.08363224e-03 1.93878727e+01] [ 3.93444872e-02 -8.38188883e-04 9.99225354e-01 6.10828616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.45, Y:19.39, Z:6.11 [[ 9.66485942e-01 -2.54052323e-01 -3.69099097e-02 1.54453160e+02] [ 2.53898924e-01 9.67190141e-01 -8.86379158e-03 1.93946874e+01] [ 3.79507677e-02 -8.04656425e-04 9.99279286e-01 6.10854782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.48, Y:19.40, Z:6.11 [[ 9.65985559e-01 -2.56102521e-01 -3.58245470e-02 1.54480565e+02] [ 2.55965336e-01 9.66649093e-01 -8.44258721e-03 1.94015207e+01] [ 3.67919338e-02 -1.01442489e-03 9.99322433e-01 6.10997444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.51, Y:19.41, Z:6.11 [[ 9.64843967e-01 -2.60403754e-01 -3.55809610e-02 1.54507052e+02] [ 2.60268219e-01 9.65499198e-01 -8.47068520e-03 1.94086543e+01] [ 3.65591875e-02 -1.08770383e-03 9.99330898e-01 6.11288483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.614391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:19.42, Z:6.11 [[ 9.64291322e-01 -2.62482431e-01 -3.52876641e-02 1.54533567e+02] [ 2.62350021e-01 9.64936094e-01 -8.41438233e-03 1.94159914e+01] [ 3.62589683e-02 -1.14380354e-03 9.99341773e-01 6.11444335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.56, Y:19.42, Z:6.11 [[ 9.64161604e-01 -2.63190333e-01 -3.35149127e-02 1.54559348e+02] [ 2.63070889e-01 9.64743303e-01 -8.00420846e-03 1.94224509e+01] [ 3.44399179e-02 -1.09944741e-03 9.99406165e-01 6.11407572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.674391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:19.43, Z:6.12 [[ 9.63748624e-01 -2.64545686e-01 -3.47011347e-02 1.54586684e+02] [ 2.64418300e-01 9.64372428e-01 -8.29349057e-03 1.94296306e+01] [ 3.56588247e-02 -1.18277489e-03 9.99363322e-01 6.11586908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.61, Y:19.44, Z:6.12 [[ 9.63608742e-01 -2.65154936e-01 -3.39271763e-02 1.54612936e+02] [ 2.65033100e-01 9.64205113e-01 -8.12130378e-03 1.94368442e+01] [ 3.48661607e-02 -1.16606541e-03 9.99391310e-01 6.11566656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.734391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.64, Y:19.44, Z:6.12 [[ 9.63597523e-01 -2.65151869e-01 -3.42680544e-02 1.54639961e+02] [ 2.65027254e-01 9.64205953e-01 -8.21188092e-03 1.94439039e+01] [ 3.52188576e-02 -1.16902023e-03 9.99378940e-01 6.11659766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.764391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.67, Y:19.45, Z:6.12 [[ 9.63769343e-01 -2.64447664e-01 -3.48724426e-02 1.54666211e+02] [ 2.64317691e-01 9.64399351e-01 -8.36959239e-03 1.94510116e+01] [ 3.58442802e-02 -1.15104697e-03 9.99356724e-01 6.11734102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:19.46, Z:6.12 [[ 9.64641068e-01 -2.61043066e-01 -3.63885639e-02 1.54691612e+02] [ 2.60898900e-01 9.65326570e-01 -8.73939726e-03 1.94595606e+01] [ 3.74082066e-02 -1.06335480e-03 9.99299502e-01 6.11784604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.824391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.72, Y:19.47, Z:6.12 [[ 9.65183958e-01 -2.58857992e-01 -3.75827954e-02 1.54718285e+02] [ 2.58702296e-01 9.65914867e-01 -9.03276211e-03 1.94681622e+01] [ 3.86399835e-02 -1.00447840e-03 9.99252692e-01 6.11921662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:19.48, Z:6.12 [[ 9.67044308e-01 -2.51550574e-01 -3.93397473e-02 1.54743676e+02] [ 2.51373340e-01 9.67843879e-01 -9.46946213e-03 1.94788286e+01] [ 4.04567822e-02 -7.31574197e-04 9.99181021e-01 6.12024782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:19.49, Z:6.12 [[ 9.67989552e-01 -2.47774798e-01 -4.00484373e-02 1.54770210e+02] [ 2.47587447e-01 9.68817486e-01 -9.65070050e-03 1.94875326e+01] [ 4.11908267e-02 -5.73713089e-04 9.99151133e-01 6.12128031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.914391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:19.50, Z:6.12 [[ 9.68911017e-01 -2.44594333e-01 -3.72162962e-02 1.54793611e+02] [ 2.44099703e-01 9.69594565e-01 -1.73699250e-02 1.95002274e+01] [ 4.03333037e-02 7.74542488e-03 9.99156261e-01 6.12112060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:19.50, Z:6.12 [[ 9.71090103e-01 -2.35004100e-01 -4.19175901e-02 1.54823891e+02] [ 2.35131307e-01 9.71961680e-01 -1.93939094e-03 1.95007532e+01] [ 4.11980561e-02 -7.97281438e-03 9.99119189e-01 6.12298649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:19.51, Z:6.12 [[ 9.71854488e-01 -2.32161900e-01 -3.99963413e-02 1.54849432e+02] [ 2.31960553e-01 9.72677150e-01 -9.66765507e-03 1.95122028e+01] [ 4.11479884e-02 1.17980539e-04 9.99153056e-01 6.12482738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:19.52, Z:6.13 [[ 9.72325776e-01 -2.30185611e-01 -3.99646142e-02 1.54876572e+02] [ 2.29982316e-01 9.73146720e-01 -9.67451269e-03 1.95201681e+01] [ 4.11183669e-02 2.15623509e-04 9.99154259e-01 6.12613728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:19.53, Z:6.13 [[ 9.72561019e-01 -2.29278175e-01 -3.94535472e-02 1.54903303e+02] [ 2.29078722e-01 9.73360903e-01 -9.56509464e-03 1.95276402e+01] [ 4.05956078e-02 2.64670026e-04 9.99175623e-01 6.12712649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:19.54, Z:6.13 [[ 9.72324243e-01 -2.31124976e-01 -3.41586420e-02 1.54927474e+02] [ 2.30386405e-01 9.72797611e-01 -2.42262888e-02 1.95420926e+01] [ 3.88287458e-02 1.56861212e-02 9.99122752e-01 6.12594482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:19.53, Z:6.13 [[ 9.71503340e-01 -2.33006215e-01 -4.34668200e-02 1.54959191e+02] [ 2.33447447e-01 9.72354996e-01 5.29638677e-03 1.95339980e+01] [ 4.10310886e-02 -1.52926756e-02 9.99040832e-01 6.12800881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.98, Y:19.55, Z:6.13 [[ 9.70788506e-01 -2.37249183e-01 -3.58120356e-02 1.54983615e+02] [ 2.36541501e-01 9.71351212e-01 -2.29116033e-02 1.95533062e+01] [ 4.02218233e-02 1.37712885e-02 9.99095870e-01 6.12880471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.01, Y:19.55, Z:6.13 [[ 9.69623123e-01 -2.41396560e-01 -3.94803850e-02 1.55013278e+02] [ 2.41232175e-01 9.70426185e-01 -8.94742780e-03 1.95522866e+01] [ 4.04726777e-02 -8.48306288e-04 9.99180285e-01 6.12876792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:19.56, Z:6.13 [[ 9.67282764e-01 -2.50599410e-01 -3.95473130e-02 1.55042227e+02] [ 2.50469818e-01 9.68089012e-01 -8.27862772e-03 1.95557034e+01] [ 4.03599384e-02 -1.89763441e-03 9.99183404e-01 6.13150962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:19.56, Z:6.13 [[ 9.65926870e-01 -2.55464146e-01 -4.15132677e-02 1.55070177e+02] [ 2.55627468e-01 9.66774325e-01 -1.41489398e-03 1.95581301e+01] [ 4.04954161e-02 -9.24524741e-03 9.99136951e-01 6.13421735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:19.57, Z:6.14 [[ 9.63950659e-01 -2.63275464e-01 -3.85377412e-02 1.55098236e+02] [ 2.63125051e-01 9.64719611e-01 -9.01550091e-03 1.95661351e+01] [ 3.95516749e-02 -1.44974706e-03 9.99216475e-01 6.13740636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.274391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.12, Y:19.57, Z:6.14 [[ 9.63063091e-01 -2.66665782e-01 -3.74011059e-02 1.55123606e+02] [ 2.66357511e-01 9.63785442e-01 -1.30881113e-02 1.95739263e+01] [ 3.95367928e-02 2.64261143e-03 9.99214621e-01 6.13870331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.15, Y:19.58, Z:6.14 [[ 9.62021827e-01 -2.70185362e-01 -3.89085479e-02 1.55152243e+02] [ 2.70252787e-01 9.62782611e-01 -3.61587953e-03 1.95756591e+01] [ 3.84374311e-02 -7.03658848e-03 9.99236233e-01 6.13973058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.18, Y:19.58, Z:6.14 [[ 9.62002171e-01 -2.70154247e-01 -3.96043693e-02 1.55178600e+02] [ 2.69989145e-01 9.62815895e-01 -9.56107136e-03 1.95840352e+01] [ 4.07146803e-02 -1.49497838e-03 9.99169695e-01 6.14096128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.21, Y:19.59, Z:6.14 [[ 9.61978053e-01 -2.70282759e-01 -3.93122837e-02 1.55205757e+02] [ 2.70106503e-01 9.62780284e-01 -9.82857840e-03 1.95912487e+01] [ 4.05055870e-02 -1.16362679e-03 9.99178634e-01 6.14166852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.394391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.23, Y:19.60, Z:6.14 [[ 9.62622028e-01 -2.67473366e-01 -4.26242937e-02 1.55233147e+02] [ 2.67271946e-01 9.63564348e-01 -1.04620335e-02 1.95985246e+01] [ 4.38695651e-02 -1.32129398e-03 9.99036393e-01 6.14334814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.26, Y:19.61, Z:6.14 [[ 9.63184266e-01 -2.65583405e-01 -4.17315711e-02 1.55259003e+02] [ 2.65387973e-01 9.64087146e-01 -1.02566474e-02 1.96060551e+01] [ 4.29568666e-02 -1.19601568e-03 9.99076212e-01 6.14327216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.29, Y:19.61, Z:6.14 [[ 9.63700984e-01 -2.63603428e-01 -4.23514601e-02 1.55285985e+02] [ 2.63399862e-01 9.64630493e-01 -1.04175649e-02 1.96140417e+01] [ 4.35996157e-02 -1.11595118e-03 9.99048461e-01 6.14462342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.31, Y:19.63, Z:6.15 [[ 9.64272630e-01 -2.61405481e-01 -4.29589350e-02 1.55312039e+02] [ 2.60801849e-01 9.65201390e-01 -1.92008645e-02 1.96261334e+01] [ 4.64832350e-02 7.31109841e-03 9.98892315e-01 6.14764338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:19.63, Z:6.15 [[ 9.65979912e-01 -2.54678583e-01 -4.49625327e-02 1.55339512e+02] [ 2.54523552e-01 9.67022470e-01 -9.23601420e-03 1.96306188e+01] [ 4.58319944e-02 -2.52221932e-03 9.98945978e-01 6.14821103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:19.64, Z:6.15 [[ 9.66922029e-01 -2.51007397e-01 -4.53550021e-02 1.55367921e+02] [ 2.51139505e-01 9.67946693e-01 -2.85437715e-03 1.96351546e+01] [ 4.46176941e-02 -8.63047265e-03 9.98966854e-01 6.14912348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.39, Y:19.65, Z:6.15 [[ 9.68612775e-01 -2.44858225e-01 -4.28222092e-02 1.55392010e+02] [ 2.44555728e-01 9.69557898e-01 -1.22465356e-02 1.96479366e+01] [ 4.45172761e-02 1.38973426e-03 9.99007648e-01 6.15045465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.604391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:155.42, Y:19.65, Z:6.15 [[ 9.69195664e-01 -2.41334999e-01 -4.91648501e-02 1.55419903e+02] [ 2.41755060e-01 9.70333565e-01 2.69515221e-03 1.96486500e+01] [ 4.70558697e-02 -1.44979811e-02 9.98787041e-01 6.15375548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.44, Y:19.66, Z:6.16 [[ 9.69902407e-01 -2.38845654e-01 -4.73505422e-02 1.55444637e+02] [ 2.38876410e-01 9.71036632e-01 -5.09126975e-03 1.96604098e+01] [ 4.71951386e-02 -6.37289272e-03 9.98865359e-01 6.15613586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.47, Y:19.67, Z:6.16 [[ 9.71590614e-01 -2.31989778e-01 -4.68233044e-02 1.55469377e+02] [ 2.31634100e-01 9.72716658e-01 -1.29594360e-02 1.96717559e+01] [ 4.85522649e-02 1.74539239e-03 9.98819118e-01 6.15824524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.694391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:155.50, Y:19.69, Z:6.16 [[ 9.72606844e-01 -2.28729212e-01 -4.14593247e-02 1.55497814e+02] [ 2.27570037e-01 9.73272421e-01 -3.08653925e-02 1.96872805e+01] [ 4.74110342e-02 2.05849919e-02 9.98663333e-01 6.15947976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:19.68, Z:6.16 [[ 9.73118560e-01 -2.24781622e-01 -5.01347344e-02 1.55527528e+02] [ 2.25071923e-01 9.74342141e-01 1.48781782e-04 1.96790513e+01] [ 4.88149410e-02 -1.14287034e-02 9.98742452e-01 6.15751721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.55, Y:19.70, Z:6.16 [[ 9.73744392e-01 -2.23138702e-01 -4.50663787e-02 1.55554047e+02] [ 2.22252262e-01 9.74696963e-01 -2.38697000e-02 1.96975102e+01] [ 4.92523163e-02 1.32268819e-02 9.98698783e-01 6.16173809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.58, Y:19.70, Z:6.16 [[ 9.74802380e-01 -2.17987771e-01 -4.73460927e-02 1.55581800e+02] [ 2.17758348e-01 9.75951346e-01 -1.00135721e-02 1.96953337e+01] [ 4.83903192e-02 -5.48752982e-04 9.98828352e-01 6.16030430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:19.70, Z:6.16 [[ 9.75215270e-01 -2.16430072e-01 -4.59695699e-02 1.55610237e+02] [ 2.16070555e-01 9.76295016e-01 -1.27105005e-02 1.97018082e+01] [ 4.76307965e-02 2.46280368e-03 9.98861973e-01 6.16157646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.64, Y:19.71, Z:6.16 [[ 9.75415992e-01 -2.15564569e-01 -4.57772699e-02 1.55637588e+02] [ 2.15221952e-01 9.76487136e-01 -1.23444404e-02 1.97061470e+01] [ 4.73619391e-02 2.18869121e-03 9.98875396e-01 6.16241970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:19.71, Z:6.16 [[ 9.75877456e-01 -2.13788531e-01 -4.42453995e-02 1.55666108e+02] [ 2.13505790e-01 9.76879015e-01 -1.10755655e-02 1.97074927e+01] [ 4.55902312e-02 1.36174575e-03 9.98959297e-01 6.16416940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:19.71, Z:6.17 [[ 9.75995195e-01 -2.13436420e-01 -4.33390649e-02 1.55693935e+02] [ 2.13164113e-01 9.76956003e-01 -1.08641359e-02 1.97118411e+01] [ 4.46591619e-02 1.36501112e-03 9.99001349e-01 6.16525600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:19.72, Z:6.17 [[ 9.76172455e-01 -2.12720787e-01 -4.28626407e-02 1.55722044e+02] [ 2.12453034e-01 9.77112026e-01 -1.07608713e-02 1.97158485e+01] [ 4.41706627e-02 1.39816806e-03 9.99023022e-01 6.16650165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:19.72, Z:6.17 [[ 9.76477587e-01 -2.11369713e-01 -4.25953913e-02 1.55750810e+02] [ 2.11103295e-01 9.77405082e-01 -1.07099824e-02 1.97163941e+01] [ 4.38967178e-02 1.46603028e-03 9.99034999e-01 6.16724456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.994391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:155.78, Y:19.72, Z:6.17 [[ 9.76514525e-01 -2.11132148e-01 -4.29254932e-02 1.55777698e+02] [ 2.10860689e-01 9.77456371e-01 -1.08079943e-02 1.97197933e+01] [ 4.42397119e-02 1.50286434e-03 9.99019814e-01 6.16785022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.024391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:155.81, Y:19.72, Z:6.17 [[ 9.76571905e-01 -2.10788991e-01 -4.33049105e-02 1.55806009e+02] [ 2.10511973e-01 9.77530372e-01 -1.09124396e-02 1.97230451e+01] [ 4.46320874e-02 1.54057980e-03 9.99002304e-01 6.16858580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.054391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.84, Y:19.73, Z:6.17 [[ 9.76653979e-01 -2.11326023e-01 -3.85787081e-02 1.55836692e+02] [ 2.10483829e-01 9.77283501e-01 -2.47692614e-02 1.97280664e+01] [ 4.29367244e-02 1.60708035e-02 9.98948531e-01 6.16673325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:19.72, Z:6.17 [[ 9.76395845e-01 -2.10654302e-01 -4.77065875e-02 1.55866086e+02] [ 2.11049107e-01 9.77469759e-01 3.33835184e-03 1.97177485e+01] [ 4.59285084e-02 -1.33279856e-02 9.98855814e-01 6.16994054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.114391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:155.89, Y:19.73, Z:6.17 [[ 9.76410436e-01 -2.11458471e-01 -4.36803852e-02 1.55891352e+02] [ 2.11175028e-01 9.77385719e-01 -1.10573303e-02 1.97271878e+01] [ 4.50307509e-02 1.57228609e-03 9.98984364e-01 6.17162381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:155.92, Y:19.73, Z:6.17 [[ 9.76222294e-01 -2.12438712e-01 -4.31257041e-02 1.55920334e+02] [ 2.12162853e-01 9.77173212e-01 -1.09287862e-02 1.97259894e+01] [ 4.44629800e-02 1.51925227e-03 9.99009877e-01 6.17332670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.174391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:155.95, Y:19.73, Z:6.17 [[ 9.76125015e-01 -2.13068421e-01 -4.22113992e-02 1.55948092e+02] [ 2.12804053e-01 9.77036169e-01 -1.07126117e-02 1.97289326e+01] [ 4.35245830e-02 1.47409136e-03 9.99051269e-01 6.17424744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:155.97, Y:19.73, Z:6.18 [[ 9.76094813e-01 -2.13231026e-01 -4.20885384e-02 1.55974887e+02] [ 2.12967727e-01 9.77000691e-01 -1.06956951e-02 1.97316178e+01] [ 4.34011851e-02 1.47651219e-03 9.99056634e-01 6.17535050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.234391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:156.00, Y:19.73, Z:6.18 [[ 9.75935380e-01 -2.13836500e-01 -4.27093078e-02 1.56003162e+02] [ 2.13565644e-01 9.76868347e-01 -1.08604071e-02 1.97298979e+01] [ 4.40437223e-02 1.47781471e-03 9.99028511e-01 6.17584631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.264391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:156.03, Y:19.73, Z:6.18 [[ 9.75692656e-01 -2.14768822e-01 -4.35682748e-02 1.56031261e+02] [ 2.14487492e-01 9.76663802e-01 -1.10875156e-02 1.97327034e+01] [ 4.49328096e-02 1.47315758e-03 9.98988925e-01 6.17636642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.294391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:156.06, Y:19.74, Z:6.18 [[ 9.75392142e-01 -2.15907597e-01 -4.46551082e-02 1.56059071e+02] [ 2.15612479e-01 9.76412690e-01 -1.13805706e-02 1.97357851e+01] [ 4.60589660e-02 1.47232054e-03 9.98937638e-01 6.17711351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.324391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:156.09, Y:19.74, Z:6.18 [[ 9.75156700e-01 -2.16788729e-01 -4.55198492e-02 1.56087105e+02] [ 2.16482241e-01 9.76217431e-01 -1.16175211e-02 1.97384707e+01] [ 4.69558179e-02 1.47466460e-03 9.98895879e-01 6.17817046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.354391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:156.12, Y:19.74, Z:6.18 [[ 9.74735431e-01 -2.18657458e-01 -4.56043404e-02 1.56115843e+02] [ 2.18351090e-01 9.75800670e-01 -1.16556779e-02 1.97375996e+01] [ 4.70493468e-02 1.40344479e-03 9.98891580e-01 6.17950850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.384391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:156.14, Y:19.74, Z:6.18 [[ 9.74540756e-01 -2.19658015e-01 -4.49518852e-02 1.56144371e+02] [ 2.19327870e-01 9.75574802e-01 -1.22103210e-02 1.97409658e+01] [ 4.65360214e-02 2.04025421e-03 9.98914529e-01 6.18044631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.414391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:156.17, Y:19.74, Z:6.18 [[ 9.74226363e-01 -2.21060766e-01 -4.48902035e-02 1.56171353e+02] [ 2.20801592e-01 9.75259894e-01 -1.07143013e-02 1.97433466e+01] [ 4.61481268e-02 5.26326359e-04 9.98934469e-01 6.18253743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.444391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:156.20, Y:19.75, Z:6.18 [[ 9.74183962e-01 -2.21286390e-01 -4.46983304e-02 1.56198790e+02] [ 2.20993064e-01 9.75208015e-01 -1.14626766e-02 1.97509603e+01] [ 4.61267044e-02 1.28873476e-03 9.98934766e-01 6.18359259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:156.23, Y:19.75, Z:6.19 [[ 9.73149841e-01 -2.25850222e-01 -4.43966700e-02 1.56227457e+02] [ 2.25565135e-01 9.74161446e-01 -1.13950649e-02 1.97492026e+01] [ 4.58231022e-02 1.07476469e-03 9.98948992e-01 6.18568686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:156.26, Y:19.75, Z:6.19 [[ 9.72504206e-01 -2.28662085e-01 -4.41499829e-02 1.56255374e+02] [ 2.28382530e-01 9.73505394e-01 -1.13432192e-02 1.97517507e+01] [ 4.55740106e-02 9.48243571e-04 9.98960515e-01 6.18741364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.28, Y:19.75, Z:6.19 [[ 9.71307303e-01 -2.33917492e-01 -4.29503302e-02 1.56283432e+02] [ 2.33657448e-01 9.72256202e-01 -1.10487236e-02 1.97494083e+01] [ 4.43432146e-02 6.96041398e-04 9.99016113e-01 6.18914350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564391418 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:156.31, Y:19.75, Z:6.19 [[ 9.70679412e-01 -2.36563392e-01 -4.26525656e-02 1.56311902e+02] [ 2.36309138e-01 9.71615884e-01 -1.09801975e-02 1.97523927e+01] [ 4.40394230e-02 5.79060630e-04 9.99029626e-01 6.19058723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:19.76, Z:6.19 [[ 9.70076937e-01 -2.39063489e-01 -4.24191441e-02 1.56339477e+02] [ 2.38813740e-01 9.71003821e-01 -1.09351658e-02 1.97555130e+01] [ 4.38033499e-02 4.77677669e-04 9.99040058e-01 6.19149368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62439141800002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.37, Y:19.76, Z:6.19 [[ 9.69035326e-01 -2.43221801e-01 -4.25874592e-02 1.56367594e+02] [ 2.42973467e-01 9.69970651e-01 -1.09923287e-02 1.97550306e+01] [ 4.39821595e-02 3.04332192e-04 9.99032270e-01 6.19241112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:19.76, Z:6.19 [[ 9.68410152e-01 -2.45583178e-01 -4.32513535e-02 1.56395507e+02] [ 2.45329023e-01 9.69375500e-01 -1.11718867e-02 1.97585701e+01] [ 4.46704299e-02 2.08156220e-04 9.99001756e-01 6.19345431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:19.76, Z:6.20 [[ 9.67813830e-01 -2.47743917e-01 -4.42644624e-02 1.56423790e+02] [ 2.47479249e-01 9.68825545e-01 -1.14492588e-02 1.97624973e+01] [ 4.57210261e-02 1.26215119e-04 9.98954239e-01 6.19501345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:19.77, Z:6.20 [[ 9.67452237e-01 -2.49158855e-01 -4.42270773e-02 1.56452081e+02] [ 2.48895415e-01 9.68462627e-01 -1.14548329e-02 1.97663476e+01] [ 4.56863446e-02 7.40869777e-05 9.98955831e-01 6.19639242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:19.77, Z:6.20 [[ 9.67130836e-01 -2.50276763e-01 -4.49387111e-02 1.56479068e+02] [ 2.50005339e-01 9.68174334e-01 -1.16528772e-02 1.97677516e+01] [ 4.64249511e-02 3.49391352e-05 9.98921780e-01 6.19854840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.774391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.51, Y:19.77, Z:6.20 [[ 9.67149212e-01 -2.50274657e-01 -4.45533060e-02 1.56507119e+02] [ 2.50007489e-01 9.68174878e-01 -1.15611811e-02 1.97728968e+01] [ 4.60288622e-02 4.27269824e-05 9.98940109e-01 6.20000443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.804391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.54, Y:19.78, Z:6.20 [[ 9.67334323e-01 -2.49682733e-01 -4.38502022e-02 1.56535050e+02] [ 2.49422672e-01 9.68327696e-01 -1.13931949e-02 1.97781666e+01] [ 4.53060493e-02 8.37938876e-05 9.98973150e-01 6.20122772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.834391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.56, Y:19.78, Z:6.20 [[ 9.67909503e-01 -2.47562020e-01 -4.31768536e-02 1.56563222e+02] [ 2.47307144e-01 9.68872029e-01 -1.12324414e-02 1.97821148e+01] [ 4.46135717e-02 1.94042459e-04 9.99004300e-01 6.20280050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:156.59, Y:19.79, Z:6.20 [[ 9.68183081e-01 -2.46531945e-01 -4.29362629e-02 1.56589832e+02] [ 2.46278325e-01 9.69134633e-01 -1.11825904e-02 1.97873508e+01] [ 4.43678852e-02 2.52523912e-04 9.99015229e-01 6.20367969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.894391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:156.62, Y:19.79, Z:6.20 [[ 9.68206241e-01 -2.46381895e-01 -4.32739839e-02 1.56617415e+02] [ 2.46123776e-01 9.69172786e-01 -1.12781794e-02 1.97931876e+01] [ 4.47187068e-02 2.68847349e-04 9.98999582e-01 6.20435018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:19.80, Z:6.20 [[ 9.67925019e-01 -2.47359658e-01 -4.39813320e-02 1.56645037e+02] [ 2.47093365e-01 9.68923703e-01 -1.14772574e-02 1.97968028e+01] [ 4.54535655e-02 2.41629232e-04 9.98966423e-01 6.20459763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.954391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.67, Y:19.80, Z:6.21 [[ 9.67456376e-01 -2.49151609e-01 -4.41773207e-02 1.56672771e+02] [ 2.48884082e-01 9.68464478e-01 -1.15441819e-02 1.98023517e+01] [ 4.56604173e-02 1.73460469e-04 9.98957004e-01 6.20533902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:19.81, Z:6.21 [[ 9.66823580e-01 -2.51569496e-01 -4.43277938e-02 1.56700739e+02] [ 2.51301937e-01 9.67839234e-01 -1.15997271e-02 1.98079391e+01] [ 4.58203155e-02 7.52292370e-05 9.98949695e-01 6.20648577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.73, Y:19.81, Z:6.21 [[ 9.65329058e-01 -2.57168129e-01 -4.47701097e-02 1.56727515e+02] [ 2.56900501e-01 9.66366660e-01 -1.17307606e-02 1.98110184e+01] [ 4.62811191e-02 -1.77419567e-04 9.98928439e-01 6.20797341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.75, Y:19.82, Z:6.21 [[ 9.64447912e-01 -2.60555409e-01 -4.41712940e-02 1.56754796e+02] [ 2.60298025e-01 9.65458840e-01 -1.15829964e-02 1.98164383e+01] [ 4.56635787e-02 -3.26503950e-04 9.98956821e-01 6.20908656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:19.82, Z:6.21 [[ 9.63082853e-01 -2.65662853e-01 -4.35277763e-02 1.56781693e+02] [ 2.65417454e-01 9.64065843e-01 -1.14291117e-02 1.98203807e+01] [ 4.49999328e-02 -5.45850030e-04 9.98986841e-01 6.21096106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.81, Y:19.83, Z:6.21 [[ 9.62517006e-01 -2.67808935e-01 -4.28880815e-02 1.56808187e+02] [ 2.67572512e-01 9.63471835e-01 -1.12682398e-02 1.98264808e+01] [ 4.43391939e-02 -6.29799260e-04 9.99016336e-01 6.21226278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.83, Y:19.84, Z:6.21 [[ 9.62176283e-01 -2.69539188e-01 -3.95654753e-02 1.56834933e+02] [ 2.69097251e-01 9.62976747e-01 -1.62004350e-02 1.98351094e+01] [ 4.24672848e-02 4.94071375e-03 9.99085642e-01 6.21164021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.86, Y:19.84, Z:6.21 [[ 9.61858736e-01 -2.70493051e-01 -4.07588116e-02 1.56861751e+02] [ 2.70350172e-01 9.62719220e-01 -9.08230790e-03 1.98377856e+01] [ 4.16959924e-02 -2.28325450e-03 9.99127735e-01 6.21276010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.89, Y:19.84, Z:6.22 [[ 9.61536712e-01 -2.71282668e-01 -4.30449252e-02 1.56889805e+02] [ 2.71260051e-01 9.62484301e-01 -6.47722001e-03 1.98431483e+01] [ 4.31872223e-02 -5.44828380e-03 9.99052141e-01 6.21537513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.92, Y:19.85, Z:6.22 [[ 9.61430673e-01 -2.71701018e-01 -4.27740213e-02 1.56915966e+02] [ 2.71467485e-01 9.62381411e-01 -1.12882119e-02 1.98528291e+01] [ 4.42319417e-02 -7.58922843e-04 9.99021000e-01 6.21546534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.94, Y:19.86, Z:6.22 [[ 9.61302249e-01 -2.71961528e-01 -4.39876383e-02 1.56941712e+02] [ 2.71714090e-01 9.62307811e-01 -1.16245683e-02 1.98600766e+01] [ 4.54910833e-02 -7.77337469e-04 9.98964442e-01 6.21592392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:19.87, Z:6.22 [[ 9.60970767e-01 -2.72806197e-01 -4.59561073e-02 1.56968959e+02] [ 2.72536448e-01 9.62068641e-01 -1.21578610e-02 1.98682248e+01] [ 4.75296695e-02 -8.41365199e-04 9.98869472e-01 6.21634100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:19.88, Z:6.22 [[ 9.60699235e-01 -2.73559940e-01 -4.71374448e-02 1.56995882e+02] [ 2.73276243e-01 9.61854550e-01 -1.24867740e-02 1.98759258e+01] [ 4.87552469e-02 -8.85509629e-04 9.98810363e-01 6.21772885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:19.88, Z:6.22 [[ 9.60419127e-01 -2.74501731e-01 -4.73698306e-02 1.57022839e+02] [ 2.74215495e-01 9.61586165e-01 -1.25662417e-02 1.98836063e+01] [ 4.89996288e-02 -9.20682691e-04 9.98798372e-01 6.21920916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:19.89, Z:6.22 [[ 9.59988146e-01 -2.76164713e-01 -4.64307130e-02 1.57048997e+02] [ 2.75890953e-01 9.61109831e-01 -1.23318381e-02 1.98916949e+01] [ 4.80306333e-02 -9.71395282e-04 9.98845391e-01 6.22183658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:19.90, Z:6.22 [[ 9.59711410e-01 -2.77185609e-01 -4.60667710e-02 1.57075619e+02] [ 2.76916837e-01 9.60815866e-01 -1.22448905e-02 1.98997048e+01] [ 4.76557919e-02 -1.00510345e-03 9.98863312e-01 6.22383923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.10, Y:19.91, Z:6.23 [[ 9.59484840e-01 -2.78126749e-01 -4.51038083e-02 1.57101043e+02] [ 2.77869480e-01 9.60543845e-01 -1.20030463e-02 1.99074845e+01] [ 4.66625537e-02 -1.01623079e-03 9.98910193e-01 6.22523157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:19.92, Z:6.23 [[ 9.58930173e-01 -2.80156781e-01 -4.43294548e-02 1.57126862e+02] [ 2.79910122e-01 9.59953640e-01 -1.18038825e-02 1.99167335e+01] [ 4.58611592e-02 -1.08916405e-03 9.98947230e-01 6.22697705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:19.93, Z:6.23 [[ 9.58572241e-01 -2.81334933e-01 -4.46084650e-02 1.57153788e+02] [ 2.81086018e-01 9.59608955e-01 -1.18871244e-02 1.99252049e+01] [ 4.61509459e-02 -1.14414834e-03 9.98933822e-01 6.22818636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:19.94, Z:6.23 [[ 9.58301560e-01 -2.82261406e-01 -4.45715080e-02 1.57179856e+02] [ 2.81536296e-01 9.59300293e-01 -2.19148632e-02 1.99380129e+01] [ 4.89431808e-02 8.45255034e-03 9.98765798e-01 6.22963532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:19.94, Z:6.23 [[ 9.57759486e-01 -2.83531063e-01 -4.80302294e-02 1.57209402e+02] [ 2.83704703e-01 9.58905999e-01 -3.30556157e-03 1.99398226e+01] [ 4.69937045e-02 -1.04604690e-02 9.98840413e-01 6.23162293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:19.95, Z:6.23 [[ 9.57865435e-01 -2.83600275e-01 -4.54388822e-02 1.57233698e+02] [ 2.83343072e-01 9.58941776e-01 -1.21397424e-02 1.99523768e+01] [ 4.70160767e-02 -1.24655282e-03 9.98893355e-01 6.23205551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.614391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.26, Y:19.96, Z:6.23 [[ 9.57979923e-01 -2.83129496e-01 -4.59581886e-02 1.57260155e+02] [ 2.82673986e-01 9.59078203e-01 -1.62609671e-02 1.99636615e+01] [ 4.86814563e-02 2.58649565e-03 9.98811006e-01 6.23400528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:19.97, Z:6.24 [[ 9.58701970e-01 -2.80527997e-01 -4.68463019e-02 1.57288165e+02] [ 2.80423115e-01 9.59834942e-01 -8.93093743e-03 1.99720646e+01] [ 4.74700954e-02 -4.57467859e-03 9.98862184e-01 6.23642820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.674391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:19.98, Z:6.24 [[ 9.59000692e-01 -2.79746174e-01 -4.53844763e-02 1.57314356e+02] [ 2.79484079e-01 9.60073442e-01 -1.21505613e-02 1.99830625e+01] [ 4.69715034e-02 -1.03184187e-03 9.98895697e-01 6.23760705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:19.99, Z:6.24 [[ 9.59264196e-01 -2.78898092e-01 -4.50339393e-02 1.57339704e+02] [ 2.78638420e-01 9.60320215e-01 -1.20712622e-02 1.99921173e+01] [ 4.66136543e-02 -9.68656017e-04 9.98912523e-01 6.23892215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.734391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.36, Y:20.00, Z:6.24 [[ 9.59111159e-01 -2.79425652e-01 -4.50232211e-02 1.57364726e+02] [ 2.79166348e-01 9.60166824e-01 -1.20755765e-02 2.00032857e+01] [ 4.66040290e-02 -9.87148054e-04 9.98912954e-01 6.23988723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.764391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.39, Y:20.01, Z:6.24 [[ 9.58791315e-01 -2.80479550e-01 -4.52817328e-02 1.57390592e+02] [ 2.80218096e-01 9.59859440e-01 -1.21520805e-02 2.00122024e+01] [ 4.68725087e-02 -1.03745170e-03 9.98900341e-01 6.24050612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:20.02, Z:6.24 [[ 9.57731761e-01 -2.83919639e-01 -4.62548632e-02 1.57417241e+02] [ 2.83650360e-01 9.58847300e-01 -1.24229211e-02 2.00228864e+01] [ 4.78784619e-02 -1.22238253e-03 9.98852421e-01 6.24053839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.824391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:20.03, Z:6.24 [[ 9.56939450e-01 -2.86549191e-01 -4.64375885e-02 1.57443351e+02] [ 2.86280031e-01 9.58064590e-01 -1.24893990e-02 2.00319917e+01] [ 4.80690363e-02 -1.34255566e-03 9.98843113e-01 6.24094352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:20.04, Z:6.24 [[ 9.56127229e-01 -2.89098583e-01 -4.73574933e-02 1.57469555e+02] [ 2.88820878e-01 9.57298183e-01 -1.27549434e-02 2.00408640e+01] [ 4.90226783e-02 -1.48248414e-03 9.98796565e-01 6.24197677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:20.05, Z:6.24 [[ 9.55398459e-01 -2.91464036e-01 -4.75657430e-02 1.57496153e+02] [ 2.91185928e-01 9.56580459e-01 -1.28288697e-02 2.00501641e+01] [ 4.92396144e-02 -1.59379261e-03 9.98785723e-01 6.24219607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.914391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:157.52, Y:20.06, Z:6.24 [[ 9.54310109e-01 -2.94825292e-01 -4.86853445e-02 1.57520632e+02] [ 2.94537505e-01 9.55549491e-01 -1.31464489e-02 2.00616960e+01] [ 5.03971618e-02 -1.79387078e-03 9.98727645e-01 6.24310912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:20.07, Z:6.24 [[ 9.53988541e-01 -2.95834264e-01 -4.88666703e-02 1.57546950e+02] [ 2.95545114e-01 9.55237504e-01 -1.32059589e-02 2.00710916e+01] [ 5.05860512e-02 -1.84397214e-03 9.98718004e-01 6.24410505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:20.08, Z:6.25 [[ 9.53721661e-01 -2.96690125e-01 -4.88872537e-02 1.57573175e+02] [ 2.96400937e-01 9.54971969e-01 -1.32295898e-02 2.00805522e+01] [ 5.06110456e-02 -1.87288147e-03 9.98716684e-01 6.24511109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:20.09, Z:6.25 [[ 9.53586831e-01 -2.97161179e-01 -4.86558190e-02 1.57599050e+02] [ 2.96874394e-01 9.54825499e-01 -1.31856463e-02 2.00903224e+01] [ 5.03760788e-02 -1.87100815e-03 9.98728567e-01 6.24635472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.62, Y:20.10, Z:6.25 [[ 9.54037163e-01 -2.95972742e-01 -4.70449490e-02 1.57623449e+02] [ 2.95702462e-01 9.55194812e-01 -1.27641841e-02 2.01028386e+01] [ 4.87149418e-02 -1.73380119e-03 9.98811218e-01 6.24732248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064391418 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:157.65, Y:20.11, Z:6.25 [[ 9.54319338e-01 -2.95203000e-01 -4.61496454e-02 1.57649619e+02] [ 2.94941546e-01 9.55433125e-01 -1.25310619e-02 2.01130921e+01] [ 4.77921070e-02 -1.65281305e-03 9.98855937e-01 6.24863354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09439141800001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.67, Y:20.13, Z:6.25 [[ 9.55465104e-01 -2.91779935e-01 -4.41690375e-02 1.57673650e+02] [ 2.91536106e-01 9.56484448e-01 -1.20082911e-02 2.01261853e+01] [ 4.57507758e-02 -1.40336608e-03 9.98951899e-01 6.24998170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12439141800002 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:157.70, Y:20.14, Z:6.25 [[ 9.56011906e-01 -2.90116548e-01 -4.32853759e-02 1.57699273e+02] [ 2.89880149e-01 9.56990457e-01 -1.17798324e-02 2.01369632e+01] [ 4.48412160e-02 -1.28591120e-03 9.98993299e-01 6.25098991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15439141800002 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:157.72, Y:20.15, Z:6.25 [[ 9.56783986e-01 -2.87652115e-01 -4.26692420e-02 1.57724090e+02] [ 2.87419325e-01 9.57734285e-01 -1.16263015e-02 2.01469798e+01] [ 4.42101262e-02 -1.14010562e-03 9.99021604e-01 6.25191686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18439141800002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.75, Y:20.16, Z:6.25 [[ 9.57485295e-01 -2.85365454e-01 -4.22902655e-02 1.57750356e+02] [ 2.85134194e-01 9.58418240e-01 -1.15312079e-02 2.01573344e+01] [ 4.38223702e-02 -1.01743880e-03 9.99038820e-01 6.25273466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21439141800002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.78, Y:20.17, Z:6.25 [[ 9.58304981e-01 -2.82588165e-01 -4.23732397e-02 1.57775718e+02] [ 2.82352659e-01 9.59240928e-01 -1.15680217e-02 2.01670949e+01] [ 4.39151318e-02 -8.78504063e-04 9.99034879e-01 6.25350121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.244391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.80, Y:20.18, Z:6.25 [[ 9.59958018e-01 -2.76869308e-01 -4.27081938e-02 1.57801221e+02] [ 2.76624025e-01 9.60907389e-01 -1.16678415e-02 2.01799929e+01] [ 4.42690862e-02 -6.13474481e-04 9.99019455e-01 6.25403082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.274391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.83, Y:20.19, Z:6.25 [[ 9.60855787e-01 -2.73796288e-01 -4.23290507e-02 1.57826130e+02] [ 2.73551749e-01 9.61787599e-01 -1.15781636e-02 2.01896648e+01] [ 4.38816143e-02 -4.54240375e-04 9.99036635e-01 6.25398472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:20.20, Z:6.26 [[ 9.60770062e-01 -2.74097264e-01 -4.23270315e-02 1.57853523e+02] [ 2.73852693e-01 9.61701865e-01 -1.15855409e-02 2.01974005e+01] [ 4.38815502e-02 -4.60330664e-04 9.99036635e-01 6.25503202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:20.21, Z:6.26 [[ 9.61648958e-01 -2.70996645e-01 -4.23331944e-02 1.57879402e+02] [ 2.70748357e-01 9.62580244e-01 -1.16017875e-02 2.02072616e+01] [ 4.38931421e-02 -3.04795988e-04 9.99036185e-01 6.25556426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.90, Y:20.22, Z:6.26 [[ 9.63605078e-01 -2.64060281e-01 -4.16823806e-02 1.57904535e+02] [ 2.63812453e-01 9.64506178e-01 -1.14377606e-02 2.02184747e+01] [ 4.32231719e-02 2.51531700e-05 9.99065442e-01 6.25611316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.394391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.93, Y:20.23, Z:6.26 [[ 9.64437257e-01 -2.61030599e-01 -4.15187118e-02 1.57931021e+02] [ 2.60781554e-01 9.65330512e-01 -1.14010032e-02 2.02280858e+01] [ 4.30552901e-02 1.68238083e-04 9.99072677e-01 6.25706242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.96, Y:20.24, Z:6.26 [[ 9.65258007e-01 -2.58031830e-01 -4.11892540e-02 1.57957250e+02] [ 2.57783327e-01 9.66136365e-01 -1.13261250e-02 2.02374476e+01] [ 4.27169369e-02 3.14729885e-04 9.99087165e-01 6.25771179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.454391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.98, Y:20.25, Z:6.26 [[ 9.66791135e-01 -2.52372541e-01 -4.02864949e-02 1.57982553e+02] [ 2.52129293e-01 9.67629981e-01 -1.10923235e-02 2.02477569e+01] [ 4.17818181e-02 5.66554569e-04 9.99126598e-01 6.25749557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.01, Y:20.26, Z:6.26 [[ 9.67406615e-01 -2.50029995e-01 -4.01178562e-02 1.58009101e+02] [ 2.49786318e-01 9.68237856e-01 -1.10566763e-02 2.02563067e+01] [ 4.16081277e-02 6.75410208e-04 9.99133779e-01 6.25788046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.514391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.04, Y:20.26, Z:6.26 [[ 9.68427425e-01 -2.45718376e-01 -4.20809096e-02 1.58037055e+02] [ 2.45734302e-01 9.69324968e-01 -4.87440432e-03 2.02612848e+01] [ 4.19878070e-02 -5.62021612e-03 9.99102316e-01 6.25911290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.544391418 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:158.06, Y:20.27, Z:6.26 [[ 9.68856725e-01 -2.44652788e-01 -3.82316675e-02 1.58062479e+02] [ 2.44153175e-01 9.69582280e-01 -1.73040333e-02 2.02742762e+01] [ 4.13022273e-02 7.43074599e-03 9.99119067e-01 6.25835155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.574391418 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:158.09, Y:20.28, Z:6.26 [[ 9.69123896e-01 -2.43349902e-01 -3.97454329e-02 1.58090663e+02] [ 2.43103703e-01 9.69938066e-01 -1.09880608e-02 2.02785833e+01] [ 4.12245518e-02 9.86530422e-04 9.99149420e-01 6.25857040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.604391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.12, Y:20.28, Z:6.26 [[ 9.69648984e-01 -2.41285298e-01 -3.95253444e-02 1.58117543e+02] [ 2.41039549e-01 9.70453623e-01 -1.09407908e-02 2.02840758e+01] [ 4.09973657e-02 1.08155555e-03 9.99158669e-01 6.25904011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.634391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.14, Y:20.29, Z:6.26 [[ 9.69754564e-01 -2.40910318e-01 -3.92212285e-02 1.58144475e+02] [ 2.40667748e-01 9.70546762e-01 -1.08635527e-02 2.02902183e+01] [ 4.06831783e-02 1.09569506e-03 9.99171496e-01 6.25979997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.664391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.17, Y:20.30, Z:6.26 [[ 9.69807581e-01 -2.40785016e-01 -3.86760018e-02 1.58172255e+02] [ 2.40548495e-01 9.70577853e-01 -1.07262798e-02 2.02961927e+01] [ 4.01207983e-02 1.09897346e-03 9.99194232e-01 6.26092792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.694391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.20, Y:20.30, Z:6.26 [[ 9.69926503e-01 -2.40510135e-01 -3.73825285e-02 1.58199326e+02] [ 2.40288467e-01 9.70646020e-01 -1.03805950e-02 2.03014234e+01] [ 3.87818408e-02 1.08582375e-03 9.99247111e-01 6.26159616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.23, Y:20.30, Z:6.26 [[ 9.70251316e-01 -2.39212981e-01 -3.72764542e-02 1.58227724e+02] [ 2.39197109e-01 9.70958410e-01 -4.95073279e-03 2.03013483e+01] [ 3.73781662e-02 -4.11296505e-03 9.99292728e-01 6.26420170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:158.25, Y:20.31, Z:6.26 [[ 9.70364540e-01 -2.39489297e-01 -3.22108055e-02 1.58253402e+02] [ 2.39148592e-01 9.70880590e-01 -1.41007370e-02 2.03115514e+01] [ 3.46498214e-02 5.97968637e-03 9.99381625e-01 6.26350127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.28, Y:20.31, Z:6.26 [[ 9.70541067e-01 -2.38658170e-01 -3.30501807e-02 1.58281043e+02] [ 2.38482825e-01 9.71103067e-01 -9.20737805e-03 2.03144551e+01] [ 3.42925478e-02 1.05423808e-03 9.99411282e-01 6.26410325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.31, Y:20.32, Z:6.26 [[ 9.70631435e-01 -2.38412969e-01 -3.21538929e-02 1.58308853e+02] [ 2.38246724e-01 9.71163312e-01 -8.96218836e-03 2.03198232e+01] [ 3.33633830e-02 1.03842212e-03 9.99442748e-01 6.26443070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.34, Y:20.32, Z:6.26 [[ 9.71022184e-01 -2.36706270e-01 -3.29554100e-02 1.58336046e+02] [ 2.36530228e-01 9.71580594e-01 -9.19786073e-03 2.03211588e+01] [ 3.41960281e-02 1.13637618e-03 9.99414499e-01 6.26370310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87439141800002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.36, Y:20.33, Z:6.26 [[ 9.71110025e-01 -2.36283223e-01 -3.33999770e-02 1.58364025e+02] [ 2.36101984e-01 9.71683522e-01 -9.32665384e-03 2.03257491e+01] [ 3.46579391e-02 1.17140619e-03 9.99398547e-01 6.26390898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90439141800002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.39, Y:20.33, Z:6.26 [[ 9.71098264e-01 -2.36177603e-01 -3.44717608e-02 1.58390690e+02] [ 2.35983980e-01 9.71709131e-01 -9.63977795e-03 2.03297182e+01] [ 3.57732244e-02 1.22638830e-03 9.99359181e-01 6.26436411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.42, Y:20.33, Z:6.26 [[ 9.70798697e-01 -2.37238173e-01 -3.56081287e-02 1.58418741e+02] [ 2.37032056e-01 9.71450735e-01 -9.96363197e-03 2.03303867e+01] [ 3.69552966e-02 1.23241299e-03 9.99316160e-01 6.26456220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.45, Y:20.33, Z:6.27 [[ 9.70422866e-01 -2.38789065e-01 -3.54858177e-02 1.58446551e+02] [ 2.38585202e-01 9.71070751e-01 -9.93469412e-03 2.03344119e+01] [ 3.68315359e-02 1.17446337e-03 9.99320799e-01 6.26508740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.994391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:158.47, Y:20.33, Z:6.27 [[ 9.69211492e-01 -2.43742022e-01 -3.49129027e-02 1.58474866e+02] [ 2.43547419e-01 9.69839605e-01 -9.78747781e-03 2.03339942e+01] [ 3.62455354e-02 9.83188647e-04 9.99342431e-01 6.26601860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.50, Y:20.34, Z:6.27 [[ 9.68240880e-01 -2.47704871e-01 -3.39395903e-02 1.58502715e+02] [ 2.47523219e-01 9.68835192e-01 -9.51979032e-03 2.03374351e+01] [ 3.52399680e-02 8.16613513e-04 9.99378546e-01 6.26706381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.53, Y:20.34, Z:6.27 [[ 9.67117181e-01 -2.52152043e-01 -3.32220650e-02 1.58529863e+02] [ 2.51980162e-01 9.67687408e-01 -9.33155279e-03 2.03407697e+01] [ 3.45015441e-02 6.53403696e-04 9.99404431e-01 6.26844105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.56, Y:20.34, Z:6.27 [[ 9.64433665e-01 -2.62349830e-01 -3.22532451e-02 1.58558005e+02] [ 2.62193339e-01 9.64972790e-01 -9.06466761e-03 2.03404451e+01] [ 3.35016179e-02 2.85684589e-04 9.99438622e-01 6.26935019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.59, Y:20.34, Z:6.27 [[ 9.62901875e-01 -2.67948999e-01 -3.19892676e-02 1.58586210e+02] [ 2.67797991e-01 9.63433093e-01 -8.99505644e-03 2.03442574e+01] [ 3.32297354e-02 9.46951049e-05 9.99447735e-01 6.27015263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.61, Y:20.35, Z:6.27 [[ 9.61347923e-01 -2.73438474e-01 -3.22733942e-02 1.58614225e+02] [ 2.73287439e-01 9.61889492e-01 -9.08743485e-03 2.03482751e+01] [ 3.35282931e-02 -8.37266370e-05 9.99437765e-01 6.27129729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.174391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.64, Y:20.35, Z:6.27 [[ 9.58201776e-01 -2.84181362e-01 -3.30198585e-02 1.58641966e+02] [ 2.84029157e-01 9.58770434e-01 -9.31090607e-03 2.03485596e+01] [ 3.43044500e-02 -4.56875840e-04 9.99411325e-01 6.27169083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.67, Y:20.35, Z:6.27 [[ 9.56625592e-01 -2.89394507e-01 -3.34409490e-02 1.58669414e+02] [ 2.89241271e-01 9.57209698e-01 -9.43830912e-03 2.03530931e+01] [ 3.47413955e-02 -6.43574549e-04 9.99396128e-01 6.27294282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.70, Y:20.36, Z:6.27 [[ 9.55189390e-01 -2.94122948e-01 -3.32403575e-02 1.58696417e+02] [ 2.93973962e-01 9.55767259e-01 -9.39445304e-03 2.03578491e+01] [ 3.45331696e-02 -7.98317714e-04 9.99403233e-01 6.27449332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.72, Y:20.36, Z:6.28 [[ 9.53783537e-01 -2.98758655e-01 -3.22526141e-02 1.58722451e+02] [ 2.98620768e-01 9.54328246e-01 -9.12332243e-03 2.03631645e+01] [ 3.35052522e-02 -9.29625655e-04 9.99438109e-01 6.27563666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.75, Y:20.37, Z:6.28 [[ 9.51442264e-01 -3.06298538e-01 -3.06402327e-02 1.58748551e+02] [ 3.06177760e-01 9.51934837e-01 -8.67445228e-03 2.03681421e+01] [ 3.18244770e-02 -1.12811730e-03 9.99492836e-01 6.27780206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.78, Y:20.38, Z:6.28 [[ 9.50391651e-01 -3.09590991e-01 -3.01517338e-02 1.58775114e+02] [ 3.09475477e-01 9.50869049e-01 -8.54283988e-03 2.03755308e+01] [ 3.13151367e-02 -1.21217851e-03 9.99508826e-01 6.27930319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.80, Y:20.38, Z:6.28 [[ 9.49598415e-01 -3.12078708e-01 -2.94912072e-02 1.58800773e+02] [ 3.11969044e-01 9.50055422e-01 -8.36719103e-03 2.03826665e+01] [ 3.06295035e-02 -1.25487241e-03 9.99530019e-01 6.28049329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.83, Y:20.39, Z:6.28 [[ 9.48750910e-01 -3.14667207e-01 -2.92619147e-02 1.58827974e+02] [ 3.14560376e-01 9.49201134e-01 -8.30523411e-03 2.03909622e+01] [ 3.03888274e-02 -1.32504047e-03 9.99537275e-01 6.28167300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.85, Y:20.39, Z:6.29 [[ 9.47055615e-01 -3.18394691e-01 -4.13579796e-02 1.58852007e+02] [ 3.19246501e-01 9.47540436e-01 1.57732020e-02 2.03898040e+01] [ 3.41662542e-02 -2.81414898e-02 9.99019881e-01 6.29072046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.88, Y:20.42, Z:6.28 [[ 9.47501360e-01 -3.18951635e-01 -2.26059318e-02 1.58877635e+02] [ 3.18088543e-01 9.47415869e-01 -3.49692628e-02 2.04219797e+01] [ 3.25707221e-02 2.59427362e-02 9.99132685e-01 6.28068276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.91, Y:20.42, Z:6.28 [[ 9.47411540e-01 -3.18503602e-01 -3.10938937e-02 1.58907236e+02] [ 3.18384390e-01 9.47920432e-01 -8.84503509e-03 2.04195212e+01] [ 3.22917127e-02 -1.51992207e-03 9.99477331e-01 6.28286183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.93, Y:20.43, Z:6.28 [[ 9.47481514e-01 -3.18037128e-01 -3.36327967e-02 1.58931531e+02] [ 3.17896839e-01 9.48076887e-01 -9.58207491e-03 2.04330203e+01] [ 3.49339328e-02 -1.61292090e-03 9.99388322e-01 6.28263413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.96, Y:20.44, Z:6.28 [[ 9.47614512e-01 -3.17563162e-01 -3.43565749e-02 1.58957266e+02] [ 3.17416243e-01 9.48235730e-01 -9.79429415e-03 2.04439795e+01] [ 3.56884389e-02 -1.62411967e-03 9.99361645e-01 6.28316921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.98, Y:20.45, Z:6.28 [[ 9.47847142e-01 -3.16795691e-01 -3.50183689e-02 1.58982350e+02] [ 3.16642036e-01 9.48492429e-01 -9.99665571e-03 2.04548746e+01] [ 3.63815553e-02 -1.61298608e-03 9.99336670e-01 6.28400303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.01, Y:20.47, Z:6.29 [[ 9.48122777e-01 -3.15911596e-01 -3.55396096e-02 1.59007427e+02] [ 3.15752481e-01 9.48787286e-01 -1.01516807e-02 2.04697434e+01] [ 3.69265634e-02 -1.59668023e-03 9.99316706e-01 6.28562966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.03, Y:20.48, Z:6.29 [[ 9.48209556e-01 -3.15652260e-01 -3.55287155e-02 1.59033394e+02] [ 3.15492565e-01 9.48873635e-01 -1.01619934e-02 2.04814182e+01] [ 3.69199176e-02 -1.57334631e-03 9.99316989e-01 6.28736821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.06, Y:20.49, Z:6.29 [[ 9.48281595e-01 -3.15498322e-01 -3.49689266e-02 1.59058889e+02] [ 3.15343039e-01 9.48924901e-01 -1.00150093e-02 2.04931728e+01] [ 3.63426038e-02 -1.53015864e-03 9.99338218e-01 6.28890567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.08, Y:20.51, Z:6.29 [[ 9.48441984e-01 -3.15053051e-01 -3.46320449e-02 1.59084279e+02] [ 3.14899967e-01 9.49072899e-01 -9.93193199e-03 2.05050146e+01] [ 3.59974207e-02 -1.48576850e-03 9.99350778e-01 6.29066216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.11, Y:20.52, Z:6.29 [[ 9.48514657e-01 -3.14880137e-01 -3.42117731e-02 1.59109072e+02] [ 3.14730160e-01 9.49130339e-01 -9.82473517e-03 2.05170784e+01] [ 3.55650457e-02 -1.44857149e-03 9.99366314e-01 6.29192122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.744391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.13, Y:20.53, Z:6.29 [[ 9.48720151e-01 -3.14395771e-01 -3.29450292e-02 1.59133599e+02] [ 3.14256233e-01 9.49291007e-01 -9.46597424e-03 2.05334959e+01] [ 3.42504822e-02 -1.37262027e-03 9.99412338e-01 6.29307856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:20.55, Z:6.29 [[ 9.48684036e-01 -3.14539817e-01 -3.26083443e-02 1.59159198e+02] [ 3.14402781e-01 9.49243318e-01 -9.38163039e-03 2.05454352e+01] [ 3.39041492e-02 -1.35195116e-03 9.99424175e-01 6.29408967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.804391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.18, Y:20.56, Z:6.30 [[ 9.48950341e-01 -3.13737221e-01 -3.25915020e-02 1.59183945e+02] [ 3.13599433e-01 9.49508946e-01 -9.38920263e-03 2.05615787e+01] [ 3.38916650e-02 -1.31078952e-03 9.99424653e-01 6.29504542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.21, Y:20.57, Z:6.30 [[ 9.49068589e-01 -3.12868422e-01 -3.71774719e-02 1.59207606e+02] [ 3.12998037e-01 9.49750661e-01 -2.43119011e-03 2.05705567e+01] [ 3.60699711e-02 -9.32910954e-03 9.99305721e-01 6.29807997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:159.23, Y:20.59, Z:6.30 [[ 9.49285567e-01 -3.12563656e-01 -3.40716009e-02 1.59232010e+02] [ 3.12281235e-01 9.49894423e-01 -1.34541772e-02 2.05879697e+01] [ 3.65697105e-02 2.13193458e-03 9.99328830e-01 6.29795139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.26, Y:20.60, Z:6.30 [[ 9.49332442e-01 -3.12289149e-01 -3.52619133e-02 1.59258042e+02] [ 3.12100054e-01 9.49986862e-01 -1.08866013e-02 2.05998333e+01] [ 3.68981218e-02 -6.70241228e-04 9.99318808e-01 6.29844472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:159.28, Y:20.62, Z:6.30 [[ 9.49898850e-01 -3.11001428e-01 -3.11494238e-02 1.59280647e+02] [ 3.10491253e-01 9.50361975e-01 -2.01816608e-02 2.06214090e+01] [ 3.58797533e-02 9.49891276e-03 9.99310970e-01 6.29653109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.31, Y:20.63, Z:6.30 [[ 9.50240859e-01 -3.09393668e-01 -3.63024640e-02 1.59308080e+02] [ 3.09410741e-01 9.50913786e-01 -5.28822223e-03 2.06258525e+01] [ 3.61566559e-02 -6.20728745e-03 9.99326856e-01 6.29917054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.984391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:159.33, Y:20.64, Z:6.30 [[ 9.50529992e-01 -3.08451734e-01 -3.67459012e-02 1.59332016e+02] [ 3.08428735e-01 9.51225688e-01 -6.43471062e-03 2.06379216e+01] [ 3.69384428e-02 -5.21710641e-03 9.99303924e-01 6.30195106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.014391418 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:159.36, Y:20.65, Z:6.30 [[ 9.51254424e-01 -3.06330894e-01 -3.57267890e-02 1.59356674e+02] [ 3.06245834e-01 9.51919145e-01 -7.96429519e-03 2.06545237e+01] [ 3.64487242e-02 -3.36510927e-03 9.99329859e-01 6.30451581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.044391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:159.38, Y:20.67, Z:6.30 [[ 9.51537126e-01 -3.05755202e-01 -3.30280716e-02 1.59381179e+02] [ 3.05406100e-01 9.52099808e-01 -1.52665993e-02 2.06696731e+01] [ 3.61138628e-02 4.43976144e-03 9.99337819e-01 6.30461095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.074391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:159.41, Y:20.68, Z:6.30 [[ 9.52087616e-01 -3.04025783e-01 -3.31284510e-02 1.59407337e+02] [ 3.03766796e-01 9.52661623e-01 -1.27108549e-02 2.06794487e+01] [ 3.54246315e-02 2.03852407e-03 9.99370272e-01 6.30440486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.104391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:159.43, Y:20.69, Z:6.30 [[ 9.52946296e-01 -3.01142659e-01 -3.47340607e-02 1.59433422e+02] [ 3.00863263e-01 9.53576865e-01 -1.31323668e-02 2.06943399e+01] [ 3.70763125e-02 2.06423744e-03 9.99310305e-01 6.30441111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.46, Y:20.70, Z:6.31 [[ 9.53445445e-01 -2.99198313e-01 -3.77114476e-02 1.59462170e+02] [ 2.99169696e-01 9.54177565e-01 -6.53207094e-03 2.07017576e+01] [ 3.79378018e-02 -5.05414902e-03 9.99267321e-01 6.30563024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.164391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:159.48, Y:20.72, Z:6.31 [[ 9.53836766e-01 -2.98143081e-01 -3.61403884e-02 1.59484364e+02] [ 2.97877868e-01 9.54520319e-01 -1.26386647e-02 2.07162624e+01] [ 3.82648655e-02 1.28980117e-03 9.99266799e-01 6.30589523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.194391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.51, Y:20.73, Z:6.31 [[ 9.54931833e-01 -2.94454804e-01 -3.74374454e-02 1.59511948e+02] [ 2.94335055e-01 9.55661816e-01 -8.79598695e-03 2.07283920e+01] [ 3.83675577e-02 -2.61958461e-03 9.99260261e-01 6.30771382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.54, Y:20.74, Z:6.31 [[ 9.55507280e-01 -2.92702411e-01 -3.64847438e-02 1.59537318e+02] [ 2.92511127e-01 9.56203429e-01 -1.05945092e-02 2.07398308e+01] [ 3.79878755e-02 -5.49062903e-04 9.99278049e-01 6.30918556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.254391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.56, Y:20.75, Z:6.31 [[ 9.55420453e-01 -2.92986116e-01 -3.64814101e-02 1.59564571e+02] [ 2.92794600e-01 9.56116539e-01 -1.06059766e-02 2.07479981e+01] [ 3.79878834e-02 -5.48392931e-04 9.99278049e-01 6.31019409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:159.59, Y:20.76, Z:6.31 [[ 9.55787675e-01 -2.91828396e-01 -3.61401155e-02 1.59590323e+02] [ 2.91639182e-01 9.56470570e-01 -1.05184030e-02 2.07587780e+01] [ 3.76365256e-02 -4.86513739e-04 9.99291377e-01 6.31175260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.62, Y:20.77, Z:6.31 [[ 9.56341326e-01 -2.89687806e-01 -3.86295530e-02 1.59615299e+02] [ 2.89714380e-01 9.57099926e-01 -5.03095065e-03 2.07688220e+01] [ 3.84297474e-02 -6.38023098e-03 9.99240935e-01 6.31472314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34439141800001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.64, Y:20.78, Z:6.32 [[ 9.56409679e-01 -2.89692763e-01 -3.68595803e-02 1.59641690e+02] [ 2.89494408e-01 9.57119602e-01 -1.07263387e-02 2.07816482e+01] [ 3.83863696e-02 -4.11868208e-04 9.99262887e-01 6.31632150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37439141800002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:159.67, Y:20.79, Z:6.32 [[ 9.56214655e-01 -2.90104504e-01 -3.86381982e-02 1.59669468e+02] [ 2.90069908e-01 9.56982550e-01 -6.62171884e-03 2.07899727e+01] [ 3.88970719e-02 -4.87599399e-03 9.99231326e-01 6.31796546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.69, Y:20.80, Z:6.32 [[ 9.56144218e-01 -2.90672177e-01 -3.60266543e-02 1.59694592e+02] [ 2.90346985e-01 9.56818032e-01 -1.40670568e-02 2.08032247e+01] [ 3.85598545e-02 2.98990458e-03 9.99251819e-01 6.31828299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.72, Y:20.82, Z:6.32 [[ 9.55633866e-01 -2.92561088e-01 -3.42333750e-02 1.59720428e+02] [ 2.92118980e-01 9.56223968e-01 -1.73846204e-02 2.08164271e+01] [ 3.78208372e-02 6.61311339e-03 9.99262654e-01 6.31699289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46439141800002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.75, Y:20.82, Z:6.32 [[ 9.55423336e-01 -2.92226695e-01 -4.20690794e-02 1.59750564e+02] [ 2.92470503e-01 9.56274471e-01 -3.75190562e-04 2.08167715e+01] [ 4.03392274e-02 -1.19454990e-02 9.99114634e-01 6.31901467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.78, Y:20.83, Z:6.32 [[ 9.55027061e-01 -2.94014781e-01 -3.84528521e-02 1.59776398e+02] [ 2.93744717e-01 9.55800572e-01 -1.26217430e-02 2.08314381e+01] [ 4.04642371e-02 7.58783923e-04 9.99180699e-01 6.31932596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.80, Y:20.84, Z:6.32 [[ 9.53991586e-01 -2.97488106e-01 -3.74283288e-02 1.59800778e+02] [ 2.96900741e-01 9.54688119e-01 -2.05072240e-02 2.08445241e+01] [ 4.18330361e-02 8.45122063e-03 9.99088872e-01 6.31800795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.83, Y:20.85, Z:6.32 [[ 9.53491632e-01 -2.98170508e-01 -4.41367884e-02 1.59831375e+02] [ 2.98256975e-01 9.54473707e-01 -4.76654541e-03 2.08450743e+01] [ 4.35486473e-02 -8.61924381e-03 9.99014126e-01 6.31993428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.85, Y:20.86, Z:6.32 [[ 9.52979955e-01 -3.00503425e-01 -3.90755293e-02 1.59853979e+02] [ 2.99951181e-01 9.53756460e-01 -1.94397623e-02 2.08609692e+01] [ 4.31102536e-02 6.80495261e-03 9.99047145e-01 6.32009677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.614391418 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:159.88, Y:20.86, Z:6.32 [[ 9.52561881e-01 -3.01052510e-01 -4.46458065e-02 1.59883597e+02] [ 3.01119866e-01 9.53571184e-01 -5.36874842e-03 2.08621424e+01] [ 4.41892298e-02 -8.32967420e-03 9.98988453e-01 6.32235733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.644391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.91, Y:20.88, Z:6.32 [[ 9.52013336e-01 -3.03540737e-01 -3.91615823e-02 1.59909091e+02] [ 3.03071807e-01 9.52806198e-01 -1.75450681e-02 2.08773993e+01] [ 4.26390413e-02 4.83436730e-03 9.99078846e-01 6.32321255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.674391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.94, Y:20.88, Z:6.33 [[ 9.51911715e-01 -3.03177992e-01 -4.41270061e-02 1.59937013e+02] [ 3.03224226e-01 9.52901563e-01 -5.80345201e-03 2.08799814e+01] [ 4.38081720e-02 -7.85600333e-03 9.99009073e-01 6.32540278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.704391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:159.96, Y:20.90, Z:6.33 [[ 9.51776276e-01 -3.04284762e-01 -3.91497625e-02 1.59959424e+02] [ 3.03743216e-01 9.52559399e-01 -1.92522839e-02 2.08956337e+01] [ 4.31506508e-02 6.43239231e-03 9.99047870e-01 6.32520246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.734391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.99, Y:20.90, Z:6.33 [[ 9.52312187e-01 -3.02370617e-01 -4.09085468e-02 1.59985961e+02] [ 3.02129957e-01 9.53190063e-01 -1.20910474e-02 2.09016343e+01] [ 4.26495977e-02 -8.45245747e-04 9.99089734e-01 6.32613399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.764391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:20.91, Z:6.33 [[ 9.52575421e-01 -3.01611885e-01 -4.03774456e-02 1.60012463e+02] [ 3.01376409e-01 9.53430460e-01 -1.19422781e-02 2.09108922e+01] [ 4.20990195e-02 -7.92888922e-04 9.99113129e-01 6.32719566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.794391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.04, Y:20.92, Z:6.33 [[ 9.52908007e-01 -3.00576667e-01 -4.02491947e-02 1.60038473e+02] [ 3.00341137e-01 9.53757377e-01 -1.19192297e-02 2.09198788e+01] [ 4.19706087e-02 -7.30559480e-04 9.99118579e-01 6.32852558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.824391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.07, Y:20.93, Z:6.33 [[ 9.53300225e-01 -2.99372838e-01 -3.99322465e-02 1.60065294e+02] [ 2.99139315e-01 9.54135982e-01 -1.18405557e-02 2.09287750e+01] [ 4.16455340e-02 -6.57700424e-04 9.99132232e-01 6.32975844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.854391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.09, Y:20.94, Z:6.33 [[ 9.54290263e-01 -2.96212544e-01 -3.98525117e-02 1.60090867e+02] [ 2.95976634e-01 9.55121915e-01 -1.18304257e-02 2.09383728e+01] [ 4.15683278e-02 -5.05752212e-04 9.99135536e-01 6.33146361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:20.95, Z:6.33 [[ 9.54753162e-01 -2.94700207e-01 -3.99773399e-02 1.60116866e+02] [ 2.94461143e-01 9.55589661e-01 -1.18758111e-02 2.09471987e+01] [ 4.17017367e-02 -4.33305054e-04 9.99130010e-01 6.33289488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.914391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.14, Y:20.96, Z:6.33 [[ 9.55252726e-01 -2.93121134e-01 -3.96513635e-02 1.60143530e+02] [ 2.92883976e-01 9.56075248e-01 -1.17939165e-02 2.09563518e+01] [ 4.13667334e-02 -3.47078057e-04 9.99143970e-01 6.33403550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.944391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.17, Y:20.97, Z:6.34 [[ 9.55800141e-01 -2.91360561e-01 -3.94349366e-02 1.60169105e+02] [ 2.91123913e-01 9.56613275e-01 -1.17434819e-02 2.09650638e+01] [ 4.11455713e-02 -2.56031378e-04 9.99153130e-01 6.33548247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.20, Y:20.97, Z:6.34 [[ 9.56724420e-01 -2.88297223e-01 -3.95360049e-02 1.60195771e+02] [ 2.88056284e-01 9.57540964e-01 -1.17846877e-02 2.09742400e+01] [ 4.12548370e-02 -1.13896187e-04 9.99148650e-01 6.33690642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.22, Y:20.98, Z:6.34 [[ 9.56930555e-01 -2.87604176e-01 -3.95948270e-02 1.60222814e+02] [ 2.87361299e-01 9.57749358e-01 -1.18173832e-02 2.09827252e+01] [ 4.13206489e-02 -6.96058813e-05 9.99145935e-01 6.33789083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.25, Y:20.99, Z:6.34 [[ 9.57096952e-01 -2.87060647e-01 -3.95172036e-02 1.60248340e+02] [ 2.86817697e-01 9.57912409e-01 -1.18078339e-02 2.09901631e+01] [ 4.12435842e-02 -3.29914822e-05 9.99149121e-01 6.33860715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:21.00, Z:6.34 [[ 9.56672202e-01 -2.88254642e-01 -4.10799119e-02 1.60275102e+02] [ 2.87992800e-01 9.57553787e-01 -1.22838114e-02 2.09971775e+01] [ 4.28770909e-02 -7.91379465e-05 9.99080352e-01 6.33862554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.30, Y:21.00, Z:6.34 [[ 9.56122746e-01 -2.89891019e-01 -4.23378266e-02 1.60302298e+02] [ 2.89613758e-01 9.57059652e-01 -1.26764984e-02 2.10048916e+01] [ 4.41946286e-02 -1.41328609e-04 9.99022930e-01 6.33952861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:21.01, Z:6.34 [[ 9.55556526e-01 -2.91526135e-01 -4.38661404e-02 1.60328950e+02] [ 2.91229422e-01 9.56562841e-01 -1.31512179e-02 2.10124371e+01] [ 4.57946436e-02 -2.08378657e-04 9.98950853e-01 6.34031144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.36, Y:21.02, Z:6.34 [[ 9.54728663e-01 -2.93959841e-01 -4.56157068e-02 1.60356034e+02] [ 2.93640895e-01 9.55817717e-01 -1.36936415e-02 2.10192322e+01] [ 4.76256814e-02 -3.20924973e-04 9.98865202e-01 6.34139638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.38, Y:21.03, Z:6.34 [[ 9.54359392e-01 -2.95103858e-01 -4.59550264e-02 1.60382355e+02] [ 2.94780762e-01 9.55465111e-01 -1.38102649e-02 2.10265563e+01] [ 4.79838869e-02 -3.66701708e-04 9.98848043e-01 6.34256521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.41, Y:21.03, Z:6.34 [[ 9.53955650e-01 -2.96284820e-01 -4.67324641e-02 1.60409041e+02] [ 2.95951565e-01 9.55099538e-01 -1.40550493e-02 2.10340193e+01] [ 4.87984526e-02 -4.22652233e-04 9.98808556e-01 6.34425355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.244391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.44, Y:21.04, Z:6.35 [[ 9.53695545e-01 -2.97136871e-01 -4.66314001e-02 1.60436141e+02] [ 2.96805192e-01 9.54834792e-01 -1.40427620e-02 2.10417384e+01] [ 4.86979055e-02 -4.47922112e-04 9.98813453e-01 6.34565619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.274391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:21.05, Z:6.35 [[ 9.53559678e-01 -2.97564825e-01 -4.66810083e-02 1.60462095e+02] [ 2.97232147e-01 9.54701508e-01 -1.40741643e-02 2.10491271e+01] [ 4.87544052e-02 -4.54540758e-04 9.98810693e-01 6.34760462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:21.06, Z:6.35 [[ 9.53697520e-01 -2.97259400e-01 -4.58027277e-02 1.60489493e+02] [ 2.96938128e-01 9.54796667e-01 -1.38229232e-02 2.10562430e+01] [ 4.78412856e-02 -4.17688648e-04 9.98854863e-01 6.34936527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.334391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.52, Y:21.06, Z:6.35 [[ 9.53719707e-01 -2.97192809e-01 -4.57728647e-02 1.60515997e+02] [ 2.96871046e-01 9.54817405e-01 -1.38313116e-02 2.10639248e+01] [ 4.78152942e-02 -3.97443772e-04 9.98856116e-01 6.35098742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.364391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.54, Y:21.07, Z:6.35 [[ 9.53746676e-01 -2.97166525e-01 -4.53799009e-02 1.60543326e+02] [ 2.96849418e-01 9.54825594e-01 -1.37298224e-02 2.10717606e+01] [ 4.74099345e-02 -3.76224668e-04 9.98875446e-01 6.35205601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.394391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.57, Y:21.08, Z:6.35 [[ 9.53580213e-01 -2.97822534e-01 -4.45703412e-02 1.60570323e+02] [ 2.97516581e-01 9.54621176e-01 -1.35016417e-02 2.10788134e+01] [ 4.65688847e-02 -3.85517130e-04 9.98915007e-01 6.35384783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.424391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.60, Y:21.09, Z:6.35 [[ 9.53401089e-01 -2.98446494e-01 -4.42272895e-02 1.60597110e+02] [ 2.98145117e-01 9.54426285e-01 -1.34147698e-02 2.10861738e+01] [ 4.62152786e-02 -3.96494258e-04 9.98931424e-01 6.35480495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.62, Y:21.09, Z:6.36 [[ 9.53246705e-01 -2.98916398e-01 -4.43813701e-02 1.60623017e+02] [ 2.98612726e-01 9.54279216e-01 -1.34765758e-02 2.10929506e+01] [ 4.63805886e-02 -4.06340469e-04 9.98923759e-01 6.35619562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.484391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.65, Y:21.10, Z:6.36 [[ 9.53381379e-01 -2.98900438e-01 -4.15027017e-02 1.60650587e+02] [ 2.98346801e-01 9.54266550e-01 -1.90928664e-02 2.11009157e+01] [ 4.53115061e-02 5.82058503e-03 9.98955949e-01 6.35600342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:21.11, Z:6.36 [[ 9.53370429e-01 -2.98881866e-01 -4.18862115e-02 1.60678611e+02] [ 2.98521595e-01 9.54288841e-01 -1.47534955e-02 2.11067092e+01] [ 4.43810965e-02 1.56160771e-03 9.99013453e-01 6.35614539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:21.11, Z:6.36 [[ 9.53520603e-01 -2.98524647e-01 -4.10060310e-02 1.60705415e+02] [ 2.98113315e-01 9.54397269e-01 -1.59469231e-02 2.11149086e+01] [ 4.38965936e-02 2.98127592e-03 9.99031632e-01 6.35655376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.73, Y:21.12, Z:6.36 [[ 9.53874336e-01 -2.97712030e-01 -3.86173239e-02 1.60733185e+02] [ 2.97143315e-01 9.54626599e-01 -1.98470692e-02 2.11246280e+01] [ 4.27738359e-02 7.45673033e-03 9.99056953e-01 6.35597830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.604391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.76, Y:21.13, Z:6.36 [[ 9.54511647e-01 -2.95443822e-01 -4.02549827e-02 1.60761283e+02] [ 2.95068103e-01 9.55356722e-01 -1.51111737e-02 2.11290859e+01] [ 4.29223712e-02 2.54582986e-03 9.99075167e-01 6.35597273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.79, Y:21.13, Z:6.36 [[ 9.54391618e-01 -2.94062790e-01 -5.16111868e-02 1.60790203e+02] [ 2.94835038e-01 9.55515711e-01 7.87567793e-03 2.11254689e+01] [ 4.69993560e-02 -2.27332672e-02 9.98636200e-01 6.36101713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.81, Y:21.15, Z:6.36 [[ 9.54998593e-01 -2.94767375e-01 -3.30133512e-02 1.60811590e+02] [ 2.93556848e-01 9.55224095e-01 -3.70311281e-02 2.11542460e+01] [ 4.24507169e-02 2.56733799e-02 9.98768649e-01 6.35769481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.85, Y:21.14, Z:6.36 [[ 9.54478086e-01 -2.93641116e-01 -5.24068540e-02 1.60845024e+02] [ 2.94571226e-01 9.55568131e-01 1.08323134e-02 2.11374067e+01] [ 4.68975070e-02 -2.57767570e-02 9.98567065e-01 6.36188557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.87, Y:21.16, Z:6.36 [[ 9.54315941e-01 -2.95362739e-01 -4.51877941e-02 1.60868864e+02] [ 2.95037647e-01 9.55385179e-01 -1.38544846e-02 2.11562900e+01] [ 4.72638473e-02 -1.10544900e-04 9.98882434e-01 6.36428105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.90, Y:21.16, Z:6.37 [[ 9.53965202e-01 -2.96428880e-01 -4.56104403e-02 1.60895897e+02] [ 2.96098063e-01 9.55054918e-01 -1.40014381e-02 2.11637393e+01] [ 4.77109059e-02 -1.48278308e-04 9.98861175e-01 6.36526021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.92, Y:21.17, Z:6.37 [[ 9.53613390e-01 -2.97495990e-01 -4.60177968e-02 1.60922146e+02] [ 2.97159705e-01 9.54723049e-01 -1.41424581e-02 2.11708288e+01] [ 4.81415758e-02 -1.88197537e-04 9.98840504e-01 6.36611099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:21.18, Z:6.37 [[ 9.52795039e-01 -3.00057851e-01 -4.63346512e-02 1.60948381e+02] [ 2.99719422e-01 9.53920956e-01 -1.42505516e-02 2.11766515e+01] [ 4.84755847e-02 -3.09539953e-04 9.98824320e-01 6.36687816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:21.18, Z:6.37 [[ 9.52287712e-01 -3.01647966e-01 -4.64393998e-02 1.60975574e+02] [ 3.01309389e-01 9.53419299e-01 -1.42931147e-02 2.11838676e+01] [ 4.85877089e-02 -3.81469679e-04 9.98818847e-01 6.36794667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.00, Y:21.19, Z:6.37 [[ 9.51743320e-01 -3.03459310e-01 -4.57941111e-02 1.61001329e+02] [ 3.03131497e-01 9.52844290e-01 -1.41086556e-02 2.11906440e+01] [ 4.79160602e-02 -4.53818775e-04 9.98851263e-01 6.36898450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.03, Y:21.20, Z:6.37 [[ 9.50452231e-01 -3.07744272e-01 -4.39775023e-02 1.61029029e+02] [ 3.07446110e-01 9.51468897e-01 -1.35583216e-02 2.11970658e+01] [ 4.60157214e-02 -6.34174992e-04 9.98940514e-01 6.37044320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:21.20, Z:6.37 [[ 9.49713388e-01 -3.10172663e-01 -4.28649024e-02 1.61056121e+02] [ 3.09891146e-01 9.50679970e-01 -1.32315265e-02 2.12046247e+01] [ 4.48548619e-02 -7.17295880e-04 9.98993257e-01 6.37172210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.08, Y:21.21, Z:6.37 [[ 9.49130288e-01 -3.12141885e-01 -4.14625177e-02 1.61081813e+02] [ 3.11879775e-01 9.50035183e-01 -1.28123317e-02 2.12118406e+01] [ 4.33901160e-02 -7.70748640e-04 9.99057908e-01 6.37240022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:21.22, Z:6.37 [[ 9.48589928e-01 -3.13858481e-01 -4.08656574e-02 1.61108437e+02] [ 3.13605100e-01 9.49469413e-01 -1.26362545e-02 2.12195458e+01] [ 4.27666874e-02 -8.29054829e-04 9.99084743e-01 6.37372874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:21.23, Z:6.37 [[ 9.48291818e-01 -3.14932170e-01 -3.95013361e-02 1.61135134e+02] [ 3.14695763e-01 9.49113814e-01 -1.22288563e-02 2.12274249e+01] [ 4.13425240e-02 -8.34378701e-04 9.99144684e-01 6.37450653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.16, Y:21.23, Z:6.38 [[ 9.48470125e-01 -3.14437496e-01 -3.91597120e-02 1.61160992e+02] [ 3.14204186e-01 9.49277848e-01 -1.21366016e-02 2.12347278e+01] [ 4.09896498e-02 -7.92941401e-04 9.99159257e-01 6.37537699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.084391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.19, Y:21.24, Z:6.38 [[ 9.48684565e-01 -3.13790140e-01 -3.91579441e-02 1.61188061e+02] [ 3.13555981e-01 9.49492061e-01 -1.21438336e-02 2.12433750e+01] [ 4.09907723e-02 -7.57540116e-04 9.99159238e-01 6.37565705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.114391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.22, Y:21.25, Z:6.38 [[ 9.48582955e-01 -3.14097689e-01 -3.91537813e-02 1.61215168e+02] [ 3.13863239e-01 9.49390367e-01 -1.21572416e-02 2.12520167e+01] [ 4.09907843e-02 -7.56780479e-04 9.99159238e-01 6.37664003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.24, Y:21.26, Z:6.38 [[ 9.48855787e-01 -3.13188880e-01 -3.98173447e-02 1.61241283e+02] [ 3.12945008e-01 9.49690588e-01 -1.23777765e-02 2.12605273e+01] [ 4.16907395e-02 -7.15914419e-04 9.99130307e-01 6.37720082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.174391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.27, Y:21.27, Z:6.38 [[ 9.49564500e-01 -3.10879661e-01 -4.10011702e-02 1.61267870e+02] [ 3.10618228e-01 9.50449081e-01 -1.27617369e-02 2.12690741e+01] [ 4.29368890e-02 -6.17618496e-04 9.99077596e-01 6.37727992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.29, Y:21.28, Z:6.38 [[ 9.50104679e-01 -3.09177960e-01 -4.13532168e-02 1.61293955e+02] [ 3.08909784e-01 9.51004052e-01 -1.28856056e-02 2.12775052e+01] [ 4.33110220e-02 -5.31739149e-04 9.99061496e-01 6.37838181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.32, Y:21.29, Z:6.38 [[ 9.50593038e-01 -3.07658340e-01 -4.14635014e-02 1.61320398e+02] [ 3.07386906e-01 9.51496788e-01 -1.29287251e-02 2.12860924e+01] [ 4.34300185e-02 -4.55381310e-04 9.99056368e-01 6.37939575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:21.29, Z:6.38 [[ 9.51187749e-01 -3.05830378e-01 -4.13478726e-02 1.61346874e+02] [ 3.05558052e-01 9.52085949e-01 -1.29082761e-02 2.12945625e+01] [ 4.33144715e-02 -3.55981274e-04 9.99061424e-01 6.38057303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:21.30, Z:6.38 [[ 9.51932546e-01 -3.03560383e-01 -4.09331491e-02 1.61372183e+02] [ 3.03290793e-01 9.52812174e-01 -1.27928439e-02 2.13026986e+01] [ 4.28850033e-02 -2.36722742e-04 9.99079987e-01 6.38145002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:21.31, Z:6.38 [[ 9.53345910e-01 -2.99135898e-01 -4.06114567e-02 1.61398979e+02] [ 2.98866151e-01 9.54210519e-01 -1.27007886e-02 2.13122310e+01] [ 4.25511410e-02 -2.91448865e-05 9.99094290e-01 6.38312126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.354391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.43, Y:21.32, Z:6.38 [[ 9.53899660e-01 -2.97421972e-01 -4.01946438e-02 1.61425056e+02] [ 2.97155564e-01 9.54746127e-01 -1.25858679e-02 2.13211325e+01] [ 4.21189942e-02 6.15930674e-05 9.99112600e-01 6.38388220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.45, Y:21.33, Z:6.38 [[ 9.54459151e-01 -2.95620429e-01 -4.02031312e-02 1.61450905e+02] [ 2.95351694e-01 9.55305468e-01 -1.26031314e-02 2.13295203e+01] [ 4.21320142e-02 1.55111150e-04 9.99112040e-01 6.38458205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.48, Y:21.34, Z:6.39 [[ 9.55136697e-01 -2.93305380e-01 -4.10590345e-02 1.61477453e+02] [ 2.93022425e-01 9.56018765e-01 -1.28832906e-02 2.13376130e+01] [ 4.30319459e-02 2.74085744e-04 9.99073659e-01 6.38504559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.51, Y:21.35, Z:6.39 [[ 9.55455037e-01 -2.92142454e-01 -4.19339958e-02 1.61508131e+02] [ 2.91809304e-01 9.56374143e-01 -1.39938862e-02 2.13452780e+01] [ 4.41927976e-02 1.13379894e-03 9.99022378e-01 6.38561342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.53, Y:21.35, Z:6.39 [[ 9.55363925e-01 -2.92375797e-01 -4.23811704e-02 1.61530279e+02] [ 2.92134197e-01 9.56302994e-01 -1.19245590e-02 2.13530831e+01] [ 4.40156926e-02 -9.88695712e-04 9.99030351e-01 6.38662254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.56, Y:21.36, Z:6.39 [[ 9.55253338e-01 -2.92863968e-01 -4.14940526e-02 1.61560854e+02] [ 2.92473453e-01 9.56150841e-01 -1.53247766e-02 2.13624878e+01] [ 4.41626482e-02 2.50313519e-03 9.99021218e-01 6.38710515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:21.37, Z:6.39 [[ 9.54314099e-01 -2.95790927e-01 -4.23358945e-02 1.61589614e+02] [ 2.95547976e-01 9.55252147e-01 -1.20303849e-02 2.13677265e+01] [ 4.39999328e-02 -1.03152199e-03 9.99031001e-01 6.38853946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:161.62, Y:21.37, Z:6.39 [[ 9.53279450e-01 -2.99173397e-01 -4.18756298e-02 1.61616217e+02] [ 2.98951315e-01 9.54197667e-01 -1.16156401e-02 2.13749478e+01] [ 4.34327188e-02 -1.44582356e-03 9.99055308e-01 6.39036586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.64, Y:21.38, Z:6.39 [[ 9.52141201e-01 -3.02739017e-01 -4.21452279e-02 1.61643497e+02] [ 3.02670804e-01 9.53060368e-01 -8.14366129e-03 2.13810734e+01] [ 4.26323505e-02 -5.00221456e-03 9.99078306e-01 6.39268471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.67, Y:21.39, Z:6.39 [[ 9.50977211e-01 -3.06816352e-01 -3.88081269e-02 1.61670250e+02] [ 3.06569487e-01 9.51768716e-01 -1.23069700e-02 2.13904749e+01] [ 4.07123408e-02 -1.93739514e-04 9.99170890e-01 6.39395664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.69, Y:21.40, Z:6.39 [[ 9.48960104e-01 -3.13538740e-01 -3.41786345e-02 1.61694429e+02] [ 3.13218025e-01 9.49570485e-01 -1.45038856e-02 2.13968043e+01] [ 3.70025525e-02 3.05824441e-03 9.99310491e-01 6.39442030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.72, Y:21.40, Z:6.39 [[ 9.47636454e-01 -3.17543216e-01 -3.39331368e-02 1.61722069e+02] [ 3.17360738e-01 9.48243638e-01 -1.07779641e-02 2.14023657e+01] [ 3.55993505e-02 -5.55453671e-04 9.99365988e-01 6.39493182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71439141800002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:161.75, Y:21.41, Z:6.40 [[ 9.46354628e-01 -3.21337780e-01 -3.39845503e-02 1.61748766e+02] [ 3.21156731e-01 9.46964392e-01 -1.08071746e-02 2.14094320e+01] [ 3.56549125e-02 -6.86947346e-04 9.99363925e-01 6.39601423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.78, Y:21.42, Z:6.40 [[ 9.44103542e-01 -3.27796483e-01 -3.48993844e-02 1.61775322e+02] [ 3.27609475e-01 9.44747890e-01 -1.11110724e-02 2.14156968e+01] [ 3.66132902e-02 -9.43366151e-04 9.99329063e-01 6.39609233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.80, Y:21.42, Z:6.40 [[ 9.43015156e-01 -3.30842777e-01 -3.55734941e-02 1.61802327e+02] [ 3.30650395e-01 9.43685276e-01 -1.13321176e-02 2.14238709e+01] [ 3.73193318e-02 -1.07603127e-03 9.99302812e-01 6.39632370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.83, Y:21.43, Z:6.40 [[ 9.42199327e-01 -3.33006169e-01 -3.69772905e-02 1.61829450e+02] [ 3.32799419e-01 9.42923891e-01 -1.17932841e-02 2.14325168e+01] [ 3.87940070e-02 -1.19439643e-03 9.99246515e-01 6.39689830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:21.44, Z:6.40 [[ 9.41276560e-01 -3.35421391e-01 -3.86125453e-02 1.61855170e+02] [ 3.35197429e-01 9.42067247e-01 -1.23282086e-02 2.14414345e+01] [ 4.05107592e-02 -1.33857212e-03 9.99178206e-01 6.39759553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.864391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:161.88, Y:21.45, Z:6.40 [[ 9.40923037e-01 -3.36369480e-01 -3.89796192e-02 1.61881170e+02] [ 3.36141747e-01 9.41729076e-01 -1.24528071e-02 2.14506293e+01] [ 4.08969851e-02 -1.38554418e-03 9.99162408e-01 6.39893739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.91, Y:21.46, Z:6.40 [[ 9.40882403e-01 -3.36520933e-01 -3.86518538e-02 1.61906056e+02] [ 3.36296636e-01 9.41674991e-01 -1.23605711e-02 2.14598122e+01] [ 4.05570750e-02 -1.36864457e-03 9.99176286e-01 6.40019892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.924391418 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:161.93, Y:21.47, Z:6.40 [[ 9.40992364e-01 -3.36353651e-01 -3.74111314e-02 1.61932571e+02] [ 3.36143138e-01 9.41734836e-01 -1.19703505e-02 2.14699020e+01] [ 3.92576368e-02 -1.31148668e-03 9.99228261e-01 6.40128113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.954391418 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:161.96, Y:21.47, Z:6.41 [[ 9.41150606e-01 -3.35000835e-01 -4.48327741e-02 1.61957460e+02] [ 3.35563401e-01 9.42001865e-01 5.44884748e-03 2.14739331e+01] [ 4.04071884e-02 -2.01724243e-02 9.98979646e-01 6.40867346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.984391418 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:161.98, Y:21.50, Z:6.40 [[ 9.41725410e-01 -3.35099678e-01 -2.93505952e-02 1.61981522e+02] [ 3.34274513e-01 9.42007712e-01 -2.96988184e-02 2.15005195e+01] [ 3.76005515e-02 1.81569760e-02 9.99127881e-01 6.40435635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.014391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:162.01, Y:21.50, Z:6.40 [[ 9.41895049e-01 -3.34039578e-01 -3.53734018e-02 1.62009778e+02] [ 3.33849064e-01 9.42558370e-01 -1.13367761e-02 2.15020716e+01] [ 3.71284278e-02 -1.13132384e-03 9.99309862e-01 6.40445383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.044391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:162.03, Y:21.51, Z:6.41 [[ 9.41994368e-01 -3.33652145e-01 -3.63711067e-02 1.62033872e+02] [ 3.33450111e-01 9.42695575e-01 -1.16651441e-02 2.15140162e+01] [ 3.81789817e-02 -1.13944947e-03 9.99270267e-01 6.40511428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.074391418 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:162.06, Y:21.52, Z:6.41 [[ 9.41850897e-01 -3.33930795e-01 -3.75115020e-02 1.62059341e+02] [ 3.33715881e-01 9.42596854e-01 -1.20367040e-02 2.15242410e+01] [ 3.93776499e-02 -1.18140350e-03 9.99223701e-01 6.40614877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.104391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:162.09, Y:21.54, Z:6.41 [[ 9.41464719e-01 -3.34931196e-01 -3.82789444e-02 1.62085207e+02] [ 3.34707944e-01 9.42241769e-01 -1.22898445e-02 2.15350482e+01] [ 4.01842727e-02 -1.24181176e-03 9.99191514e-01 6.40719337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.134391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:162.11, Y:21.54, Z:6.41 [[ 9.40603935e-01 -3.36435231e-01 -4.55584671e-02 1.62110876e+02] [ 3.36796114e-01 9.41577564e-01 2.60874227e-04 2.15404841e+01] [ 4.28090632e-02 -1.55892940e-02 9.98961640e-01 6.41267284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.13, Y:21.57, Z:6.41 [[ 9.39735125e-01 -3.40143257e-01 -3.46476537e-02 1.62134177e+02] [ 3.39367702e-01 9.40282900e-01 -2.64127076e-02 2.15652922e+01] [ 4.15627007e-02 1.30626545e-02 9.99050504e-01 6.41106369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.194391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:162.16, Y:21.57, Z:6.41 [[ 9.39137169e-01 -3.41392992e-01 -3.83692833e-02 1.62162001e+02] [ 3.41173032e-01 9.39919455e-01 -1.23442536e-02 2.15700993e+01] [ 4.02782775e-02 -1.49761730e-03 9.99187379e-01 6.41179956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.19, Y:21.58, Z:6.41 [[ 9.38464224e-01 -3.43340529e-01 -3.74457219e-02 1.62188054e+02] [ 3.43132089e-01 9.39209740e-01 -1.20595807e-02 2.15813594e+01] [ 3.93099296e-02 -1.53134374e-03 9.99225893e-01 6.41336032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:21.59, Z:6.42 [[ 9.37591742e-01 -3.45577982e-01 -3.86986240e-02 1.62212368e+02] [ 3.45489546e-01 9.38377866e-01 -9.16270518e-03 2.15918270e+01] [ 3.94803614e-02 -4.77909333e-03 9.99208918e-01 6.41620065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.23, Y:21.61, Z:6.41 [[ 9.36648829e-01 -3.49037796e-01 -2.93528119e-02 1.62234110e+02] [ 3.48364633e-01 9.37005967e-01 -2.57274215e-02 2.16143198e+01] [ 3.64836024e-02 1.38720777e-02 9.99237966e-01 6.41462803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.26, Y:21.62, Z:6.41 [[ 9.36356972e-01 -3.49414299e-01 -3.38418118e-02 1.62261969e+02] [ 3.49174615e-01 9.36968279e-01 -1.29434048e-02 2.16201618e+01] [ 3.62313148e-02 3.02945690e-04 9.99343384e-01 6.41392572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.29, Y:21.63, Z:6.41 [[ 9.36189243e-01 -3.49870386e-01 -3.37700231e-02 1.62287028e+02] [ 3.49573988e-01 9.36796433e-01 -1.45076142e-02 2.16328297e+01] [ 3.67114218e-02 1.77675070e-03 9.99324329e-01 6.41365257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:21.64, Z:6.41 [[ 9.36310580e-01 -3.49267826e-01 -3.65305873e-02 1.62314348e+02] [ 3.49384351e-01 9.36973502e-01 -3.35154129e-03 2.16398066e+01] [ 3.53987778e-02 -9.62513195e-03 9.99326915e-01 6.41195318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.34, Y:21.66, Z:6.41 [[ 9.36964392e-01 -3.47445726e-01 -3.71375286e-02 1.62336252e+02] [ 3.47058272e-01 9.37696249e-01 -1.66222935e-02 2.16618231e+01] [ 4.05990661e-02 2.68561059e-03 9.99171909e-01 6.41451612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.36, Y:21.67, Z:6.41 [[ 9.37496503e-01 -3.45926528e-01 -3.78832986e-02 1.62361291e+02] [ 3.45583724e-01 9.38260556e-01 -1.54602277e-02 2.16739221e+01] [ 4.08925078e-02 1.40205801e-03 9.99162568e-01 6.41459868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:21.69, Z:6.41 [[ 9.38029283e-01 -3.44550577e-01 -3.72285427e-02 1.62386846e+02] [ 3.44151111e-01 9.38762967e-01 -1.68553979e-02 2.16875136e+01] [ 4.07563143e-02 2.99861244e-03 9.99164617e-01 6.41467423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.41, Y:21.70, Z:6.42 [[ 9.39811278e-01 -3.39710595e-01 -3.67623907e-02 1.62411654e+02] [ 3.39465197e-01 9.40529954e-01 -1.29145617e-02 2.17023043e+01] [ 3.89633431e-02 -3.42301505e-04 9.99240582e-01 6.41612819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.44, Y:21.71, Z:6.42 [[ 9.40425516e-01 -3.36982182e-01 -4.51979823e-02 1.62442265e+02] [ 3.37587221e-01 9.41273386e-01 6.26745694e-03 2.17052293e+01] [ 4.04316366e-02 -2.11523377e-02 9.98958388e-01 6.42094107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.46, Y:21.74, Z:6.42 [[ 9.41287778e-01 -3.36426383e-01 -2.81888002e-02 1.62461130e+02] [ 3.35546260e-01 9.41487680e-01 -3.17750988e-02 2.17362459e+01] [ 3.72293897e-02 2.04508657e-02 9.99097460e-01 6.42097807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.49, Y:21.74, Z:6.42 [[ 9.41738238e-01 -3.34500586e-01 -3.51916184e-02 1.62490591e+02] [ 3.34313495e-01 9.42394812e-01 -1.12474419e-02 2.17387729e+01] [ 3.69266745e-02 -1.17288683e-03 9.99317289e-01 6.42015485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.614391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.51, Y:21.75, Z:6.42 [[ 9.42701432e-01 -3.31599523e-01 -3.68207380e-02 1.62513953e+02] [ 3.31743728e-01 9.43366742e-01 -2.29962296e-03 2.17487594e+01] [ 3.54980136e-02 -1.00471910e-02 9.99319241e-01 6.41897892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.644391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.54, Y:21.77, Z:6.42 [[ 9.42576186e-01 -3.32209803e-01 -3.44496783e-02 1.62539924e+02] [ 3.31812233e-01 9.43195031e-01 -1.68456223e-02 2.17684655e+01] [ 3.80890463e-02 4.44745773e-03 9.99264452e-01 6.42288085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.674391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.57, Y:21.78, Z:6.42 [[ 9.42808445e-01 -3.31278435e-01 -3.69707348e-02 1.62565860e+02] [ 3.31156214e-01 9.43527513e-01 -9.56004945e-03 2.17767990e+01] [ 3.80499436e-02 -3.22979321e-03 9.99270619e-01 6.42216055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.704391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:21.78, Z:6.43 [[ 9.42515244e-01 -3.31263591e-01 -4.39254899e-02 1.62594731e+02] [ 3.31592048e-01 9.43422849e-01 2.03049723e-04 2.17844145e+01] [ 4.13730478e-02 -1.47567206e-02 9.99034789e-01 6.42578484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.734391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:21.81, Z:6.43 [[ 9.43354997e-01 -3.29590831e-01 -3.80950479e-02 1.62615601e+02] [ 3.28981143e-01 9.44092248e-01 -2.14763734e-02 2.18090682e+01] [ 4.30436551e-02 7.72729179e-03 9.99043309e-01 6.42679299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.764391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.64, Y:21.81, Z:6.43 [[ 9.43524406e-01 -3.28299267e-01 -4.45116378e-02 1.62644300e+02] [ 3.28383486e-01 9.44527794e-01 -5.61535332e-03 2.18138843e+01] [ 4.38859954e-02 -9.31866389e-03 9.98993084e-01 6.42813803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.794391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:162.67, Y:21.83, Z:6.43 [[ 9.44613728e-01 -3.25848569e-01 -3.90847221e-02 1.62666270e+02] [ 3.25394545e-01 9.45413733e-01 -1.76426516e-02 2.18339700e+01] [ 4.27000658e-02 3.94753558e-03 9.99080138e-01 6.42971291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.824391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:162.69, Y:21.84, Z:6.43 [[ 9.44856022e-01 -3.24786920e-01 -4.19589483e-02 1.62692944e+02] [ 3.24702831e-01 9.45773323e-01 -8.99401179e-03 2.18408899e+01] [ 4.26047914e-02 -5.12614311e-03 9.99078853e-01 6.43148858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.854391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:162.72, Y:21.85, Z:6.43 [[ 9.45113946e-01 -3.24318826e-01 -3.97105668e-02 1.62716857e+02] [ 3.24058963e-01 9.45947648e-01 -1.29936615e-02 2.18536677e+01] [ 4.17782063e-02 -5.88074377e-04 9.99126737e-01 6.43306084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.74, Y:21.86, Z:6.43 [[ 9.45653310e-01 -3.22838103e-01 -3.89278302e-02 1.62742095e+02] [ 3.22647526e-01 9.46452264e-01 -1.12555080e-02 2.18632812e+01] [ 4.04770399e-02 -1.91615966e-03 9.99178631e-01 6.43386810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.914391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:162.76, Y:21.88, Z:6.43 [[ 9.45668701e-01 -3.23103812e-01 -3.62578902e-02 1.62764099e+02] [ 3.22676111e-01 9.46352298e-01 -1.72469083e-02 2.18774914e+01] [ 3.98852796e-02 4.61030640e-03 9.99193630e-01 6.43416863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.944391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:162.79, Y:21.89, Z:6.44 [[ 9.44888901e-01 -3.25026453e-01 -3.92781160e-02 1.62792508e+02] [ 3.24717078e-01 9.45704697e-01 -1.41931338e-02 2.18867122e+01] [ 4.17586427e-02 6.56659517e-04 9.99127512e-01 6.43604280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.974391418 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:162.82, Y:21.90, Z:6.44 [[ 9.44348169e-01 -3.26524086e-01 -3.98567108e-02 1.62817637e+02] [ 3.26286631e-01 9.45188128e-01 -1.25074707e-02 2.18953830e+01] [ 4.17560803e-02 -1.19330487e-03 9.99127122e-01 6.43674755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004391418 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:162.85, Y:21.91, Z:6.44 [[ 9.43197931e-01 -3.29897759e-01 -3.93081519e-02 1.62847333e+02] [ 3.29769799e-01 9.44009645e-01 -9.88279105e-03 2.19057685e+01] [ 4.03675852e-02 -3.64121329e-03 9.99178262e-01 6.43692924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.034391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:162.87, Y:21.92, Z:6.44 [[ 9.41725705e-01 -3.34181581e-01 -3.84105140e-02 1.62871814e+02] [ 3.33946702e-01 9.42508188e-01 -1.25664357e-02 2.19173480e+01] [ 4.04016953e-02 -9.92928974e-04 9.99183025e-01 6.43813988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:162.90, Y:21.93, Z:6.44 [[ 9.41619751e-01 -3.34480249e-01 -3.84084257e-02 1.62898753e+02] [ 3.34245358e-01 9.42402231e-01 -1.25728152e-02 2.19263754e+01] [ 4.04015444e-02 -9.99026854e-04 9.99183025e-01 6.43919523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09439141800001 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:162.92, Y:21.94, Z:6.44 [[ 9.41701529e-01 -3.34587570e-01 -3.53466833e-02 1.62920962e+02] [ 3.33865767e-01 9.42293456e-01 -2.48332887e-02 2.19396220e+01] [ 4.16158581e-02 1.15844984e-02 9.99066524e-01 6.44104638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12439141800002 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:162.95, Y:21.94, Z:6.44 [[ 9.40071419e-01 -3.38411677e-01 -4.17524145e-02 1.62953739e+02] [ 3.38662719e-01 9.40907171e-01 -1.12163022e-03 2.19401799e+01] [ 3.96647190e-02 -1.30855737e-02 9.99127358e-01 6.43949735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15439141800002 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:162.98, Y:21.96, Z:6.44 [[ 9.38847570e-01 -3.42350932e-01 -3.68928203e-02 1.62977010e+02] [ 3.42138974e-01 9.39571322e-01 -1.21100363e-02 2.19555869e+01] [ 3.88093182e-02 -1.25299352e-03 9.99245849e-01 6.44278950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18439141800002 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:163.00, Y:21.96, Z:6.44 [[ 9.38505574e-01 -3.43334955e-01 -3.64471634e-02 1.63001989e+02] [ 3.43128605e-01 9.39212164e-01 -1.19695928e-02 2.19646386e+01] [ 3.83411988e-02 -1.27253476e-03 9.99263896e-01 6.44392442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21439141800002 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:163.03, Y:21.97, Z:6.45 [[ 9.38313213e-01 -3.43885328e-01 -3.62104364e-02 1.63028556e+02] [ 3.43681832e-01 9.39010778e-01 -1.18977988e-02 2.19741604e+01] [ 3.80934685e-02 -1.28100736e-03 9.99273359e-01 6.44500723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.244391418 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:163.06, Y:21.98, Z:6.45 [[ 9.38352737e-01 -3.43848265e-01 -3.55318353e-02 1.63055053e+02] [ 3.43651825e-01 9.39024400e-01 -1.16875781e-02 2.19840541e+01] [ 3.73840138e-02 -1.24350908e-03 9.99300200e-01 6.44564387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.274391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:163.08, Y:21.99, Z:6.45 [[ 9.39208443e-01 -3.41496543e-01 -3.56035250e-02 1.63081231e+02] [ 3.41297136e-01 9.39882339e-01 -1.17240737e-02 2.19948516e+01] [ 3.74668550e-02 -1.14003208e-03 9.99297221e-01 6.44612616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.304391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:163.11, Y:22.00, Z:6.45 [[ 9.40041395e-01 -3.39108801e-01 -3.64334491e-02 1.63106283e+02] [ 3.38897676e-01 9.40746568e-01 -1.20108214e-02 2.20042945e+01] [ 3.83476174e-02 -1.05654190e-03 9.99263901e-01 6.44659884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.334391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:163.13, Y:22.01, Z:6.45 [[ 9.41071869e-01 -3.36124236e-01 -3.74731220e-02 1.63131869e+02] [ 3.35898277e-01 9.41817171e-01 -1.23597282e-02 2.20144413e+01] [ 3.94472340e-02 -9.55764592e-04 9.99221198e-01 6.44732437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.364391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:163.16, Y:22.02, Z:6.45 [[ 9.42373605e-01 -3.32331806e-01 -3.85688956e-02 1.63156942e+02] [ 3.32088733e-01 9.43162191e-01 -1.27340220e-02 2.20244245e+01] [ 4.06086446e-02 -8.08089481e-04 9.99174802e-01 6.44821099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.394391418 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:163.18, Y:22.04, Z:6.45 [[ 9.45317098e-01 -3.23677056e-01 -4.01091954e-02 1.63181655e+02] [ 3.23406086e-01 9.46167513e-01 -1.32491401e-02 2.20357199e+01] [ 4.22384604e-02 -4.46919204e-04 9.99107458e-01 6.44896152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.424391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:163.21, Y:22.05, Z:6.45 [[ 9.46649105e-01 -3.19752896e-01 -4.01691045e-02 1.63206640e+02] [ 3.19477313e-01 9.47500931e-01 -1.32752253e-02 2.20451257e+01] [ 4.23050557e-02 -2.66137474e-04 9.99104705e-01 6.44986690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.454391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:163.23, Y:22.05, Z:6.45 [[ 9.47905566e-01 -3.16051240e-01 -3.98327898e-02 1.63233250e+02] [ 3.15776688e-01 9.48742117e-01 -1.31711198e-02 2.20548158e+01] [ 4.19537940e-02 -9.32886632e-05 9.99119548e-01 6.45145374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.484391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:163.26, Y:22.06, Z:6.45 [[ 9.49800121e-01 -3.10544353e-01 -3.79728110e-02 1.63259540e+02] [ 3.10289926e-01 9.50558878e-01 -1.25690715e-02 2.20643781e+01] [ 3.99986468e-02 1.55524900e-04 9.99199722e-01 6.45266340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.514391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:163.28, Y:22.07, Z:6.45 [[ 9.50560966e-01 -3.08304064e-01 -3.71813638e-02 1.63284884e+02] [ 3.08057904e-01 9.51287831e-01 -1.23202972e-02 2.20727563e+01] [ 3.91685767e-02 2.57180574e-04 9.99232584e-01 6.45383978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.544391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:163.31, Y:22.08, Z:6.45 [[ 9.51113320e-01 -3.06661066e-01 -3.66393581e-02 1.63311452e+02] [ 3.06420579e-01 9.51818725e-01 -1.21467786e-02 2.20811728e+01] [ 3.85989712e-02 3.25909609e-04 9.99254729e-01 6.45479310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.574391418 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:163.34, Y:22.09, Z:6.46 [[ 9.51526725e-01 -3.05389528e-01 -3.65257107e-02 1.63338291e+02] [ 3.05149079e-01 9.52227433e-01 -1.21224925e-02 2.20895208e+01] [ 3.84828660e-02 3.89088633e-04 9.99259184e-01 6.45564190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.604391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.36, Y:22.10, Z:6.46 [[ 9.52030175e-01 -3.03754312e-01 -3.70386819e-02 1.63364929e+02] [ 3.03505302e-01 9.52750278e-01 -1.23060531e-02 2.20960152e+01] [ 3.90266312e-02 4.74297526e-04 9.99238058e-01 6.45555816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.634391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:163.39, Y:22.10, Z:6.46 [[ 9.51925991e-01 -3.04005644e-01 -3.76493753e-02 1.63390882e+02] [ 3.03748309e-01 9.52670111e-01 -1.25149698e-02 2.21026869e+01] [ 3.96720560e-02 4.77390967e-04 9.99212640e-01 6.45596440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.664391418 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:163.42, Y:22.11, Z:6.46 [[ 9.51413121e-01 -3.05521886e-01 -3.83334150e-02 1.63417685e+02] [ 3.05256069e-01 9.52184958e-01 -1.27490528e-02 2.21097242e+01] [ 4.03956158e-02 4.28108500e-04 9.99183672e-01 6.45640774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.694391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:163.44, Y:22.12, Z:6.46 [[ 9.50717407e-01 -3.07512068e-01 -3.96577769e-02 1.63444541e+02] [ 3.07228679e-01 9.51544109e-01 -1.32040666e-02 2.21166174e+01] [ 4.17965339e-02 3.69329546e-04 9.99126075e-01 6.45726734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:163.47, Y:22.12, Z:6.46 [[ 9.49875602e-01 -3.10004102e-01 -4.04202650e-02 1.63471379e+02] [ 3.09711340e-01 9.50735178e-01 -1.34724507e-02 2.21229955e+01] [ 4.26054829e-02 2.78537782e-04 9.99091935e-01 6.45831576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.754391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:163.50, Y:22.13, Z:6.46 [[ 9.48417509e-01 -3.14440081e-01 -4.03938725e-02 1.63498707e+02] [ 3.14151155e-01 9.49277318e-01 -1.34768297e-02 2.21269297e+01] [ 4.25826424e-02 9.18795860e-05 9.99092944e-01 6.46006818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784391418 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:163.53, Y:22.13, Z:6.46 [[ 9.47767389e-01 -3.16435252e-01 -4.00712900e-02 1.63525994e+02] [ 3.16152411e-01 9.48614111e-01 -1.33761642e-02 2.21335298e+01] [ 4.22448810e-02 8.85730493e-06 9.99107287e-01 6.46169909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.55, Y:22.14, Z:6.46 [[ 9.47146194e-01 -3.18434456e-01 -3.89048206e-02 1.63552998e+02] [ 3.18168999e-01 9.47944879e-01 -1.29998188e-02 2.21400830e+01] [ 4.10192157e-02 -6.55789207e-05 9.99158356e-01 6.46287929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.58, Y:22.15, Z:6.46 [[ 9.46784855e-01 -3.19556233e-01 -3.85000265e-02 1.63580138e+02] [ 3.19296668e-01 9.47567308e-01 -1.28776504e-02 2.21464820e+01] [ 4.05964999e-02 -1.00565835e-04 9.99175617e-01 6.46446940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.61, Y:22.15, Z:6.47 [[ 9.46495412e-01 -3.20568112e-01 -3.71822544e-02 1.63607099e+02] [ 3.20326326e-01 9.47225458e-01 -1.24489358e-02 2.21505857e+01] [ 3.92107098e-02 -1.27594349e-04 9.99230956e-01 6.46596257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.63, Y:22.16, Z:6.47 [[ 9.46539166e-01 -3.20459941e-01 -3.70004509e-02 1.63634062e+02] [ 3.20220092e-01 9.47262062e-01 -1.23967600e-02 2.21569435e+01] [ 3.90217883e-02 -1.14268914e-04 9.99238353e-01 6.46685485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.66, Y:22.16, Z:6.47 [[ 9.46450561e-01 -3.20732342e-01 -3.69066514e-02 1.63661681e+02] [ 3.20493436e-01 9.47169864e-01 -1.23776325e-02 2.21634912e+01] [ 3.89267751e-02 -1.13522344e-04 9.99242059e-01 6.46743819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.69, Y:22.17, Z:6.47 [[ 9.45326926e-01 -3.23925839e-01 -3.78028362e-02 1.63691843e+02] [ 3.23615762e-01 9.46081701e-01 -1.42215633e-02 2.21695607e+01] [ 4.03713034e-02 1.21043306e-03 9.99184013e-01 6.46822913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.72, Y:22.17, Z:6.47 [[ 9.45680369e-01 -3.22825134e-01 -3.83741058e-02 1.63717181e+02] [ 3.22643702e-01 9.46456561e-01 -1.10009242e-02 2.21726652e+01] [ 3.98707990e-02 -1.97780546e-03 9.99202886e-01 6.46831378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:22.18, Z:6.47 [[ 9.45129659e-01 -3.24467675e-01 -3.80874611e-02 1.63743308e+02] [ 3.24215096e-01 9.45896752e-01 -1.28025710e-02 2.21794992e+01] [ 4.01808263e-02 -2.48440268e-04 9.99192394e-01 6.46968379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:22.19, Z:6.47 [[ 9.44321729e-01 -3.26876734e-01 -3.75242923e-02 1.63770482e+02] [ 3.26633246e-01 9.45066921e-01 -1.26189410e-02 2.21859673e+01] [ 3.95878056e-02 -3.40341225e-04 9.99216038e-01 6.47050814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.80, Y:22.19, Z:6.47 [[ 9.42727516e-01 -3.31583706e-01 -3.62915595e-02 1.63797624e+02] [ 3.31359008e-01 9.43425665e-01 -1.22156391e-02 2.21890510e+01] [ 3.82888956e-02 -5.09516082e-04 9.99266581e-01 6.47206922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:22.20, Z:6.47 [[ 9.41821014e-01 -3.34267682e-01 -3.51893968e-02 1.63824793e+02] [ 3.34058022e-01 9.42477992e-01 -1.18521114e-02 2.21955794e+01] [ 3.71270098e-02 -5.92732732e-04 9.99310379e-01 6.47305547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.85, Y:22.20, Z:6.47 [[ 9.41008653e-01 -3.36587443e-01 -3.48081769e-02 1.63851963e+02] [ 3.36383432e-01 9.41651980e-01 -1.17360910e-02 2.22022044e+01] [ 3.67274095e-02 -6.65130852e-04 9.99325100e-01 6.47408380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.174391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.88, Y:22.21, Z:6.47 [[ 9.40274373e-01 -3.38689533e-01 -3.42564410e-02 1.63879563e+02] [ 3.38492895e-01 9.40897910e-01 -1.15621721e-02 2.22091798e+01] [ 3.61478004e-02 -7.23947791e-04 9.99346192e-01 6.47461387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:22.21, Z:6.47 [[ 9.39261959e-01 -3.41407937e-01 -3.50370316e-02 1.63906117e+02] [ 3.41203622e-01 9.39914849e-01 -1.18391166e-02 2.22140725e+01] [ 3.69737946e-02 -8.34730281e-04 9.99315887e-01 6.47469580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:22.23, Z:6.47 [[ 9.38884788e-01 -3.43058275e-01 -2.83967305e-02 1.63931043e+02] [ 3.42364303e-01 9.39189825e-01 -2.66299922e-02 2.22294523e+01] [ 3.58055595e-02 1.52804677e-02 9.99241947e-01 6.47381112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.96, Y:22.22, Z:6.47 [[ 9.38826452e-01 -3.41770391e-01 -4.24015787e-02 1.63962570e+02] [ 3.42195388e-01 9.39624090e-01 2.98077620e-03 2.22223188e+01] [ 3.88228038e-02 -1.73080562e-02 9.99096202e-01 6.47427866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.99, Y:22.24, Z:6.48 [[ 9.38994379e-01 -3.41658190e-01 -3.94871899e-02 1.63985631e+02] [ 3.41397740e-01 9.39823826e-01 -1.33701099e-02 2.22368179e+01] [ 4.16790094e-02 -9.26379318e-04 9.99130623e-01 6.47666628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:22.26, Z:6.47 [[ 9.39288972e-01 -3.41905942e-01 -2.89232518e-02 1.64009319e+02] [ 3.40903823e-01 9.39461742e-01 -3.45863877e-02 2.22568393e+01] [ 3.89975800e-02 2.26265654e-02 9.98983097e-01 6.47465404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.04, Y:22.24, Z:6.48 [[ 9.39722483e-01 -3.38530876e-01 -4.81508162e-02 1.64043776e+02] [ 3.39301502e-01 9.40638359e-01 8.60052389e-03 2.22445431e+01] [ 4.23809619e-02 -2.44197499e-02 9.98803049e-01 6.47702885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.06, Y:22.28, Z:6.48 [[ 9.40955189e-01 -3.37161566e-01 -3.04205639e-02 1.64063296e+02] [ 3.36141814e-01 9.41191585e-01 -3.41625887e-02 2.22756909e+01] [ 4.01498907e-02 2.19198416e-02 9.98953206e-01 6.47839246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.10, Y:22.26, Z:6.48 [[ 9.41433447e-01 -3.33804824e-01 -4.77221684e-02 1.64097064e+02] [ 3.34515966e-01 9.42359847e-01 7.54902698e-03 2.22643023e+01] [ 4.24515537e-02 -2.30707338e-02 9.98832121e-01 6.48061137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.12, Y:22.28, Z:6.48 [[ 9.41799880e-01 -3.33760501e-01 -4.02108759e-02 1.64118669e+02] [ 3.33481233e-01 9.42657750e-01 -1.36614218e-02 2.22831962e+01] [ 4.24647368e-02 -5.43247093e-04 9.99097819e-01 6.48460417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.14, Y:22.29, Z:6.49 [[ 9.42144882e-01 -3.32830030e-01 -3.98395871e-02 1.64143915e+02] [ 3.32554791e-01 9.42986708e-01 -1.35418090e-02 2.22917237e+01] [ 4.20753218e-02 -4.90499490e-04 9.99114321e-01 6.48587313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.17, Y:22.30, Z:6.49 [[ 9.42339849e-01 -3.32405079e-01 -3.87617460e-02 1.64170535e+02] [ 3.32143907e-01 9.43136607e-01 -1.31820258e-02 2.23010914e+01] [ 4.09393939e-02 -4.52529612e-04 9.99161529e-01 6.48707899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:22.31, Z:6.49 [[ 9.42020680e-01 -3.33298458e-01 -3.88481157e-02 1.64197158e+02] [ 3.33036281e-01 9.42821250e-01 -1.32259913e-02 2.23104991e+01] [ 4.10350315e-02 -4.78674593e-04 9.99157594e-01 6.48810234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:22.32, Z:6.49 [[ 9.41657411e-01 -3.34289682e-01 -3.91373047e-02 1.64223984e+02] [ 3.34023833e-01 9.42470236e-01 -1.33391391e-02 2.23198419e+01] [ 4.13448814e-02 -5.11893363e-04 9.99144804e-01 6.48897228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.25, Y:22.33, Z:6.49 [[ 9.41280988e-01 -3.35313464e-01 -3.94332685e-02 1.64249958e+02] [ 3.35043845e-01 9.42106460e-01 -1.34551084e-02 2.23289792e+01] [ 4.16620159e-02 -5.46836200e-04 9.99131612e-01 6.49006540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.28, Y:22.34, Z:6.49 [[ 9.40548614e-01 -3.37315842e-01 -3.98287193e-02 1.64276321e+02] [ 3.37041939e-01 9.41391326e-01 -1.36052372e-02 2.23387844e+01] [ 4.20836729e-02 -6.27561751e-04 9.99113893e-01 6.49209416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.30, Y:22.35, Z:6.49 [[ 9.40321347e-01 -3.37995705e-01 -3.94292825e-02 1.64302866e+02] [ 3.37727238e-01 9.41147437e-01 -1.34838809e-02 2.23482974e+01] [ 4.16662620e-02 -6.37161643e-04 9.99131381e-01 6.49355554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.33, Y:22.36, Z:6.50 [[ 9.40135363e-01 -3.38558296e-01 -3.90356160e-02 1.64328293e+02] [ 3.38295043e-01 9.40945200e-01 -1.33639708e-02 2.23574702e+01] [ 4.12548587e-02 -6.41613862e-04 9.99148450e-01 6.49503409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.35, Y:22.37, Z:6.50 [[ 9.39864476e-01 -3.39373290e-01 -3.84777320e-02 1.64354286e+02] [ 3.39117903e-01 9.40651547e-01 -1.31801004e-02 2.23673875e+01] [ 4.06671122e-02 -6.60979648e-04 9.99172532e-01 6.49698854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.38, Y:22.38, Z:6.50 [[ 9.39626050e-01 -3.40061687e-01 -3.82221715e-02 1.64380092e+02] [ 3.39809638e-01 9.40402891e-01 -1.31077074e-02 2.23773056e+01] [ 4.04016697e-02 -6.71918949e-04 9.99183293e-01 6.49851738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.41, Y:22.39, Z:6.50 [[ 9.39466373e-01 -3.40504783e-01 -3.82024588e-02 1.64406197e+02] [ 3.40252749e-01 9.40242541e-01 -1.31160677e-02 2.23872219e+01] [ 4.03856607e-02 -6.76387068e-04 9.99183937e-01 6.49998985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.43, Y:22.40, Z:6.50 [[ 9.39517304e-01 -3.40741542e-01 -3.46761714e-02 1.64434566e+02] [ 3.40193387e-01 9.40124930e-01 -2.08224889e-02 2.24007104e+01] [ 3.96950202e-02 7.76648446e-03 9.99181659e-01 6.49985324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.46, Y:22.40, Z:6.50 [[ 9.39279140e-01 -3.40683000e-01 -4.11070578e-02 1.64459466e+02] [ 3.40774865e-01 9.40131807e-01 -4.96755748e-03 2.24041256e+01] [ 4.03384149e-02 -9.34232896e-03 9.99142399e-01 6.50113446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.48, Y:22.42, Z:6.50 [[ 9.39178608e-01 -3.41246075e-01 -3.86608213e-02 1.64484579e+02] [ 3.40987155e-01 9.39973749e-01 -1.33083299e-02 2.24178880e+01] [ 4.08815725e-02 -6.83944706e-04 9.99163765e-01 6.50276554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.894391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.51, Y:22.43, Z:6.50 [[ 9.39028594e-01 -3.41582754e-01 -3.93258287e-02 1.64510292e+02] [ 3.41314492e-01 9.39851444e-01 -1.35528495e-02 2.24278511e+01] [ 4.15898565e-02 -6.95962065e-04 9.99134525e-01 6.50388944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.924391418 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.54, Y:22.44, Z:6.50 [[ 9.38953393e-01 -3.41789951e-01 -3.93211918e-02 1.64537125e+02] [ 3.41521308e-01 9.39776118e-01 -1.35662898e-02 2.24372889e+01] [ 4.15899385e-02 -6.90911051e-04 9.99134525e-01 6.50497241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.56, Y:22.45, Z:6.51 [[ 9.38793269e-01 -3.42173554e-01 -3.98052344e-02 1.64562044e+02] [ 3.41898177e-01 9.39636503e-01 -1.37432972e-02 2.24474274e+01] [ 4.21050442e-02 -7.07222126e-04 9.99112939e-01 6.50615776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.59, Y:22.46, Z:6.51 [[ 9.38201180e-01 -3.43628145e-01 -4.12097601e-02 1.64587743e+02] [ 3.43333858e-01 9.39105466e-01 -1.42402715e-02 2.24587292e+01] [ 4.35936690e-02 -7.88466424e-04 9.99049033e-01 6.50689844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.61, Y:22.47, Z:6.51 [[ 9.37564804e-01 -3.45306554e-01 -4.16607959e-02 1.64613010e+02] [ 3.45006775e-01 9.38489553e-01 -1.44112516e-02 2.24683097e+01] [ 4.40745213e-02 -8.61774499e-04 9.99027874e-01 6.50756493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.64, Y:22.48, Z:6.51 [[ 9.36621175e-01 -3.47859457e-01 -4.16481893e-02 1.64639502e+02] [ 3.47562014e-01 9.37546185e-01 -1.44151553e-02 2.24783153e+01] [ 4.40615491e-02 -9.73788815e-04 9.99028344e-01 6.50861729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:22.49, Z:6.51 [[ 9.34503897e-01 -3.53580919e-01 -4.10243768e-02 1.64664990e+02] [ 3.53297137e-01 9.35403159e-01 -1.42149023e-02 2.24889865e+01] [ 4.34004498e-02 -1.20991328e-03 9.99057024e-01 6.51006315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.69, Y:22.50, Z:6.51 [[ 9.33446078e-01 -3.56420906e-01 -4.05284826e-02 1.64691424e+02] [ 3.56145954e-01 9.34324579e-01 -1.40584980e-02 2.24994652e+01] [ 4.28775000e-02 -1.31120531e-03 9.99079477e-01 6.51127629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.72, Y:22.51, Z:6.51 [[ 9.32714926e-01 -3.58398906e-01 -3.99135542e-02 1.64716329e+02] [ 3.58133429e-01 9.33567542e-01 -1.38597248e-02 2.25095456e+01] [ 4.22293089e-02 -1.36720579e-03 9.99107009e-01 6.51266641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.74, Y:22.52, Z:6.51 [[ 9.32187240e-01 -3.59821269e-01 -3.94411517e-02 1.64741632e+02] [ 3.59562872e-01 9.33020193e-01 -1.37062078e-02 2.25206596e+01] [ 4.17311761e-02 -1.40482175e-03 9.99127887e-01 6.51422784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.77, Y:22.53, Z:6.52 [[ 9.32513468e-01 -3.59082230e-01 -3.84523460e-02 1.64765072e+02] [ 3.58835455e-01 9.33304986e-01 -1.33760735e-02 2.25338946e+01] [ 4.06908765e-02 -1.32469638e-03 9.99170905e-01 6.51611206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.79, Y:22.55, Z:6.52 [[ 9.33213478e-01 -3.57370746e-01 -3.73999333e-02 1.64790802e+02] [ 3.57135679e-01 9.33961823e-01 -1.30161676e-02 2.25454644e+01] [ 3.95817074e-02 -1.20998754e-03 9.99215605e-01 6.51688557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:22.56, Z:6.52 [[ 9.34053512e-01 -3.55173370e-01 -3.73619244e-02 1.64816286e+02] [ 3.54936487e-01 9.34799797e-01 -1.30165130e-02 2.25570594e+01] [ 3.95490382e-02 -1.10299054e-03 9.99217022e-01 6.51808895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.84, Y:22.57, Z:6.52 [[ 9.35027054e-01 -3.52640655e-01 -3.69996723e-02 1.64841768e+02] [ 3.52405842e-01 9.35758313e-01 -1.29035709e-02 2.25688154e+01] [ 3.91730747e-02 -9.73712821e-04 9.99231966e-01 6.51898513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.314391418 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:164.86, Y:22.58, Z:6.52 [[ 9.37035415e-01 -3.47270208e-01 -3.69869474e-02 1.64864980e+02] [ 3.47030855e-01 9.37764822e-01 -1.29122144e-02 2.25826852e+01] [ 3.91690855e-02 -7.36409810e-04 9.99232326e-01 6.51950531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34439141800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:22.59, Z:6.52 [[ 9.37591432e-01 -3.45785628e-01 -3.68049791e-02 1.64890081e+02] [ 3.45547252e-01 9.38313304e-01 -1.28545674e-02 2.25944333e+01] [ 3.89795262e-02 -6.65527141e-04 9.99239788e-01 6.52007315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37439141800002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.92, Y:22.61, Z:6.52 [[ 9.38187657e-01 -3.44142798e-01 -3.70088573e-02 1.64915204e+02] [ 3.43899976e-01 9.38917136e-01 -1.29390019e-02 2.26080204e+01] [ 3.92011146e-02 -5.88133274e-04 9.99231168e-01 6.52062089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40439141800002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:164.94, Y:22.62, Z:6.52 [[ 9.37917098e-01 -3.44868628e-01 -3.71099144e-02 1.64939595e+02] [ 3.44624482e-01 9.38650766e-01 -1.29886587e-02 2.26190665e+01] [ 3.93126305e-02 -6.06699969e-04 9.99226776e-01 6.52132259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43439141800002 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:164.96, Y:22.63, Z:6.52 [[ 9.37372370e-01 -3.46345472e-01 -3.71194410e-02 1.64964960e+02] [ 3.46102099e-01 9.38106803e-01 -1.29985514e-02 2.26300689e+01] [ 3.93239896e-02 -6.62633506e-04 9.99226293e-01 6.52219937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46439141800002 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:164.99, Y:22.64, Z:6.52 [[ 9.36658405e-01 -3.48259323e-01 -3.72354311e-02 1.64989528e+02] [ 3.48015368e-01 9.37397946e-01 -1.30535453e-02 2.26405105e+01] [ 3.94504354e-02 -7.31789362e-04 9.99221261e-01 6.52296246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.494391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:165.02, Y:22.65, Z:6.52 [[ 9.34837585e-01 -3.53061618e-01 -3.77648331e-02 1.65015224e+02] [ 3.52814305e-01 9.35599598e-01 -1.32460620e-02 2.26521068e+01] [ 4.00094388e-02 -9.41056730e-04 9.99198859e-01 6.52356522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.524391418 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:165.04, Y:22.66, Z:6.52 [[ 9.33874399e-01 -3.55541783e-01 -3.83229455e-02 1.65040098e+02] [ 3.55288596e-01 9.34659799e-01 -1.34563638e-02 2.26621834e+01] [ 4.06032161e-02 -1.04915187e-03 9.99174799e-01 6.52430232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.554391418 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:165.07, Y:22.67, Z:6.53 [[ 9.32861314e-01 -3.58136685e-01 -3.88314702e-02 1.65066207e+02] [ 3.57878676e-01 9.33668434e-01 -1.36421771e-02 2.26729635e+01] [ 4.11414820e-02 -1.17069589e-03 9.99152645e-01 6.52505045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.584391418 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:165.09, Y:22.68, Z:6.53 [[ 9.32135656e-01 -3.59959344e-01 -3.94003752e-02 1.65092487e+02] [ 3.59694692e-01 9.32967146e-01 -1.38575742e-02 2.26837313e+01] [ 4.17474190e-02 -1.25496679e-03 9.99127408e-01 6.52575627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.614391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:165.12, Y:22.70, Z:6.53 [[ 9.31051743e-01 -3.62737233e-01 -3.95518803e-02 1.65116296e+02] [ 3.62472427e-01 9.31890455e-01 -1.39255042e-02 2.26958137e+01] [ 4.19093186e-02 -1.37110106e-03 9.99120478e-01 6.52648790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.644391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:165.14, Y:22.71, Z:6.53 [[ 9.30835093e-01 -3.63297388e-01 -3.95099757e-02 1.65141592e+02] [ 3.63033337e-01 9.31672196e-01 -1.39181343e-02 2.27069348e+01] [ 4.18667677e-02 -1.38795051e-03 9.99122238e-01 6.52772011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.674391418 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:165.17, Y:22.72, Z:6.53 [[ 9.30872398e-01 -3.63221639e-01 -3.93270844e-02 1.65167020e+02] [ 3.62959360e-01 9.31701765e-01 -1.38681095e-02 2.27182899e+01] [ 4.16783115e-02 -1.36469302e-03 9.99130150e-01 6.52913945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.704391418 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:165.19, Y:22.73, Z:6.53 [[ 9.31260862e-01 -3.62407846e-01 -3.75999932e-02 1.65191891e+02] [ 3.62166901e-01 9.32018762e-01 -1.32726348e-02 2.27318707e+01] [ 3.98540061e-02 -1.25718766e-03 9.99204723e-01 6.53052018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.734391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:165.22, Y:22.74, Z:6.53 [[ 9.31504931e-01 -3.61871789e-01 -3.67065554e-02 1.65217728e+02] [ 3.61641214e-01 9.32227111e-01 -1.29709541e-02 2.27434436e+01] [ 3.89126684e-02 -1.19209554e-03 9.99241904e-01 6.53223344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.764391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:165.24, Y:22.75, Z:6.53 [[ 9.31844777e-01 -3.61084462e-01 -3.58235076e-02 1.65242506e+02] [ 3.60863764e-01 9.32532444e-01 -1.26721913e-02 2.27542955e+01] [ 3.79823145e-02 -1.11889055e-03 9.99277785e-01 6.53372683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.794391418 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:165.27, Y:22.77, Z:6.54 [[ 9.32123244e-01 -3.60441810e-01 -3.50422609e-02 1.65268441e+02] [ 3.60229979e-01 9.32781094e-01 -1.24013035e-02 2.27659426e+01] [ 3.71567067e-02 -1.06372967e-03 9.99308885e-01 6.53513576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.824391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:165.29, Y:22.78, Z:6.54 [[ 9.33013290e-01 -3.58148085e-01 -3.48733538e-02 1.65293625e+02] [ 3.57936225e-01 9.33664306e-01 -1.23540874e-02 2.27789622e+01] [ 3.69845984e-02 -9.55908870e-04 9.99315379e-01 6.53619903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.854391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:165.32, Y:22.79, Z:6.54 [[ 9.33576591e-01 -3.56670634e-01 -3.49400608e-02 1.65316820e+02] [ 3.56173117e-01 9.34210863e-01 -1.97680206e-02 2.27926440e+01] [ 3.96920568e-02 6.01025094e-03 9.99193884e-01 6.53923343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.884391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:165.35, Y:22.80, Z:6.54 [[ 9.34126686e-01 -3.54821952e-01 -3.88422006e-02 1.65345657e+02] [ 3.54839630e-01 9.34903390e-01 -6.67001856e-03 2.27981040e+01] [ 3.86803740e-02 -7.55210976e-03 9.99223095e-01 6.53654901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.914391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:165.37, Y:22.82, Z:6.54 [[ 9.34274641e-01 -3.54583178e-01 -3.74388144e-02 1.65369496e+02] [ 3.54049957e-01 9.35007345e-01 -2.02458039e-02 2.28159569e+01] [ 4.21843880e-02 5.65993054e-03 9.99093811e-01 6.54119591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.944391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:165.40, Y:22.82, Z:6.54 [[ 9.35086743e-01 -3.51949283e-01 -4.17670252e-02 1.65396618e+02] [ 3.51927727e-01 9.35992033e-01 -8.11102488e-03 2.28226110e+01] [ 4.19482722e-02 -7.11446238e-03 9.99094453e-01 6.53912162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.974391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:165.42, Y:22.84, Z:6.54 [[ 9.35321321e-01 -3.51517941e-01 -4.01143744e-02 1.65420439e+02] [ 3.51229132e-01 9.36180848e-01 -1.42659142e-02 2.28359678e+01] [ 4.25690339e-02 -7.46123192e-04 9.99093249e-01 6.54156776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:165.45, Y:22.85, Z:6.54 [[ 9.35781740e-01 -3.50233962e-01 -4.06042785e-02 1.65446790e+02] [ 3.49936163e-01 9.36662003e-01 -1.44559292e-02 2.28462461e+01] [ 4.30954421e-02 -6.81310859e-04 9.99070728e-01 6.54271620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.034391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:165.47, Y:22.86, Z:6.54 [[ 9.36061832e-01 -3.49444084e-01 -4.09521456e-02 1.65470992e+02] [ 3.49139742e-01 9.36957004e-01 -1.45949742e-02 2.28585742e+01] [ 4.34705270e-02 -6.36223213e-04 9.99054507e-01 6.54431120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:165.50, Y:22.87, Z:6.55 [[ 9.36141151e-01 -3.49198324e-01 -4.12344011e-02 1.65497180e+02] [ 3.48889035e-01 9.37048637e-01 -1.47069146e-02 2.28694894e+01] [ 4.37742693e-02 -6.18482431e-04 9.99041256e-01 6.54565164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09439141800001 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:165.52, Y:22.88, Z:6.55 [[ 9.36165239e-01 -3.49112739e-01 -4.14118297e-02 1.65521672e+02] [ 3.48800061e-01 9.37080536e-01 -1.47846834e-02 2.28799089e+01] [ 4.39677409e-02 -6.03541990e-04 9.99032769e-01 6.54640455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12439141800002 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:165.54, Y:22.89, Z:6.55 [[ 9.36444041e-01 -3.48359837e-01 -4.14485494e-02 1.65544314e+02] [ 3.47610956e-01 9.37323613e-01 -2.43118861e-02 2.28940014e+01] [ 4.73199888e-02 8.35875098e-03 9.98844808e-01 6.54970194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15439141800002 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:165.57, Y:22.90, Z:6.55 [[ 9.35859900e-01 -3.49584093e-01 -4.42403678e-02 1.65572216e+02] [ 3.49138850e-01 9.36904354e-01 -1.76718741e-02 2.29018591e+01] [ 4.76267993e-02 1.09236721e-03 9.98864603e-01 6.54954040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18439141800002 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:165.60, Y:22.91, Z:6.55 [[ 9.35123541e-01 -3.51415628e-01 -4.52881804e-02 1.65600940e+02] [ 3.51527793e-01 9.36159935e-01 -5.72591431e-03 2.29073340e+01] [ 4.44091558e-02 -1.05656169e-02 9.98957554e-01 6.54759844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21439141800002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:165.62, Y:22.93, Z:6.56 [[ 9.35103117e-01 -3.52141459e-01 -3.97310088e-02 1.65622152e+02] [ 3.51031325e-01 9.35804822e-01 -3.23472508e-02 2.29283959e+01] [ 4.85712777e-02 1.63011863e-02 9.98686689e-01 6.55579496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.244391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:165.65, Y:22.93, Z:6.55 [[ 9.34085107e-01 -3.54161553e-01 -4.53277817e-02 1.65654670e+02] [ 3.54578578e-01 9.35025388e-01 1.24703318e-03 2.29256415e+01] [ 4.19409755e-02 -1.72370955e-02 9.98971390e-01 6.54989381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.274391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:165.68, Y:22.94, Z:6.55 [[ 9.33718994e-01 -3.55883653e-01 -3.89315568e-02 1.65678086e+02] [ 3.55611522e-01 9.34529902e-01 -1.39394167e-02 2.29430314e+01] [ 4.13435145e-02 -8.29012009e-04 9.99144647e-01 6.55486972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.304391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:165.70, Y:22.96, Z:6.56 [[ 9.33514752e-01 -3.56618264e-01 -3.70624012e-02 1.65701537e+02] [ 3.55751094e-01 9.34159757e-01 -2.80483020e-02 2.29586069e+01] [ 4.46247405e-02 1.29985139e-02 9.98919252e-01 6.56001682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.334391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:165.73, Y:22.96, Z:6.55 [[ 9.32727479e-01 -3.58103681e-01 -4.22043032e-02 1.65733859e+02] [ 3.58393546e-01 9.33570303e-01 -7.45250253e-04 2.29572183e+01] [ 3.96675609e-02 -1.44306345e-02 9.99108724e-01 6.55443710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.364391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:165.76, Y:22.97, Z:6.56 [[ 9.31822877e-01 -3.61017363e-01 -3.70484703e-02 1.65757738e+02] [ 3.60773841e-01 9.32558580e-01 -1.32939700e-02 2.29723708e+01] [ 3.93492228e-02 -9.78493508e-04 9.99225040e-01 6.55815516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.394391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:165.78, Y:22.98, Z:6.56 [[ 9.31423164e-01 -3.62058418e-01 -3.69403802e-02 1.65783500e+02] [ 3.61816633e-01 9.32154862e-01 -1.32679052e-02 2.29815282e+01] [ 3.92379118e-02 -1.00760975e-03 9.99229389e-01 6.55884644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.424391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:165.81, Y:22.99, Z:6.56 [[ 9.31163495e-01 -3.62708776e-01 -3.71064562e-02 1.65809904e+02] [ 3.62465103e-01 9.31901966e-01 -1.33332401e-02 2.29908465e+01] [ 3.94156627e-02 -1.03436902e-03 9.99222365e-01 6.55997888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.454391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:165.84, Y:23.00, Z:6.56 [[ 9.31122965e-01 -3.62753230e-01 -3.76844683e-02 1.65836326e+02] [ 3.62501411e-01 9.31884656e-01 -1.35541401e-02 2.30005789e+01] [ 4.00343858e-02 -1.04010180e-03 9.99197761e-01 6.56085946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.484391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:165.86, Y:23.01, Z:6.56 [[ 9.31274055e-01 -3.62335075e-01 -3.79727385e-02 1.65862422e+02] [ 3.62078493e-01 9.32047348e-01 -1.36713623e-02 2.30104010e+01] [ 4.03460043e-02 -1.01732696e-03 9.99185251e-01 6.56170704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.514391418 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:165.89, Y:23.02, Z:6.56 [[ 9.31520191e-01 -3.61604129e-01 -3.88920122e-02 1.65888229e+02] [ 3.61333754e-01 9.32331197e-01 -1.40163108e-02 2.30203820e+01] [ 4.13285921e-02 -9.96520305e-04 9.99145112e-01 6.56284241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.544391418 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:165.91, Y:23.03, Z:6.56 [[ 9.32019304e-01 -3.60268043e-01 -3.93313437e-02 1.65914846e+02] [ 3.59989750e-01 9.32848360e-01 -1.41886131e-02 2.30300472e+01] [ 4.18018833e-02 -9.34819265e-04 9.99125482e-01 6.56345489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.574391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:165.94, Y:23.04, Z:6.56 [[ 9.33124650e-01 -3.57283771e-01 -4.03323094e-02 1.65940268e+02] [ 3.56987751e-01 9.33995532e-01 -1.45633980e-02 2.30400349e+01] [ 4.28734626e-02 -8.08674746e-04 9.99080183e-01 6.56360518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.604391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:165.97, Y:23.05, Z:6.56 [[ 9.33661021e-01 -3.55842708e-01 -4.06578997e-02 1.65965850e+02] [ 3.55540252e-01 9.34545566e-01 -1.46871909e-02 2.30497565e+01] [ 4.32229897e-02 -7.42662252e-04 9.99065174e-01 6.56429999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.634391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:165.99, Y:23.06, Z:6.57 [[ 9.34131574e-01 -3.54614239e-01 -4.05825545e-02 1.65991838e+02] [ 3.54311451e-01 9.35012450e-01 -1.46667749e-02 2.30597601e+01] [ 4.31462410e-02 -6.78166238e-04 9.99068537e-01 6.56538949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.664391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:166.02, Y:23.07, Z:6.57 [[ 9.34711938e-01 -3.53146451e-01 -4.00147028e-02 1.66018218e+02] [ 3.52850148e-01 9.35567869e-01 -1.44753466e-02 2.30699659e+01] [ 4.25483875e-02 -5.88914575e-04 9.99094234e-01 6.56632900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.694391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:166.04, Y:23.08, Z:6.57 [[ 9.36271459e-01 -3.49108148e-01 -3.89776421e-02 1.66043608e+02] [ 3.48822919e-01 9.37082363e-01 -1.41143744e-02 2.30806382e+01] [ 4.14527041e-02 -3.81408959e-04 9.99140394e-01 6.56732358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.724391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:166.07, Y:23.09, Z:6.57 [[ 9.37202522e-01 -3.46664926e-01 -3.84039365e-02 1.66068412e+02] [ 3.46385412e-01 9.37989000e-01 -1.39205780e-02 2.30899491e+01] [ 4.08482461e-02 -2.56162568e-04 9.99165329e-01 6.56851734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.754391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:166.09, Y:23.10, Z:6.57 [[ 9.38915896e-01 -3.42101859e-01 -3.74600767e-02 1.66094320e+02] [ 3.41832039e-01 9.39662873e-01 -1.35846074e-02 2.30994988e+01] [ 3.98471628e-02 -5.02505544e-05 9.99205785e-01 6.56991392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:166.12, Y:23.11, Z:6.57 [[ 9.39718078e-01 -3.39888089e-01 -3.74969478e-02 1.66119888e+02] [ 3.39615420e-01 9.40465887e-01 -1.36118690e-02 2.31086627e+01] [ 3.98911124e-02 5.67777200e-05 9.99204031e-01 6.57125392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.814391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:166.15, Y:23.12, Z:6.57 [[ 9.40228019e-01 -3.38469709e-01 -3.75436881e-02 1.66145818e+02] [ 3.38194978e-01 9.40977280e-01 -1.36351172e-02 2.31181200e+01] [ 3.99428317e-02 1.23032440e-04 9.99201959e-01 6.57239885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84439141800001 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:166.17, Y:23.13, Z:6.57 [[ 9.40379322e-01 -3.38018932e-01 -3.78144491e-02 1.66172317e+02] [ 3.37739299e-01 9.41139298e-01 -1.37473011e-02 2.31275602e+01] [ 4.02355121e-02 1.56252121e-04 9.99190212e-01 6.57395216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87439141800002 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:166.20, Y:23.14, Z:6.58 [[ 9.40309043e-01 -3.38214896e-01 -3.78098997e-02 1.66198969e+02] [ 3.37934919e-01 9.41068891e-01 -1.37598024e-02 2.31374428e+01] [ 4.02354905e-02 1.61181197e-04 9.99190212e-01 6.57506334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90439141800002 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:166.22, Y:23.14, Z:6.58 [[ 9.40129836e-01 -3.38705752e-01 -3.78722164e-02 1.66224836e+02] [ 3.38424888e-01 9.40892338e-01 -1.37914446e-02 2.31448393e+01] [ 4.03049198e-02 1.48848009e-04 9.99187415e-01 6.57608044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93439141800002 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:166.25, Y:23.15, Z:6.58 [[ 9.39643707e-01 -3.40063374e-01 -3.77704437e-02 1.66251508e+02] [ 3.39784720e-01 9.40402516e-01 -1.37641715e-02 2.31531346e+01] [ 4.02001108e-02 9.95974861e-05 9.99191644e-01 6.57722621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.964391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:166.28, Y:23.16, Z:6.58 [[ 9.38880217e-01 -3.42178202e-01 -3.76565674e-02 1.66278651e+02] [ 3.41902373e-01 9.39635077e-01 -1.37364372e-02 2.31613173e+01] [ 4.00837410e-02 2.19993978e-05 9.99196324e-01 6.57834400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.994391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:166.31, Y:23.17, Z:6.58 [[ 9.38001994e-01 -3.44547288e-01 -3.79397752e-02 1.66305412e+02] [ 3.44268657e-01 9.38768961e-01 -1.38538746e-02 2.31690807e+01] [ 4.03899983e-02 -6.65134470e-05 9.99183989e-01 6.57958974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.024391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:166.33, Y:23.18, Z:6.58 [[ 9.36953341e-01 -3.47415500e-01 -3.76949235e-02 1.66332130e+02] [ 3.47142220e-01 9.37711277e-01 -1.37782265e-02 2.31770156e+01] [ 4.01337243e-02 -1.75944064e-04 9.99194302e-01 6.58032877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.054391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:166.36, Y:23.18, Z:6.58 [[ 9.34639922e-01 -3.53485207e-01 -3.86836437e-02 1.66359656e+02] [ 3.53201963e-01 9.35440014e-01 -1.41546100e-02 2.31838675e+01] [ 4.11896735e-02 -4.33675293e-04 9.99151251e-01 6.58165884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.084391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:166.39, Y:23.19, Z:6.58 [[ 9.33427110e-01 -3.56622732e-01 -3.91670602e-02 1.66385518e+02] [ 3.56334513e-01 9.34248311e-01 -1.43459856e-02 2.31918671e+01] [ 4.17078644e-02 -5.65643450e-04 9.99129688e-01 6.58292764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.114391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:166.41, Y:23.20, Z:6.59 [[ 9.32590962e-01 -3.58784117e-01 -3.93453166e-02 1.66409030e+02] [ 3.58039890e-01 9.33376732e-01 -2.48055278e-02 2.32034641e+01] [ 4.56238325e-02 9.04621821e-03 9.98917730e-01 6.58677734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.144391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:166.44, Y:23.20, Z:6.58 [[ 9.30031403e-01 -3.64884014e-01 -4.36032714e-02 1.66441456e+02] [ 3.64969957e-01 9.30998265e-01 -6.25785350e-03 2.32033547e+01] [ 4.28779608e-02 -1.00938838e-02 9.99029326e-01 6.58312945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.174391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:166.46, Y:23.21, Z:6.59 [[ 9.28478248e-01 -3.68639620e-01 -4.50885117e-02 1.66464721e+02] [ 3.68640543e-01 9.29532257e-01 -8.59847426e-03 2.32133306e+01] [ 4.50809644e-02 -8.63795714e-03 9.98945991e-01 6.58655958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.204391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:166.49, Y:23.23, Z:6.59 [[ 9.28057464e-01 -3.70537328e-01 -3.75690410e-02 1.66490911e+02] [ 3.69940076e-01 9.28794545e-01 -2.20234606e-02 2.32278666e+01] [ 4.30544346e-02 6.54074311e-03 9.99051317e-01 6.58880731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.234391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:166.51, Y:23.24, Z:6.59 [[ 9.27152111e-01 -3.72741278e-01 -3.81169717e-02 1.66514730e+02] [ 3.71971288e-01 9.27883386e-01 -2.58801773e-02 2.32361771e+01] [ 4.50147151e-02 9.81644202e-03 9.98938093e-01 6.59187363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.264391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:166.55, Y:23.24, Z:6.59 [[ 9.25806718e-01 -3.75648493e-01 -4.20729155e-02 1.66547103e+02] [ 3.75819012e-01 9.26684095e-01 -4.08144315e-03 2.32375739e+01] [ 4.05214896e-02 -1.20331740e-02 9.99106206e-01 6.58763073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.294391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:166.57, Y:23.25, Z:6.59 [[ 9.25512910e-01 -3.76749932e-01 -3.85401327e-02 1.66572049e+02] [ 3.76428613e-01 9.26314999e-01 -1.55570671e-02 2.32516914e+01] [ 4.15614269e-02 -1.09342269e-04 9.99135945e-01 6.59107471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.324391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:166.60, Y:23.26, Z:6.59 [[ 9.25302582e-01 -3.77370900e-01 -3.75011346e-02 1.66599018e+02] [ 3.77171200e-01 9.26058707e-01 -1.25362090e-02 2.32595812e+01] [ 3.94590527e-02 -2.54456136e-03 9.99217948e-01 6.58927911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.354391418 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:166.62, Y:23.27, Z:6.59 [[ 9.24200981e-01 -3.80116296e-01 -3.69343837e-02 1.66624559e+02] [ 3.79875928e-01 9.24937540e-01 -1.35951085e-02 2.32697336e+01] [ 3.93297203e-02 -1.46587061e-03 9.99225212e-01 6.59206500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.384391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:166.65, Y:23.28, Z:6.60 [[ 9.24102204e-01 -3.80468096e-01 -3.57651309e-02 1.66649534e+02] [ 3.79888538e-01 9.24768999e-01 -2.20680235e-02 2.32828974e+01] [ 4.14706631e-02 6.80634588e-03 9.99116539e-01 6.59528502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.414391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:166.68, Y:23.29, Z:6.59 [[ 9.23693620e-01 -3.81123761e-01 -3.91762056e-02 1.66679323e+02] [ 3.81201644e-01 9.24474002e-01 -5.75558892e-03 2.32862716e+01] [ 3.84109753e-02 -9.61763322e-03 9.99215742e-01 6.59188791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.444391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:166.70, Y:23.30, Z:6.59 [[ 9.23439020e-01 -3.81957717e-01 -3.69956557e-02 1.66702883e+02] [ 3.81716581e-01 9.24178561e-01 -1.36542560e-02 2.33002302e+01] [ 3.94059403e-02 -1.51298244e-03 9.99222139e-01 6.59377125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.474391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:166.73, Y:23.32, Z:6.60 [[ 9.23468802e-01 -3.82136715e-01 -3.43060350e-02 1.66726096e+02] [ 3.81194937e-01 9.23975098e-01 -3.09909583e-02 2.33183900e+01] [ 4.35407050e-02 1.55418963e-02 9.98930757e-01 6.59768008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:166.76, Y:23.32, Z:6.60 [[ 9.23898831e-01 -3.80366459e-01 -4.16209890e-02 1.66756235e+02] [ 3.80322969e-01 9.24807303e-01 -9.26774212e-03 2.33186674e+01] [ 4.20165328e-02 -7.26696198e-03 9.99090488e-01 6.59611948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.534391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:166.78, Y:23.33, Z:6.60 [[ 9.23922067e-01 -3.80473600e-01 -4.00980600e-02 1.66783286e+02] [ 3.80608958e-01 9.24725128e-01 -4.50104285e-03 2.33290604e+01] [ 3.87922116e-02 -1.11030680e-02 9.99185611e-01 6.59519621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:166.81, Y:23.35, Z:6.60 [[ 9.24583040e-01 -3.79197502e-01 -3.68165285e-02 1.66806220e+02] [ 3.78954951e-01 9.25314772e-01 -1.36278236e-02 2.33458719e+01] [ 3.92345143e-02 -1.35175125e-03 9.99229116e-01 6.59794237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59439141800001 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:166.83, Y:23.36, Z:6.60 [[ 9.24811660e-01 -3.78616243e-01 -3.70558194e-02 1.66831172e+02] [ 3.78369482e-01 9.25552804e-01 -1.37310862e-02 2.33570777e+01] [ 3.94959298e-02 -1.32212254e-03 9.99218857e-01 6.59958235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62439141800002 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:166.86, Y:23.37, Z:6.60 [[ 9.24882256e-01 -3.78389272e-01 -3.76081322e-02 1.66855290e+02] [ 3.78134501e-01 9.25645618e-01 -1.39459531e-02 2.33682043e+01] [ 4.00888018e-02 -1.32256768e-03 9.99195246e-01 6.60072150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65439141800002 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:166.88, Y:23.38, Z:6.60 [[ 9.24874061e-01 -3.78336482e-01 -3.83337622e-02 1.66879910e+02] [ 3.78071340e-01 9.25667175e-01 -1.42247128e-02 2.33813488e+01] [ 4.08660332e-02 -1.33682901e-03 9.99163740e-01 6.60228964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68439141800002 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:166.91, Y:23.39, Z:6.60 [[ 9.24671380e-01 -3.78847359e-01 -3.81774572e-02 1.66905173e+02] [ 3.78584251e-01 9.25458200e-01 -1.41804276e-02 2.33926207e+01] [ 4.07038584e-02 -1.34114847e-03 9.99170354e-01 6.60358980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.714391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:166.93, Y:23.40, Z:6.61 [[ 9.24312744e-01 -3.79687352e-01 -3.85157979e-02 1.66930742e+02] [ 3.79419714e-01 9.25113840e-01 -1.43200324e-02 2.34040770e+01] [ 4.10686329e-02 -1.37746460e-03 9.99155378e-01 6.60511715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.744391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:166.96, Y:23.42, Z:6.61 [[ 9.23785185e-01 -3.80918104e-01 -3.90170622e-02 1.66956562e+02] [ 3.80643959e-01 9.24607663e-01 -1.45205058e-02 2.34156610e+01] [ 4.16065983e-02 -1.43778091e-03 9.99133036e-01 6.60647351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.774391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:166.98, Y:23.42, Z:6.61 [[ 9.21386393e-01 -3.84276397e-01 -5.81271458e-02 1.66978907e+02] [ 3.85385868e-01 9.22713419e-01 8.81354806e-03 2.34178232e+01] [ 5.02478590e-02 -3.05220638e-02 9.98270282e-01 6.61201401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.804391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:167.00, Y:23.44, Z:6.62 [[ 9.21699369e-01 -3.85624226e-01 -4.20027358e-02 1.67003438e+02] [ 3.85080055e-01 9.22651405e-01 -2.06817731e-02 2.34423789e+01] [ 4.67292760e-02 2.88796142e-03 9.98903416e-01 6.61575993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.834391418 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:167.03, Y:23.45, Z:6.62 [[ 9.19739628e-01 -3.88851628e-01 -5.36043587e-02 1.67025927e+02] [ 3.88969536e-01 9.21210067e-01 -8.64366379e-03 2.34495656e+01] [ 5.27419776e-02 -1.29005424e-02 9.98524842e-01 6.61862779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.864391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:167.05, Y:23.46, Z:6.62 [[ 9.19376500e-01 -3.90067548e-01 -5.09329009e-02 1.67051953e+02] [ 3.90269328e-01 9.20678962e-01 -6.33256692e-03 2.34601471e+01] [ 4.93629792e-02 -1.40555358e-02 9.98682001e-01 6.61890602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.894391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:167.07, Y:23.48, Z:6.63 [[ 9.17454638e-01 -3.94186011e-01 -5.37994148e-02 1.67074380e+02] [ 3.94167716e-01 9.18967830e-01 -1.13990782e-02 2.34758983e+01] [ 5.39332886e-02 -1.07478553e-02 9.98486697e-01 6.62535484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.924391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:167.09, Y:23.49, Z:6.63 [[ 9.18504234e-01 -3.92372419e-01 -4.89270639e-02 1.67094500e+02] [ 3.91758063e-01 9.19805880e-01 -2.19718670e-02 2.34909013e+01] [ 5.36245557e-02 1.01368105e-03 9.98560654e-01 6.62927492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.954391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:167.13, Y:23.50, Z:6.63 [[ 9.19365181e-01 -3.90625533e-01 -4.66835841e-02 1.67125835e+02] [ 3.90274137e-01 9.20545479e-01 -1.67963902e-02 2.35006015e+01] [ 4.95354612e-02 -2.77737920e-03 9.98768504e-01 6.62687760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.984391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:167.15, Y:23.54, Z:6.63 [[ 9.22285994e-01 -3.86119838e-01 -1.73209692e-02 1.67146941e+02] [ 3.83869172e-01 9.20296489e-01 -7.54906048e-02 2.35361876e+01] [ 4.50888472e-02 6.29749414e-02 9.96996064e-01 6.63083696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.014391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:167.19, Y:23.50, Z:6.61 [[ 9.18959704e-01 -3.88219523e-01 -6.92723953e-02 1.67185385e+02] [ 3.91616834e-01 9.19048174e-01 4.45725187e-02 2.34976181e+01] [ 4.63607464e-02 -6.80885847e-02 9.96601538e-01 6.61473205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.044391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:167.20, Y:23.56, Z:6.63 [[ 9.23002574e-01 -3.84308424e-01 -1.93205396e-02 1.67202154e+02] [ 3.82301965e-01 9.21573685e-01 -6.74325618e-02 2.35578302e+01] [ 4.37202025e-02 5.48541478e-02 9.97536749e-01 6.63193868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.074391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:167.24, Y:23.55, Z:6.62 [[ 9.23574963e-01 -3.81493424e-01 -3.83673830e-02 1.67237356e+02] [ 3.81276252e-01 9.24368127e-01 -1.31143185e-02 2.35479197e+01] [ 4.04686123e-02 -2.51651580e-03 9.99177641e-01 6.61964346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.104391418 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:167.27, Y:23.55, Z:6.62 [[ 9.23905237e-01 -3.78895412e-01 -5.32670637e-02 1.67268226e+02] [ 3.80009173e-01 9.24901880e-01 1.22286725e-02 2.35484464e+01] [ 4.46334195e-02 -3.15401074e-02 9.98505423e-01 6.62358312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.134391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:167.29, Y:23.57, Z:6.63 [[ 9.23539183e-01 -3.80322806e-01 -4.92944171e-02 1.67290408e+02] [ 3.80718112e-01 9.24689975e-01 -1.47263257e-03 2.35695416e+01] [ 4.61421291e-02 -1.74072435e-02 9.98783206e-01 6.63038703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.164391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:167.31, Y:23.61, Z:6.63 [[ 9.27566727e-01 -3.73139797e-01 -1.96636653e-02 1.67312250e+02] [ 3.71559972e-01 9.26649868e-01 -5.71245022e-02 2.36082847e+01] [ 3.95367580e-02 4.56805566e-02 9.98173398e-01 6.63402909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.194391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:167.35, Y:23.60, Z:6.62 [[ 9.28063543e-01 -3.70703167e-01 -3.57382345e-02 1.67345495e+02] [ 3.70468273e-01 9.28750901e-01 -1.32295874e-02 2.36004138e+01] [ 3.80961674e-02 -9.61984314e-04 9.99273614e-01 6.62285213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.224391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:167.37, Y:23.61, Z:6.62 [[ 9.28770527e-01 -3.68869319e-01 -3.63419069e-02 1.67370471e+02] [ 3.68624602e-01 9.29480839e-01 -1.34637512e-02 2.36116635e+01] [ 3.87454709e-02 -8.91785745e-04 9.99248714e-01 6.62332837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.254391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:167.39, Y:23.62, Z:6.62 [[ 9.30696388e-01 -3.63913836e-01 -3.70263934e-02 1.67391223e+02] [ 3.63515798e-01 9.31429114e-01 -1.72067109e-02 2.36234357e+01] [ 4.07492209e-02 2.55454479e-03 9.99166140e-01 6.62490799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:167.42, Y:23.63, Z:6.62 [[ 9.30063904e-01 -3.65369374e-01 -3.85532779e-02 1.67419913e+02] [ 3.65215321e-01 9.30855479e-01 -1.12181477e-02 2.36338253e+01] [ 3.99862976e-02 -3.64665351e-03 9.99193574e-01 6.62384654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.314391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:167.45, Y:23.65, Z:6.63 [[ 9.30499840e-01 -3.64318408e-01 -3.79755815e-02 1.67446000e+02] [ 3.64046087e-01 9.31274182e-01 -1.41012029e-02 2.36473001e+01] [ 4.05030064e-02 -7.03694808e-04 9.99179169e-01 6.62550926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34439141800001 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:167.47, Y:23.66, Z:6.63 [[ 9.30942148e-01 -3.63352581e-01 -3.63540693e-02 1.67465966e+02] [ 3.62513032e-01 9.31565961e-01 -2.77337838e-02 2.36622923e+01] [ 4.39433555e-02 1.26397244e-02 9.98954062e-01 6.63080667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37439141800002 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:167.50, Y:23.66, Z:6.63 [[ 9.30142431e-01 -3.63712230e-01 -5.04824024e-02 1.67497438e+02] [ 3.64656127e-01 9.31081643e-01 1.06246138e-02 2.36575448e+01] [ 4.31389362e-02 -2.82911214e-02 9.98668436e-01 6.62575419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40439141800002 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:167.52, Y:23.69, Z:6.63 [[ 9.30586215e-01 -3.64592834e-01 -3.28840640e-02 1.67519287e+02] [ 3.63843800e-01 9.31078512e-01 -2.66550984e-02 2.36854254e+01] [ 4.03359032e-02 1.28402043e-02 9.99103670e-01 6.63101432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43439141800002 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:167.55, Y:23.68, Z:6.63 [[ 9.29079518e-01 -3.66124906e-01 -5.25718840e-02 1.67546028e+02] [ 3.66834163e-01 9.30276891e-01 4.19555212e-03 2.36836159e+01] [ 4.73703127e-02 -2.31831646e-02 9.98608329e-01 6.63334932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.464391418 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:167.57, Y:23.71, Z:6.64 [[ 9.30555277e-01 -3.65094073e-01 -2.78063834e-02 1.67571118e+02] [ 3.63864921e-01 9.30547512e-01 -4.10322759e-02 2.37136300e+01] [ 4.08558016e-02 2.80650333e-02 9.98770823e-01 6.63590288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.494391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:167.61, Y:23.70, Z:6.63 [[ 9.28075099e-01 -3.68555994e-01 -5.33206299e-02 1.67605998e+02] [ 3.69714853e-01 9.29047971e-01 1.34460147e-02 2.37034412e+01] [ 4.45818137e-02 -3.21923402e-02 9.98486913e-01 6.62957101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.524391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:167.63, Y:23.74, Z:6.64 [[ 9.29991970e-01 -3.66647331e-01 -2.61662067e-02 1.67631728e+02] [ 3.65440248e-01 9.29902565e-01 -4.16490558e-02 2.37372296e+01] [ 3.96025379e-02 2.91711024e-02 9.98789610e-01 6.63684420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.554391418 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:167.66, Y:23.73, Z:6.63 [[ 9.27793960e-01 -3.70007108e-01 -4.78863941e-02 1.67663632e+02] [ 3.70714913e-01 9.28723760e-01 6.52929349e-03 2.37296311e+01] [ 4.20573470e-02 -2.38100395e-02 9.98831448e-01 6.63213925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.584391418 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:167.69, Y:23.76, Z:6.64 [[ 9.28987151e-01 -3.69063076e-01 -2.78445485e-02 1.67691718e+02] [ 3.68057633e-01 9.29128266e-01 -3.54153044e-02 2.37574653e+01] [ 3.89416382e-02 2.26519641e-02 9.98984703e-01 6.63680305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.614391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:167.72, Y:23.76, Z:6.63 [[ 9.28388511e-01 -3.69856901e-01 -3.60644635e-02 1.67721186e+02] [ 3.69617238e-01 9.29088257e-01 -1.33457245e-02 2.37574398e+01] [ 3.84430779e-02 -9.40030055e-04 9.99260350e-01 6.63125551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.644391418 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:167.75, Y:23.76, Z:6.62 [[ 9.28085614e-01 -3.70399565e-01 -3.82263827e-02 1.67749006e+02] [ 3.70965193e-01 9.28606118e-01 8.68920584e-03 2.37583618e+01] [ 3.22787748e-02 -2.22449844e-02 9.99231325e-01 6.62490758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.674391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:167.77, Y:23.78, Z:6.64 [[ 9.27552138e-01 -3.72488248e-01 -2.99922813e-02 1.67769738e+02] [ 3.71840347e-01 9.27957923e-01 -2.50768647e-02 2.37837687e+01] [ 3.71724125e-02 1.21077592e-02 9.99235515e-01 6.63591876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.704391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:167.80, Y:23.78, Z:6.63 [[ 9.27558956e-01 -3.72089716e-01 -3.44038776e-02 1.67800180e+02] [ 3.72440909e-01 9.28046421e-01 4.19634850e-03 2.37811228e+01] [ 3.03669773e-02 -1.67057721e-02 9.99399201e-01 6.62596865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.734391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:167.82, Y:23.80, Z:6.63 [[ 9.27560252e-01 -3.72582683e-01 -2.85328466e-02 1.67824825e+02] [ 3.72436040e-01 9.27998568e-01 -1.04906593e-02 2.37981771e+01] [ 3.03870787e-02 -8.95941855e-04 9.99537805e-01 6.63055389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.764391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:167.85, Y:23.82, Z:6.64 [[ 9.27544629e-01 -3.72779193e-01 -2.63938370e-02 1.67847592e+02] [ 3.72051444e-01 9.27767574e-01 -2.87237344e-02 2.38164832e+01] [ 3.51949566e-02 1.68226804e-02 9.99238867e-01 6.63660261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.794391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:167.88, Y:23.82, Z:6.64 [[ 9.26352567e-01 -3.74866302e-01 -3.66902870e-02 1.67878270e+02] [ 3.74788970e-01 9.27064263e-01 -9.22391078e-03 2.38206283e+01] [ 3.74719872e-02 -5.20652145e-03 9.99284115e-01 6.63549923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.824391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:167.91, Y:23.84, Z:6.64 [[ 9.28779373e-01 -3.69562230e-01 -2.81537633e-02 1.67908910e+02] [ 3.69022784e-01 9.29145489e-01 -2.26018924e-02 2.38378061e+01] [ 3.45117479e-02 1.06027913e-02 9.99348048e-01 6.63663204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.854391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:167.94, Y:23.84, Z:6.63 [[ 9.28400225e-01 -3.69659343e-01 -3.77490608e-02 1.67937915e+02] [ 3.69872098e-01 9.29081567e-01 -1.43957182e-03 2.38420128e+01] [ 3.56041077e-02 -1.26258255e-02 9.99286213e-01 6.63463182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.884391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:167.97, Y:23.86, Z:6.64 [[ 9.30792015e-01 -3.64594129e-01 -2.64072947e-02 1.67967323e+02] [ 3.64065106e-01 9.31093994e-01 -2.28160627e-02 2.38612580e+01] [ 3.29062760e-02 1.16230344e-02 9.99390856e-01 6.63778099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.914391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:168.00, Y:23.87, Z:6.63 [[ 9.31736975e-01 -3.61830503e-01 -3.07391776e-02 1.67998703e+02] [ 3.61652211e-01 9.32243752e-01 -1.13694817e-02 2.38672771e+01] [ 3.27702315e-02 -5.23525035e-04 9.99462775e-01 6.63486135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.944391418 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:168.03, Y:23.88, Z:6.63 [[ 9.33215959e-01 -3.57994447e-01 -3.07887998e-02 1.68029163e+02] [ 3.57813563e-01 9.33723633e-01 -1.13855904e-02 2.38790657e+01] [ 3.28242081e-02 -3.91435436e-04 9.99461064e-01 6.63453054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.974391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:168.06, Y:23.89, Z:6.63 [[ 9.33807390e-01 -3.56430552e-01 -3.10003254e-02 1.68059312e+02] [ 3.56246402e-01 9.34321757e-01 -1.14610443e-02 2.38902906e+01] [ 3.30493448e-02 -3.41346531e-04 9.99453663e-01 6.63488678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:168.09, Y:23.90, Z:6.64 [[ 9.34263474e-01 -3.55182335e-01 -3.15795826e-02 1.68089195e+02] [ 3.54990621e-01 9.34796992e-01 -1.16723403e-02 2.39014650e+01] [ 3.36663079e-02 -3.05414404e-04 9.99433083e-01 6.63532605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.034391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:168.12, Y:23.91, Z:6.64 [[ 9.34713298e-01 -3.53980181e-01 -3.17660449e-02 1.68120043e+02] [ 3.53785611e-01 9.35252886e-01 -1.17380332e-02 2.39132646e+01] [ 3.38643163e-02 -2.66673846e-04 9.99426404e-01 6.63546644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:168.15, Y:23.92, Z:6.64 [[ 9.34817718e-01 -3.53675555e-01 -3.20848323e-02 1.68150264e+02] [ 3.53477026e-01 9.35368127e-01 -1.18515538e-02 2.39241279e+01] [ 3.42027343e-02 -2.62208616e-04 9.99414881e-01 6.63610327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09439141800001 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:168.18, Y:23.94, Z:6.64 [[ 9.34825110e-01 -3.53626486e-01 -3.24086662e-02 1.68181438e+02] [ 3.53424034e-01 9.35386678e-01 -1.19672505e-02 2.39351257e+01] [ 3.45465713e-02 -2.66715316e-04 9.99403053e-01 6.63675370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12439141800002 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:168.21, Y:23.95, Z:6.64 [[ 9.34748584e-01 -3.53822729e-01 -3.24740121e-02 1.68211954e+02] [ 3.53619718e-01 9.35312461e-01 -1.19873282e-02 2.39458532e+01] [ 3.46147373e-02 -2.78312922e-04 9.99400692e-01 6.63717461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15439141800002 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:168.24, Y:23.96, Z:6.64 [[ 9.35002822e-01 -3.53128060e-01 -3.27153858e-02 1.68241127e+02] [ 3.52801219e-01 9.35570438e-01 -1.54679098e-02 2.39568499e+01] [ 3.60697008e-02 2.92051133e-03 9.99345009e-01 6.63896801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18439141800002 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:168.27, Y:23.96, Z:6.64 [[ 9.34825700e-01 -3.53452213e-01 -3.42409625e-02 1.68269021e+02] [ 3.53340882e-01 9.35446891e-01 -9.45173639e-03 2.39636664e+01] [ 3.53713390e-02 -3.26300580e-03 9.99368911e-01 6.63775708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.214391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:168.30, Y:23.98, Z:6.64 [[ 9.34559491e-01 -3.54344739e-01 -3.22236600e-02 1.68295818e+02] [ 3.54137130e-01 9.35114859e-01 -1.21281955e-02 2.39754179e+01] [ 3.44303855e-02 -7.70742716e-05 9.99407096e-01 6.63924498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.244391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:168.32, Y:23.98, Z:6.64 [[ 9.34210711e-01 -3.54517274e-01 -3.95960744e-02 1.68323673e+02] [ 3.54782318e-01 9.34948865e-01 -3.55629334e-04 2.39812883e+01] [ 3.71463816e-02 -1.37157543e-02 9.99215705e-01 6.64208141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.274391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:168.35, Y:24.00, Z:6.64 [[ 9.35238512e-01 -3.53006235e-01 -2.67492724e-02 1.68353115e+02] [ 3.52409615e-01 9.35522337e-01 -2.46052777e-02 2.40011529e+01] [ 3.37103582e-02 1.35851025e-02 9.99339310e-01 6.64447840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.304391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:168.39, Y:24.01, Z:6.64 [[ 9.35472861e-01 -3.51991632e-01 -3.15026544e-02 1.68385907e+02] [ 3.51799225e-01 9.36003126e-01 -1.16384023e-02 2.40050209e+01] [ 3.35832032e-02 -1.95199923e-04 9.99435906e-01 6.64131588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.334391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:168.42, Y:24.01, Z:6.64 [[ 9.35833249e-01 -3.51127617e-01 -3.04224736e-02 1.68416839e+02] [ 3.50947811e-01 9.36327598e-01 -1.12367012e-02 2.40141046e+01] [ 3.24309177e-02 -1.61021856e-04 9.99473966e-01 6.64238446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.364391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:168.45, Y:24.02, Z:6.64 [[ 9.35967724e-01 -3.50797526e-01 -3.00917844e-02 1.68448678e+02] [ 3.50621533e-01 9.36451319e-01 -1.11115949e-02 2.40245296e+01] [ 3.20774112e-02 -1.50733425e-04 9.99485376e-01 6.64330616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.394391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:168.48, Y:24.03, Z:6.65 [[ 9.35184803e-01 -3.52360337e-01 -3.56591795e-02 1.68478077e+02] [ 3.52473685e-01 9.35816030e-01 -3.26471983e-03 2.40324579e+01] [ 3.45207896e-02 -9.51580606e-03 9.99358677e-01 6.64564206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.424391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:168.51, Y:24.05, Z:6.65 [[ 9.35805456e-01 -3.51473246e-01 -2.71054620e-02 1.68508753e+02] [ 3.51015344e-01 9.36150112e-01 -2.02779852e-02 2.40473140e+01] [ 3.25019506e-02 9.46181611e-03 9.99426884e-01 6.64765111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.454391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:168.54, Y:24.05, Z:6.65 [[ 9.35517723e-01 -3.51918253e-01 -3.09860232e-02 1.68540177e+02] [ 3.51732806e-01 9.36030715e-01 -1.14251553e-02 2.40523153e+01] [ 3.30245901e-02 -2.10365605e-04 9.99454517e-01 6.64581914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.484391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:168.57, Y:24.06, Z:6.65 [[ 9.35013445e-01 -3.53231671e-01 -3.12608911e-02 1.68570413e+02] [ 3.53043698e-01 9.35535846e-01 -1.15251323e-02 2.40615565e+01] [ 3.33167260e-02 -2.60306947e-04 9.99444810e-01 6.64605982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.514391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:168.60, Y:24.07, Z:6.65 [[ 9.34547780e-01 -3.54426837e-01 -3.16554056e-02 1.68601252e+02] [ 3.54234832e-01 9.35083698e-01 -1.16688173e-02 2.40705102e+01] [ 3.37361958e-02 -3.08379952e-04 9.99430725e-01 6.64660318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.544391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:168.63, Y:24.08, Z:6.65 [[ 9.33302731e-01 -3.57686578e-01 -3.17226051e-02 1.68631069e+02] [ 3.57495715e-01 9.33841597e-01 -1.16912711e-02 2.40774512e+01] [ 3.38056989e-02 -4.29200118e-04 9.99428332e-01 6.64702154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.574391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:168.66, Y:24.09, Z:6.65 [[ 9.32721278e-01 -3.59204121e-01 -3.16767463e-02 1.68659674e+02] [ 3.59014703e-01 9.33258895e-01 -1.16738058e-02 2.40862667e+01] [ 3.37558844e-02 -4.84010622e-04 9.99429991e-01 6.64780081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.604391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:168.69, Y:24.10, Z:6.65 [[ 9.32005203e-01 -3.61082603e-01 -3.13951619e-02 1.68687367e+02] [ 3.60897529e-01 9.32533676e-01 -1.15722543e-02 2.40953519e+01] [ 3.34555854e-02 -5.45035172e-04 9.99440057e-01 6.64865933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.634391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:168.71, Y:24.10, Z:6.65 [[ 9.30918164e-01 -3.63903113e-01 -3.10788865e-02 1.68713786e+02] [ 3.63723043e-01 9.31436592e-01 -1.14639984e-02 2.41027442e+01] [ 3.31197968e-02 -6.32062777e-04 9.99451189e-01 6.64948041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.664391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:168.74, Y:24.11, Z:6.65 [[ 9.30300659e-01 -3.65510211e-01 -3.07078098e-02 1.68739489e+02] [ 3.65335120e-01 9.30807084e-01 -1.13323298e-02 2.41113758e+01] [ 3.27251292e-02 -6.76167464e-04 9.99464161e-01 6.64993452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.694391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:168.77, Y:24.12, Z:6.65 [[ 9.29890638e-01 -3.66603491e-01 -3.00878813e-02 1.68765608e+02] [ 3.66435725e-01 9.30377020e-01 -1.11112513e-02 2.41199179e+01] [ 3.20664968e-02 -6.93026004e-04 9.99485497e-01 6.65044995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.724391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:168.79, Y:24.13, Z:6.65 [[ 9.29082408e-01 -3.68739851e-01 -2.89275265e-02 1.68791283e+02] [ 3.68585546e-01 9.29532350e-01 -1.06913302e-02 2.41279228e+01] [ 3.08313912e-02 -7.29141360e-04 9.99524334e-01 6.65121391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.754391418 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:168.82, Y:24.14, Z:6.65 [[ 9.28608056e-01 -3.69937085e-01 -2.88726783e-02 1.68816371e+02] [ 3.69783812e-01 9.29056495e-01 -1.06753225e-02 2.41367968e+01] [ 3.07735470e-02 -7.63458503e-04 9.99526091e-01 6.65190146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:168.84, Y:24.15, Z:6.65 [[ 9.28193855e-01 -3.71013146e-01 -2.83797859e-02 1.68843038e+02] [ 3.70865414e-01 9.28627286e-01 -1.04980397e-02 2.41461815e+01] [ 3.02491542e-02 -7.80865107e-04 9.99542085e-01 6.65250670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.814391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:168.87, Y:24.16, Z:6.65 [[ 9.27292062e-01 -3.73259735e-01 -2.84007473e-02 1.68868510e+02] [ 3.73112576e-01 9.27726497e-01 -1.05143915e-02 2.41550422e+01] [ 3.02727248e-02 -8.46764235e-04 9.99541317e-01 6.65316679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84439141800001 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:168.89, Y:24.16, Z:6.65 [[ 9.26660807e-01 -3.74826363e-01 -2.83715747e-02 1.68894611e+02] [ 3.74680090e-01 9.27094602e-01 -1.05085268e-02 2.41644121e+01] [ 3.02420067e-02 -8.92424269e-04 9.99542208e-01 6.65366030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87439141800002 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:168.92, Y:24.17, Z:6.66 [[ 9.25036914e-01 -3.77903007e-01 -3.86784736e-02 1.68920053e+02] [ 3.78434050e-01 9.25600284e-01 7.19612222e-03 2.41666082e+01] [ 3.30813699e-02 -2.12939301e-02 9.99225796e-01 6.65561043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90439141800002 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:168.95, Y:24.19, Z:6.66 [[ 9.25083103e-01 -3.79210384e-01 -2.05118567e-02 1.68945170e+02] [ 3.78563789e-01 9.25103653e-01 -2.95412966e-02 2.41920096e+01] [ 3.01779600e-02 1.95631081e-02 9.99353079e-01 6.65931053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93439141800002 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:168.98, Y:24.19, Z:6.65 [[ 9.23303193e-01 -3.83073623e-01 -2.76733099e-02 1.68975147e+02] [ 3.82937624e-01 9.23717138e-01 -1.02676623e-02 2.41922684e+01] [ 2.94955812e-02 -1.11698617e-03 9.99564287e-01 6.65474309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.964391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:169.01, Y:24.20, Z:6.66 [[ 9.22561216e-01 -3.84876117e-01 -2.74076208e-02 1.69005738e+02] [ 3.84743278e-01 9.22967517e-01 -1.01770347e-02 2.42031752e+01] [ 2.92132413e-02 -1.15596037e-03 9.99572534e-01 6.65530030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.994391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:169.03, Y:24.21, Z:6.66 [[ 9.22091484e-01 -3.86025028e-01 -2.70550085e-02 1.69032135e+02] [ 3.85774810e-01 9.22484646e-01 -1.41376503e-02 2.42146524e+01] [ 3.04153168e-02 2.59906620e-03 9.99533968e-01 6.65701841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.024391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:169.06, Y:24.22, Z:6.66 [[ 9.20401343e-01 -3.89895412e-01 -2.90333499e-02 1.69059735e+02] [ 3.89870622e-01 9.20844953e-01 -6.74318935e-03 2.42221935e+01] [ 2.93643523e-02 -5.11280968e-03 9.99555698e-01 6.65616937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.054391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:169.09, Y:24.23, Z:6.66 [[ 9.19780147e-01 -3.91468013e-01 -2.75186359e-02 1.69085050e+02] [ 3.91336635e-01 9.20190714e-01 -1.02316883e-02 2.42340726e+01] [ 2.93277719e-02 -1.35814663e-03 9.99568926e-01 6.65754588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.084391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:169.11, Y:24.24, Z:6.66 [[ 9.18134724e-01 -3.94821418e-01 -3.38330639e-02 1.69112562e+02] [ 3.95000648e-01 9.18679625e-01 -1.49502720e-03 2.42437107e+01] [ 3.16720152e-02 -1.19914458e-02 9.99426380e-01 6.65925388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.114391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:169.14, Y:24.26, Z:6.66 [[ 9.19183364e-01 -3.93094736e-01 -2.40514297e-02 1.69141529e+02] [ 3.92673760e-01 9.19450382e-01 -2.04527232e-02 2.42611321e+01] [ 3.01539541e-02 9.35543763e-03 9.99501483e-01 6.66146174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.144391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:169.17, Y:24.27, Z:6.66 [[ 9.18910720e-01 -3.93463158e-01 -2.81039584e-02 1.69170637e+02] [ 3.93326890e-01 9.19339247e-01 -1.04550213e-02 2.42681238e+01] [ 2.99507377e-02 -1.44681137e-03 9.99550329e-01 6.65987172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.174391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:169.20, Y:24.28, Z:6.66 [[ 9.18843491e-01 -3.93629072e-01 -2.79784114e-02 1.69196921e+02] [ 3.93494055e-01 9.19268224e-01 -1.04097119e-02 2.42791676e+01] [ 2.98172298e-02 -1.44444256e-03 9.99554324e-01 6.66044144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.204391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:169.22, Y:24.29, Z:6.66 [[ 9.17536973e-01 -3.95972233e-01 -3.64951243e-02 1.69224175e+02] [ 3.96336973e-01 9.18100013e-01 3.06107057e-03 2.42868193e+01] [ 3.22940751e-02 -1.72730125e-02 9.99329143e-01 6.66219353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.234391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:169.25, Y:24.31, Z:6.67 [[ 9.18728423e-01 -3.94264526e-01 -2.22163913e-02 1.69251099e+02] [ 3.93715204e-01 9.18880875e-01 -2.54219481e-02 2.43099943e+01] [ 3.04371894e-02 1.46089352e-02 9.99429916e-01 6.66625819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.264391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:169.28, Y:24.31, Z:6.66 [[ 9.17438480e-01 -3.96063646e-01 -3.79502763e-02 1.69279581e+02] [ 3.96543920e-01 9.17997584e-01 5.77547737e-03 2.43100329e+01] [ 3.25508053e-02 -2.03475965e-02 9.99262939e-01 6.66396808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.294391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:169.31, Y:24.34, Z:6.67 [[ 9.18766106e-01 -3.94262198e-01 -2.06436794e-02 1.69305535e+02] [ 3.93657883e-01 9.18828075e-01 -2.80791632e-02 2.43358144e+01] [ 3.00385448e-02 1.76716363e-02 9.99392515e-01 6.66851425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.324391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:169.34, Y:24.34, Z:6.66 [[ 9.18852875e-01 -3.93693657e-01 -2.67338324e-02 1.69336076e+02] [ 3.93570447e-01 9.19240660e-01 -9.94546620e-03 2.43388939e+01] [ 2.84902927e-02 -1.38322617e-03 9.99593112e-01 6.66400179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.354391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:169.36, Y:24.35, Z:6.67 [[ 9.18869035e-01 -3.93699398e-01 -2.60860259e-02 1.69363069e+02] [ 3.93582059e-01 9.19238253e-01 -9.70557144e-03 2.43520979e+01] [ 2.78003505e-02 -1.34884272e-03 9.99612586e-01 6.66502944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.384391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:169.39, Y:24.36, Z:6.67 [[ 9.18794748e-01 -3.93903890e-01 -2.56112508e-02 1.69388309e+02] [ 3.93790826e-01 9.19150673e-01 -9.53030681e-03 2.43632538e+01] [ 2.72946233e-02 -1.32907976e-03 9.99626549e-01 6.66562261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.414391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:169.42, Y:24.38, Z:6.67 [[ 9.18683135e-01 -3.94180312e-01 -2.53609779e-02 1.69416376e+02] [ 3.94069338e-01 9.19032180e-01 -9.44507017e-03 2.43754391e+01] [ 2.70306155e-02 -1.31695712e-03 9.99633739e-01 6.66658199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.444391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:169.45, Y:24.39, Z:6.67 [[ 9.18597839e-01 -3.94394960e-01 -2.51122599e-02 1.69445711e+02] [ 3.94286238e-01 9.18940095e-01 -9.35225356e-03 2.43879676e+01] [ 2.67651441e-02 -1.31045855e-03 9.99640890e-01 6.66754946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.474391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:169.48, Y:24.40, Z:6.67 [[ 9.18220759e-01 -3.95236030e-01 -2.56733003e-02 1.69475416e+02] [ 3.95122789e-01 9.18578582e-01 -9.55875323e-03 2.44013671e+01] [ 2.73609075e-02 -1.36706038e-03 9.99624686e-01 6.66827742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:169.50, Y:24.41, Z:6.67 [[ 9.17839564e-01 -3.96095866e-01 -2.60499262e-02 1.69503716e+02] [ 3.95979685e-01 9.18208071e-01 -9.69674617e-03 2.44131068e+01] [ 2.77600936e-02 -1.41518430e-03 9.99613613e-01 6.66847032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.534391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:169.53, Y:24.43, Z:6.67 [[ 9.17532829e-01 -3.96750009e-01 -2.68875207e-02 1.69532464e+02] [ 3.96626536e-01 9.17925506e-01 -1.00078126e-02 2.44251417e+01] [ 2.86513408e-02 -1.48180756e-03 9.99588368e-01 6.66905188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:169.56, Y:24.44, Z:6.67 [[ 9.16969584e-01 -3.97978210e-01 -2.79307365e-02 1.69560109e+02] [ 3.97845572e-01 9.17393507e-01 -1.03949023e-02 2.44389259e+01] [ 2.97604209e-02 -1.58031059e-03 9.99555811e-01 6.66984240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59439141800001 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:169.59, Y:24.45, Z:6.67 [[ 9.16867360e-01 -3.98197278e-01 -2.81633011e-02 1.69587844e+02] [ 3.98062540e-01 9.17298405e-01 -1.04809277e-02 2.44511389e+01] [ 3.00076281e-02 -1.60113471e-03 9.99548387e-01 6.67069684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62439141800002 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:169.62, Y:24.46, Z:6.67 [[ 9.16916906e-01 -3.98078173e-01 -2.82339559e-02 1.69617095e+02] [ 3.97942716e-01 9.17350098e-01 -1.05067512e-02 2.44640800e+01] [ 3.00829305e-02 -1.60167922e-03 9.99546123e-01 6.67180652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65439141800002 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:169.64, Y:24.48, Z:6.67 [[ 9.17602171e-01 -3.96555311e-01 -2.73887109e-02 1.69644914e+02] [ 3.96427236e-01 9.18009593e-01 -1.01898615e-02 2.44790656e+01] [ 2.91839431e-02 -1.50739196e-03 9.99572921e-01 6.67307057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68439141800002 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:169.67, Y:24.49, Z:6.67 [[ 9.17594525e-01 -3.96572968e-01 -2.73891954e-02 1.69673161e+02] [ 3.96444940e-01 9.18001962e-01 -1.01885591e-02 2.44896118e+01] [ 2.91838423e-02 -1.50934189e-03 9.99572921e-01 6.67381366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.714391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:169.70, Y:24.50, Z:6.67 [[ 9.18074395e-01 -3.95489390e-01 -2.69730864e-02 1.69699900e+02] [ 3.95364737e-01 9.18469398e-01 -1.00344379e-02 2.45020236e+01] [ 2.87424681e-02 -1.45184673e-03 9.99585796e-01 6.67476813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.744391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:169.73, Y:24.51, Z:6.68 [[ 9.18677772e-01 -3.94119809e-01 -2.64712469e-02 1.69727217e+02] [ 3.93999153e-01 9.19058033e-01 -9.84887837e-03 2.45145951e+01] [ 2.82102502e-02 -1.38170323e-03 9.99601057e-01 6.67570203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.774391418 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:169.75, Y:24.53, Z:6.68 [[ 9.19301755e-01 -3.92679594e-01 -2.62110836e-02 1.69754243e+02] [ 3.92560682e-01 9.19674391e-01 -9.75320518e-03 2.45271697e+01] [ 2.79355470e-02 -1.32330222e-03 9.99608851e-01 6.67676640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.804391418 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:169.78, Y:24.54, Z:6.68 [[ 9.19609869e-01 -3.92144475e-01 -2.32464784e-02 1.69779292e+02] [ 3.91872793e-01 9.19889444e-01 -1.54636637e-02 2.45436585e+01] [ 2.74481804e-02 5.11087534e-03 9.99610162e-01 6.67733555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.834391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:169.81, Y:24.55, Z:6.68 [[ 9.20808987e-01 -3.88946733e-01 -2.88313667e-02 1.69808536e+02] [ 3.89001189e-01 9.21228889e-01 -3.92541278e-03 2.45510490e+01] [ 2.80870644e-02 -7.60088056e-03 9.99576582e-01 6.67681699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.864391418 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:169.83, Y:24.57, Z:6.68 [[ 9.20958804e-01 -3.88723184e-01 -2.70031113e-02 1.69834905e+02] [ 3.88595086e-01 9.21353768e-01 -1.00545614e-02 2.45660332e+01] [ 2.87878594e-02 -1.23343953e-03 9.99584783e-01 6.67914831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.894391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:169.86, Y:24.58, Z:6.68 [[ 9.21032407e-01 -3.88527048e-01 -2.73136967e-02 1.69859908e+02] [ 3.88395853e-01 9.21436485e-01 -1.01718212e-02 2.45788030e+01] [ 2.91198643e-02 -1.23994960e-03 9.99575158e-01 6.68019303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.924391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:169.89, Y:24.59, Z:6.68 [[ 9.20967687e-01 -3.88633316e-01 -2.79761706e-02 1.69889153e+02] [ 3.88495632e-01 9.21391628e-01 -1.04217035e-02 2.45910598e+01] [ 2.98272306e-02 -1.27056790e-03 9.99554262e-01 6.68116636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.954391418 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:169.92, Y:24.60, Z:6.68 [[ 9.20912624e-01 -3.88753477e-01 -2.81188961e-02 1.69919897e+02] [ 3.88614525e-01 9.21340918e-01 -1.04720920e-02 2.46037467e+01] [ 2.99781518e-02 -1.28352974e-03 9.99549730e-01 6.68183332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.984391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:169.95, Y:24.62, Z:6.68 [[ 9.20912364e-01 -3.88715650e-01 -2.86454508e-02 1.69950562e+02] [ 3.88571552e-01 9.21356840e-01 -1.06640545e-02 2.46162954e+01] [ 3.05379669e-02 -1.31014767e-03 9.99532749e-01 6.68290200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.014391418 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:169.98, Y:24.63, Z:6.68 [[ 9.21082438e-01 -3.88243876e-01 -2.95606876e-02 1.69979378e+02] [ 3.88090357e-01 9.21555692e-01 -1.09991198e-02 2.46302201e+01] [ 3.15121608e-02 -1.34112174e-03 9.99502469e-01 6.68424819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.044391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:170.01, Y:24.64, Z:6.69 [[ 9.21223471e-01 -3.87874013e-01 -3.00177616e-02 1.70009303e+02] [ 3.87715803e-01 9.21711402e-01 -1.11601169e-02 2.46429287e+01] [ 3.19964324e-02 -1.35739894e-03 9.99487061e-01 6.68549476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.074391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:170.04, Y:24.66, Z:6.69 [[ 9.21491629e-01 -3.87211586e-01 -3.03375150e-02 1.70040094e+02] [ 3.87049750e-01 9.21989891e-01 -1.12752668e-02 2.46556721e+01] [ 3.23367961e-02 -1.35206359e-03 9.99476115e-01 6.68659659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.104391418 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:170.07, Y:24.67, Z:6.69 [[ 9.21853499e-01 -3.86340989e-01 -3.04428447e-02 1.70070771e+02] [ 3.86177691e-01 9.22355068e-01 -1.13101731e-02 2.46682350e+01] [ 3.24486956e-02 -1.33002484e-03 9.99472517e-01 6.68733047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.134391418 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:170.10, Y:24.68, Z:6.69 [[ 9.22585116e-01 -3.84558772e-01 -3.08424218e-02 1.70100248e+02] [ 3.84390299e-01 9.23099611e-01 -1.14544979e-02 2.46818120e+01] [ 3.28755552e-02 -1.28777850e-03 9.99458623e-01 6.68858436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.164391418 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:170.13, Y:24.69, Z:6.69 [[ 9.23132275e-01 -3.83245505e-01 -3.08169818e-02 1.70130995e+02] [ 3.83076700e-01 9.23645677e-01 -1.14413652e-02 2.46948234e+01] [ 3.28488238e-02 -1.24337425e-03 9.99459558e-01 6.68970658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.194391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:170.16, Y:24.71, Z:6.69 [[ 9.23751941e-01 -3.81772104e-01 -3.05354144e-02 1.70160194e+02] [ 3.81605695e-01 9.24255733e-01 -1.13328907e-02 2.47073628e+01] [ 3.25491133e-02 -1.18370824e-03 9.99469436e-01 6.69087352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.224391418 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:170.19, Y:24.72, Z:6.69 [[ 9.25140158e-01 -3.78389162e-01 -3.06158387e-02 1.70190491e+02] [ 3.78220139e-01 9.25645988e-01 -1.13591482e-02 2.47219503e+01] [ 3.26376069e-02 -1.07072261e-03 9.99466678e-01 6.69254856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.254391418 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:170.22, Y:24.73, Z:6.69 [[ 9.25968154e-01 -3.76353495e-01 -3.06761401e-02 1.70220713e+02] [ 3.76182823e-01 9.26475600e-01 -1.13774418e-02 2.47346381e+01] [ 3.27026353e-02 -1.00468822e-03 9.99464621e-01 6.69366735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:170.25, Y:24.75, Z:6.69 [[ 9.26766647e-01 -3.74373553e-01 -3.07899945e-02 1.70251545e+02] [ 3.74200655e-01 9.27277496e-01 -1.14155345e-02 2.47474805e+01] [ 3.28245432e-02 -9.42099519e-04 9.99460685e-01 6.69490485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.314391418 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:170.28, Y:24.76, Z:6.70 [[ 9.27424022e-01 -3.72704892e-01 -3.12369494e-02 1.70281974e+02] [ 3.72526133e-01 9.27949489e-01 -1.15769907e-02 2.47601408e+01] [ 3.33011123e-02 -8.99800733e-04 9.99444959e-01 6.69616638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34439141800001 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:170.31, Y:24.77, Z:6.70 [[ 9.28702882e-01 -3.69412814e-01 -3.23284766e-02 1.70311970e+02] [ 3.69219500e-01 9.29265038e-01 -1.19770247e-02 2.47732354e+01] [ 3.44661895e-02 -8.13206660e-04 9.99405534e-01 6.69775869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37439141800002 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:170.34, Y:24.79, Z:6.70 [[ 9.29589823e-01 -3.67194802e-01 -3.21051070e-02 1.70339853e+02] [ 3.66804903e-01 9.30133200e-01 -1.75040981e-02 2.47866854e+01] [ 3.62894398e-02 4.49532083e-03 9.99331211e-01 6.70046038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40439141800002 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:170.37, Y:24.79, Z:6.70 [[ 9.29768472e-01 -3.66468345e-01 -3.50933037e-02 1.70373288e+02] [ 3.66435451e-01 9.30412464e-01 -7.59652911e-03 2.47945172e+01] [ 3.54351346e-02 -5.79641727e-03 9.99355168e-01 6.69816977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43439141800002 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:170.40, Y:24.81, Z:6.70 [[ 9.30646014e-01 -3.64381602e-01 -3.35267745e-02 1.70402378e+02] [ 3.64171101e-01 9.31249484e-01 -1.24018909e-02 2.48085585e+01] [ 3.57408123e-02 -6.67712016e-04 9.99360870e-01 6.70063729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.464391418 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:170.43, Y:24.82, Z:6.70 [[ 9.30993905e-01 -3.63467462e-01 -3.37898296e-02 1.70432927e+02] [ 3.63253381e-01 9.31606669e-01 -1.24897969e-02 2.48201486e+01] [ 3.60184654e-02 -6.46345071e-04 9.99350916e-01 6.70208281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.494391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:170.46, Y:24.83, Z:6.70 [[ 9.31458876e-01 -3.62314845e-01 -3.33513914e-02 1.70463549e+02] [ 3.62105704e-01 9.32055575e-01 -1.23232946e-02 2.48313530e+01] [ 3.55502628e-02 -5.98086937e-04 9.99367711e-01 6.70279187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.524391418 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:170.49, Y:24.84, Z:6.70 [[ 9.31910498e-01 -3.61098450e-01 -3.39224655e-02 1.70494786e+02] [ 3.60881446e-01 9.32527527e-01 -1.25296787e-02 2.48424566e+01] [ 3.61580804e-02 -5.65449293e-04 9.99345923e-01 6.70390349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.554391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:170.53, Y:24.85, Z:6.71 [[ 9.31970349e-01 -3.60917729e-01 -3.42003116e-02 1.70525629e+02] [ 3.60697295e-01 9.32597485e-01 -1.26250807e-02 2.48536697e+01] [ 3.64517400e-02 -5.69759009e-04 9.99335252e-01 6.70561137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.584391418 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:170.56, Y:24.86, Z:6.71 [[ 9.32111980e-01 -3.60569915e-01 -3.40087259e-02 1.70556770e+02] [ 3.60352169e-01 9.32732018e-01 -1.25418192e-02 2.48644850e+01] [ 3.62432303e-02 -5.64738192e-04 9.99342839e-01 6.70623330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.614391418 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:170.59, Y:24.87, Z:6.71 [[ 9.32047845e-01 -3.60690514e-01 -3.44843061e-02 1.70587280e+02] [ 3.60467181e-01 9.32685374e-01 -1.27045404e-02 2.48749119e+01] [ 3.67454151e-02 -5.89221090e-04 9.99324485e-01 6.70736223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.644391418 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:170.62, Y:24.88, Z:6.71 [[ 9.31460183e-01 -3.62198891e-01 -3.45527166e-02 1.70619146e+02] [ 3.61976062e-01 9.32100600e-01 -1.27201086e-02 2.48849879e+01] [ 3.68138171e-02 -6.58981646e-04 9.99321924e-01 6.70819609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.674391418 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:170.65, Y:24.90, Z:6.71 [[ 9.31068383e-01 -3.63172405e-01 -3.48922704e-02 1.70649752e+02] [ 3.62946127e-01 9.31721685e-01 -1.28378565e-02 2.48951499e+01] [ 3.71722402e-02 -7.11092085e-04 9.99308620e-01 6.70900060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.704391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:170.68, Y:24.91, Z:6.71 [[ 9.30593643e-01 -3.64349335e-01 -3.52850437e-02 1.70680900e+02] [ 3.64119143e-01 9.31262026e-01 -1.29726404e-02 2.49053172e+01] [ 3.75861942e-02 -7.75703195e-04 9.99293088e-01 6.70983009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.734391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:170.71, Y:24.92, Z:6.71 [[ 9.30029578e-01 -3.65787799e-01 -3.52742228e-02 1.70712509e+02] [ 3.65558964e-01 9.30697901e-01 -1.29637952e-02 2.49155224e+01] [ 3.75716432e-02 -8.38095340e-04 9.99293585e-01 6.71040543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.764391418 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:170.74, Y:24.92, Z:6.71 [[ 9.28594042e-01 -3.69413891e-01 -3.53055612e-02 1.70743050e+02] [ 3.69187537e-01 9.29264436e-01 -1.29680294e-02 2.49241544e+01] [ 3.75987726e-02 -9.92338351e-04 9.99292423e-01 6.71068860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.794391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:170.77, Y:24.93, Z:6.71 [[ 9.27826016e-01 -3.71319516e-01 -3.55063662e-02 1.70774350e+02] [ 3.71092336e-01 9.28504518e-01 -1.30321630e-02 2.49344091e+01] [ 3.78069180e-02 -1.08456053e-03 9.99284474e-01 6.71163468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.824391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:170.81, Y:24.94, Z:6.71 [[ 9.27143582e-01 -3.73032631e-01 -3.53756284e-02 1.70805228e+02] [ 3.72808589e-01 9.27817504e-01 -1.29782461e-02 2.49445397e+01] [ 3.76634365e-02 -1.15564054e-03 9.99289813e-01 6.71248498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.854391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:170.84, Y:24.96, Z:6.71 [[ 9.26432336e-01 -3.74814448e-01 -3.51746619e-02 1.70836953e+02] [ 3.74594485e-01 9.27099036e-01 -1.28976281e-02 2.49550855e+01] [ 3.74446126e-02 -1.22745462e-03 9.99297951e-01 6.71300627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.884391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:170.87, Y:24.96, Z:6.71 [[ 9.24884187e-01 -3.78568146e-01 -3.57127503e-02 1.70867782e+02] [ 3.78344367e-01 9.25572356e-01 -1.30902403e-02 2.49639829e+01] [ 3.80102824e-02 -1.40476162e-03 9.99276361e-01 6.71345288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.914391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:170.90, Y:24.97, Z:6.71 [[ 9.24140888e-01 -3.80384070e-01 -3.56592102e-02 1.70898432e+02] [ 3.80162464e-01 9.24827425e-01 -1.30665583e-02 2.49741608e+01] [ 3.79489261e-02 -1.48095240e-03 9.99278583e-01 6.71403247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.944391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:170.93, Y:24.98, Z:6.71 [[ 9.23401693e-01 -3.82193544e-01 -3.54599624e-02 1.70929589e+02] [ 3.81975900e-01 9.24080998e-01 -1.29892527e-02 2.49844860e+01] [ 3.77322859e-02 -1.55055316e-03 9.99286681e-01 6.71470984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.974391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:170.96, Y:24.99, Z:6.72 [[ 9.21858280e-01 -3.85933415e-01 -3.51099747e-02 1.70960404e+02] [ 3.85722919e-01 9.22525089e-01 -1.28565177e-02 2.49940843e+01] [ 3.73515923e-02 -1.69083462e-03 9.99300755e-01 6.71560746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:170.99, Y:25.00, Z:6.72 [[ 9.21165115e-01 -3.87638337e-01 -3.45159538e-02 1.70991130e+02] [ 3.87436240e-01 9.21809912e-01 -1.26351167e-02 2.50045150e+01] [ 3.67150040e-02 -1.73370260e-03 9.99324273e-01 6.71635122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.034391418 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:171.02, Y:25.02, Z:6.72 [[ 9.20411073e-01 -3.89470724e-01 -3.40001769e-02 1.71022148e+02] [ 3.89276016e-01 9.21037119e-01 -1.24422355e-02 2.50154141e+01] [ 3.61613114e-02 -1.78348207e-03 9.99344374e-01 6.71729603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:171.05, Y:25.03, Z:6.72 [[ 9.19704441e-01 -3.91194127e-01 -3.33300973e-02 1.71053595e+02] [ 3.91008308e-01 9.20306387e-01 -1.21924850e-02 2.50265648e+01] [ 3.54435300e-02 -1.81886233e-03 9.99370026e-01 6.71792146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09439141800001 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:171.08, Y:25.04, Z:6.72 [[ 9.18179519e-01 -3.94801946e-01 -3.28297903e-02 1.71083636e+02] [ 3.94624144e-01 9.18764216e-01 -1.20041618e-02 2.50368827e+01] [ 3.49021030e-02 -1.93345243e-03 9.99388866e-01 6.71827988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12439141800002 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:171.11, Y:25.05, Z:6.72 [[ 9.17490387e-01 -3.96402352e-01 -3.28110459e-02 1.71112807e+02] [ 3.96225977e-01 9.18074714e-01 -1.19914080e-02 2.50472790e+01] [ 3.48764140e-02 -1.99858720e-03 9.99389634e-01 6.71868096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15439141800002 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:171.14, Y:25.06, Z:6.72 [[ 9.16815550e-01 -3.97958379e-01 -3.28386218e-02 1.71143446e+02] [ 3.97782786e-01 9.17401154e-01 -1.19990758e-02 2.50583047e+01] [ 3.49013222e-02 -2.06169919e-03 9.99388637e-01 6.71911972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18439141800002 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:171.17, Y:25.07, Z:6.72 [[ 9.16066889e-01 -3.99644856e-01 -3.32482040e-02 1.71172666e+02] [ 3.99466057e-01 9.16667521e-01 -1.21459782e-02 2.50690645e+01] [ 3.53316264e-02 -2.15500047e-03 9.99373320e-01 6.71964590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.214391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:171.20, Y:25.08, Z:6.72 [[ 9.14839267e-01 -4.02381129e-01 -3.40373659e-02 1.71203414e+02] [ 4.02195733e-01 9.15469310e-01 -1.24312011e-02 2.50813453e+01] [ 3.61622446e-02 -2.31713244e-03 9.99343246e-01 6.72018127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.244391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:171.23, Y:25.09, Z:6.72 [[ 9.14461449e-01 -4.03235112e-01 -3.40837582e-02 1.71233049e+02] [ 4.03050006e-01 9.15093371e-01 -1.24424418e-02 2.50925655e+01] [ 3.62070506e-02 -2.35932554e-03 9.99341525e-01 6.72050630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.274391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:171.26, Y:25.10, Z:6.72 [[ 9.13842548e-01 -4.04593697e-01 -3.45794539e-02 1.71262409e+02] [ 4.04404360e-01 9.14493258e-01 -1.26172433e-02 2.51043847e+01] [ 3.67275346e-02 -2.45390813e-03 9.99322304e-01 6.72128787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.304391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:171.29, Y:25.12, Z:6.72 [[ 9.13837522e-01 -4.04633421e-01 -3.42458390e-02 1.71292343e+02] [ 4.04447840e-01 9.14475735e-01 -1.24929994e-02 2.51161395e+01] [ 3.63720739e-02 -2.43408394e-03 9.99335353e-01 6.72197543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.334391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:171.32, Y:25.13, Z:6.72 [[ 9.14111671e-01 -4.04063105e-01 -3.36579971e-02 1.71320980e+02] [ 4.03883556e-01 9.14728035e-01 -1.22757945e-02 2.51274767e+01] [ 3.57481092e-02 -2.37246449e-03 9.99358016e-01 6.72285360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.364391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:171.35, Y:25.14, Z:6.73 [[ 9.14683540e-01 -4.02900731e-01 -3.20159889e-02 1.71350315e+02] [ 4.02507304e-01 9.15235987e-01 -1.81922523e-02 2.51423953e+01] [ 3.66318570e-02 3.75348435e-03 9.99321779e-01 6.72598430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.394391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:171.38, Y:25.15, Z:6.72 [[ 9.16296568e-01 -3.99139515e-01 -3.29885965e-02 1.71381729e+02] [ 3.99172954e-01 9.16856974e-01 -5.85173422e-03 2.51518871e+01] [ 3.25814831e-02 -7.80623152e-03 9.99438597e-01 6.72330359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.424391418 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:171.41, Y:25.17, Z:6.73 [[ 9.17550514e-01 -3.96468003e-01 -3.02353408e-02 1.71410552e+02] [ 3.96319312e-01 9.18046629e-01 -1.10177277e-02 2.51675707e+01] [ 3.21256292e-02 -1.87352778e-03 9.99482083e-01 6.72614032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.454391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:171.44, Y:25.18, Z:6.73 [[ 9.18724021e-01 -3.93796283e-01 -2.95069433e-02 1.71440605e+02] [ 3.93653571e-01 9.19196084e-01 -1.07435676e-02 2.51811060e+01] [ 3.13534437e-02 -1.74513999e-03 9.99506836e-01 6.72704720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.484391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:171.47, Y:25.19, Z:6.73 [[ 9.20093731e-01 -3.90635278e-01 -2.88375842e-02 1.71470998e+02] [ 3.90497533e-01 9.20544137e-01 -1.04961002e-02 2.51942492e+01] [ 3.06464161e-02 -1.60360952e-03 9.99529002e-01 6.72772119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.514391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:171.50, Y:25.21, Z:6.73 [[ 9.22594119e-01 -3.84742818e-01 -2.81612316e-02 1.71500078e+02] [ 3.84608837e-01 9.23022786e-01 -1.02458941e-02 2.52085636e+01] [ 2.99354926e-02 -1.37825693e-03 9.99550882e-01 6.72791881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.544391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:171.53, Y:25.22, Z:6.73 [[ 9.22645565e-01 -3.84619294e-01 -2.81631026e-02 1.71531642e+02] [ 3.84485412e-01 9.23074263e-01 -1.02407489e-02 2.52199047e+01] [ 2.99354248e-02 -1.37972055e-03 9.99550883e-01 6.72876097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.574391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:171.56, Y:25.23, Z:6.73 [[ 9.23856476e-01 -3.81762862e-01 -2.73190296e-02 1.71562137e+02] [ 3.81635754e-01 9.24259460e-01 -9.92984921e-03 2.52323057e+01] [ 2.90407192e-02 -1.25216297e-03 9.99577445e-01 6.72919758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.604391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:171.59, Y:25.24, Z:6.73 [[ 9.24892379e-01 -3.79260501e-01 -2.71212119e-02 1.71591960e+02] [ 3.79134268e-01 9.25289201e-01 -9.85396073e-03 2.52445567e+01] [ 2.88321826e-02 -1.16872764e-03 9.99583583e-01 6.72981742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.634391418 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:171.62, Y:25.26, Z:6.73 [[ 9.26775660e-01 -3.74651846e-01 -2.68862398e-02 1.71621748e+02] [ 3.74526036e-01 9.27165007e-01 -9.76212605e-03 2.52584930e+01] [ 2.85853793e-02 -1.02229601e-03 9.99590832e-01 6.73016714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.664391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:171.65, Y:25.27, Z:6.73 [[ 9.27790450e-01 -3.72113445e-01 -2.71378858e-02 1.71651803e+02] [ 3.71984472e-01 9.28186758e-01 -9.84349916e-03 2.52707169e+01] [ 2.88519246e-02 -9.62167598e-04 9.99583233e-01 6.73059715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.694391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:171.68, Y:25.28, Z:6.73 [[ 9.28847211e-01 -3.69464060e-01 -2.71876129e-02 1.71682649e+02] [ 3.69333750e-01 9.29244594e-01 -9.85216843e-03 2.52831072e+01] [ 2.89039645e-02 -8.90143874e-04 9.99581797e-01 6.73096619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.724391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:171.71, Y:25.30, Z:6.73 [[ 9.29946865e-01 -3.66623580e-01 -2.80353181e-02 1.71712846e+02] [ 3.66484026e-01 9.30368987e-01 -1.01492379e-02 2.52951594e+01] [ 2.98041404e-02 -8.36244326e-04 9.99555408e-01 6.73167580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.754391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:171.74, Y:25.31, Z:6.73 [[ 9.32214467e-01 -3.60764859e-01 -2.87211581e-02 1.71743044e+02] [ 3.60615909e-01 9.32656562e-01 -1.03876597e-02 2.53081995e+01] [ 3.05344791e-02 -6.73779831e-04 9.99533487e-01 6.73147144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:171.77, Y:25.32, Z:6.73 [[ 9.33106831e-01 -3.58395897e-01 -2.93942487e-02 1.71768191e+02] [ 3.58253701e-01 9.33569097e-01 -1.01502241e-02 2.53210350e+01] [ 3.10793609e-02 -1.05935496e-03 9.99516359e-01 6.73211559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.814391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:171.80, Y:25.33, Z:6.73 [[ 9.34628521e-01 -3.54463873e-01 -2.87208948e-02 1.71801975e+02] [ 3.54284884e-01 9.35069642e-01 -1.12687976e-02 2.53319706e+01] [ 3.08504185e-02 3.56760777e-04 9.99523949e-01 6.73286082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84439141800001 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:171.83, Y:25.34, Z:6.73 [[ 9.36855137e-01 -3.48523274e-01 -2.88787082e-02 1.71831555e+02] [ 3.48367568e-01 9.37300079e-01 -1.04210840e-02 2.53443865e+01] [ 3.07000058e-02 -2.97359282e-04 9.99528600e-01 6.73374621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87439141800002 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:171.86, Y:25.36, Z:6.73 [[ 9.37851509e-01 -3.45885717e-01 -2.82421283e-02 1.71862704e+02] [ 3.45735892e-01 9.38276625e-01 -1.01817727e-02 2.53563341e+01] [ 3.00206586e-02 -2.15326547e-04 9.99549255e-01 6.73426348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90439141800002 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:171.89, Y:25.37, Z:6.74 [[ 9.38727441e-01 -3.43529492e-01 -2.78976741e-02 1.71893178e+02] [ 3.43382553e-01 9.39141878e-01 -1.00476871e-02 2.53677925e+01] [ 2.96515509e-02 -1.47534951e-04 9.99560285e-01 6.73513362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93439141800002 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:171.92, Y:25.38, Z:6.74 [[ 9.39825799e-01 -3.40607382e-01 -2.67222665e-02 1.71924248e+02] [ 3.40471632e-01 9.40205620e-01 -9.61560880e-03 2.53794825e+01] [ 2.83995724e-02 -6.11764607e-05 9.99596649e-01 6.73590379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.964391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:171.95, Y:25.39, Z:6.74 [[ 9.40055828e-01 -3.39998510e-01 -2.63828338e-02 1.71954857e+02] [ 3.39866210e-01 9.40425973e-01 -9.48414986e-03 2.53900835e+01] [ 2.80356990e-02 -5.10033874e-05 9.99606921e-01 6.73677267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.994391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:171.99, Y:25.40, Z:6.74 [[ 9.40015710e-01 -3.40112123e-01 -2.63478581e-02 1.71986369e+02] [ 3.39980465e-01 9.40384889e-01 -9.46273344e-03 2.54008889e+01] [ 2.79955180e-02 -6.26389580e-05 9.99608047e-01 6.73742344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.024391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:172.02, Y:25.41, Z:6.74 [[ 9.38974201e-01 -3.42989358e-01 -2.61868187e-02 1.72017591e+02] [ 3.42860675e-01 9.39339276e-01 -9.39582330e-03 2.54104740e+01] [ 2.78209747e-02 -1.55994660e-04 9.99612910e-01 6.73825955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.054391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:172.05, Y:25.42, Z:6.74 [[ 9.38188982e-01 -3.45136098e-01 -2.61248453e-02 1.72048278e+02] [ 3.45009110e-01 9.38552621e-01 -9.36442514e-03 2.54199654e+01] [ 2.77515431e-02 -2.27709116e-04 9.99614826e-01 6.73868664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.084391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:172.08, Y:25.43, Z:6.74 [[ 9.37227234e-01 -3.47746274e-01 -2.60315328e-02 1.72079749e+02] [ 3.47621435e-01 9.37588626e-01 -9.32236447e-03 2.54295738e+01] [ 2.76486866e-02 -3.11944913e-04 9.99617653e-01 6.73909284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.114391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:172.11, Y:25.44, Z:6.74 [[ 9.36040413e-01 -3.50891110e-01 -2.65287453e-02 1.72110796e+02] [ 3.50762978e-01 9.36416174e-01 -9.49111361e-03 2.54388076e+01] [ 2.81722935e-02 -4.21235795e-04 9.99602993e-01 6.73943087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.144391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:172.14, Y:25.45, Z:6.74 [[ 9.33400203e-01 -3.57806225e-01 -2.71802640e-02 1.72143482e+02] [ 3.57674835e-01 9.33795631e-01 -9.71754978e-03 2.54471484e+01] [ 2.88578116e-02 -6.51333506e-04 9.99583314e-01 6.73969360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.174391418 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:172.17, Y:25.46, Z:6.74 [[ 9.31681229e-01 -3.62281233e-01 -2.68774257e-02 1.72172615e+02] [ 3.62100709e-01 9.32068339e-01 -1.14755538e-02 2.54587293e+01] [ 2.92089753e-02 9.59223180e-04 9.99572867e-01 6.74103311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.204391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:172.21, Y:25.47, Z:6.74 [[ 9.30920959e-01 -3.64120649e-01 -2.83252626e-02 1.72205598e+02] [ 3.64034145e-01 9.31348295e-01 -8.33637522e-03 2.54655197e+01] [ 2.94161314e-02 -2.55085633e-03 9.99563997e-01 6.74047072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.234391418 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:172.24, Y:25.48, Z:6.74 [[ 9.29767379e-01 -3.67078728e-01 -2.80326254e-02 1.72236004e+02] [ 3.66944044e-01 9.30189344e-01 -9.99261207e-03 2.54757678e+01] [ 2.97437248e-02 -9.95600190e-04 9.99557062e-01 6.74187915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.264391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:172.27, Y:25.48, Z:6.74 [[ 9.27840926e-01 -3.71940526e-01 -2.77751907e-02 1.72268319e+02] [ 3.71810753e-01 9.28255850e-01 -9.89141235e-03 2.54849872e+01] [ 2.94615004e-02 -1.14945738e-03 9.99565255e-01 6.74290573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.294391418 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:172.30, Y:25.50, Z:6.74 [[ 9.27219048e-01 -3.73484385e-01 -2.78253695e-02 1.72299658e+02] [ 3.73355106e-01 9.27635679e-01 -9.90013145e-03 2.54951932e+01] [ 2.95093500e-02 -1.20915332e-03 9.99563773e-01 6.74418668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.324391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:172.33, Y:25.51, Z:6.75 [[ 9.26802191e-01 -3.74531467e-01 -2.76383774e-02 1.72331036e+02] [ 3.74404520e-01 9.27213377e-01 -9.82896685e-03 2.55057953e+01] [ 2.93079306e-02 -1.23842541e-03 9.99569663e-01 6.74511936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.354391418 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:172.36, Y:25.52, Z:6.75 [[ 9.26491134e-01 -3.75301266e-01 -2.76249642e-02 1.72361217e+02] [ 3.75175077e-01 9.26902014e-01 -9.81420686e-03 2.55157037e+01] [ 2.92889192e-02 -1.27142242e-03 9.99570179e-01 6.74609706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.384391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:172.39, Y:25.53, Z:6.75 [[ 9.26393346e-01 -3.75518629e-01 -2.79486545e-02 1.72392092e+02] [ 3.75389821e-01 9.26813933e-01 -9.92048478e-03 2.55266846e+01] [ 2.96285292e-02 -1.30136933e-03 9.99560132e-01 6.74716986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.414391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:172.42, Y:25.54, Z:6.75 [[ 9.26514599e-01 -3.75210646e-01 -2.80654459e-02 1.72422671e+02] [ 3.75080757e-01 9.26938659e-01 -9.95727537e-03 2.55374170e+01] [ 2.97510225e-02 -1.30124770e-03 9.99556493e-01 6.74763093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.444391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:172.45, Y:25.55, Z:6.75 [[ 9.26529195e-01 -3.75130779e-01 -2.86452382e-02 1.72453977e+02] [ 3.74995694e-01 9.26970938e-01 -1.01542733e-02 2.55489549e+01] [ 3.03624837e-02 -1.33361033e-03 9.99538064e-01 6.74856174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.474391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:172.49, Y:25.56, Z:6.75 [[ 9.26716090e-01 -3.74582220e-01 -2.97564862e-02 1.72485199e+02] [ 3.74436295e-01 9.27192689e-01 -1.05441422e-02 2.55604737e+01] [ 3.15396447e-02 -1.37048225e-03 9.99501562e-01 6.74926838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504391418 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:172.52, Y:25.57, Z:6.75 [[ 9.26951044e-01 -3.73965297e-01 -3.01946943e-02 1.72516292e+02] [ 3.73814893e-01 9.27441679e-01 -1.06938479e-02 2.55717588e+01] [ 3.20029459e-02 -1.37455294e-03 9.99486829e-01 6.74991649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.534391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:172.55, Y:25.58, Z:6.75 [[ 9.27151194e-01 -3.73449289e-01 -3.04350543e-02 1.72546574e+02] [ 3.73296557e-01 9.27649573e-01 -1.07680043e-02 2.55827356e+01] [ 3.22543687e-02 -1.37773294e-03 9.99478743e-01 6.75068198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:172.58, Y:25.59, Z:6.75 [[ 9.27471720e-01 -3.72609324e-01 -3.09596701e-02 1.72577389e+02] [ 3.72451113e-01 9.27987277e-01 -1.09445040e-02 2.55942015e+01] [ 3.28082041e-02 -1.38024562e-03 9.99460713e-01 6.75151067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59439141800001 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:172.61, Y:25.61, Z:6.75 [[ 9.27634946e-01 -3.72165085e-01 -3.14094990e-02 1.72608846e+02] [ 3.72002127e-01 9.28165515e-01 -1.10993311e-02 2.56055160e+01] [ 3.32839973e-02 -1.38827298e-03 9.99444970e-01 6.75231284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62439141800002 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:172.64, Y:25.62, Z:6.75 [[ 9.27895218e-01 -3.71485816e-01 -3.17608611e-02 1.72640267e+02] [ 3.71318937e-01 9.28437599e-01 -1.12192319e-02 2.56169106e+01] [ 3.36557632e-02 -1.38313756e-03 9.99432527e-01 6.75312275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65439141800002 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:172.67, Y:25.63, Z:6.75 [[ 9.28409092e-01 -3.70120212e-01 -3.26739415e-02 1.72670956e+02] [ 3.69942980e-01 9.28982847e-01 -1.15352556e-02 2.56296009e+01] [ 3.46229625e-02 -1.37805911e-03 9.99399495e-01 6.75416053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68439141800002 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:172.70, Y:25.64, Z:6.76 [[ 9.28986772e-01 -3.68648029e-01 -3.28969148e-02 1.72700825e+02] [ 3.68467857e-01 9.29568086e-01 -1.16022281e-02 2.56409423e+01] [ 3.48570607e-02 -1.34313929e-03 9.99391405e-01 6.75529197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.714391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:172.73, Y:25.65, Z:6.76 [[ 9.29698005e-01 -3.66839399e-01 -3.30223340e-02 1.72731901e+02] [ 3.66657034e-01 9.30283395e-01 -1.16372220e-02 2.56525134e+01] [ 3.49891205e-02 -1.28876900e-03 9.99386862e-01 6.75635737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.744391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:172.76, Y:25.66, Z:6.76 [[ 9.30424980e-01 -3.64973289e-01 -3.32243132e-02 1.72762561e+02] [ 3.64787730e-01 9.31017175e-01 -1.17018197e-02 2.56645402e+01] [ 3.52032579e-02 -1.23215640e-03 9.99379414e-01 6.75757857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.774391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:172.79, Y:25.68, Z:6.76 [[ 9.32495274e-01 -3.59702332e-01 -3.26618532e-02 1.72792159e+02] [ 3.59520166e-01 9.33066546e-01 -1.14922181e-02 2.56775538e+01] [ 3.46094602e-02 -1.02615580e-03 9.99400386e-01 6.75898611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.804391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:172.82, Y:25.69, Z:6.76 [[ 9.33700563e-01 -3.56616343e-01 -3.20630883e-02 1.72823139e+02] [ 3.56439345e-01 9.34250483e-01 -1.12707217e-02 2.56898329e+01] [ 3.39742793e-02 -9.05066978e-04 9.99422298e-01 6.76016403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.834391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:172.85, Y:25.70, Z:6.76 [[ 9.36211310e-01 -3.50126077e-01 -3.03333505e-02 1.72853662e+02] [ 3.49964583e-01 9.36702363e-01 -1.06524038e-02 2.57032222e+01] [ 3.21430055e-02 -6.42697471e-04 9.99483073e-01 6.76142493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.864391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:172.88, Y:25.71, Z:6.76 [[ 9.37394471e-01 -3.46963367e-01 -3.01334992e-02 1.72883135e+02] [ 3.46802673e-01 9.37878526e-01 -1.05724162e-02 2.57145686e+01] [ 3.19298029e-02 -5.39853610e-04 9.99489968e-01 6.76285868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.894391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:172.91, Y:25.73, Z:6.76 [[ 9.38519462e-01 -3.43939994e-01 -2.97741666e-02 1.72914494e+02] [ 3.43781818e-01 9.38991527e-01 -1.04390273e-02 2.57266288e+01] [ 3.15480892e-02 -4.38586835e-04 9.99502139e-01 6.76387051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.924391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:172.95, Y:25.74, Z:6.76 [[ 9.39539510e-01 -3.41152198e-01 -2.96763611e-02 1.72945921e+02] [ 3.40993999e-01 9.40008007e-01 -1.03942332e-02 2.57384502e+01] [ 3.14420326e-02 -3.53668261e-04 9.99505514e-01 6.76460639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.954391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:172.98, Y:25.75, Z:6.76 [[ 9.40902579e-01 -3.37335092e-01 -3.01226201e-02 1.72976277e+02] [ 3.37170485e-01 9.41384607e-01 -1.05397083e-02 2.57507304e+01] [ 3.19123844e-02 -2.39619742e-04 9.99490641e-01 6.76479376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.984391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:173.01, Y:25.76, Z:6.77 [[ 9.41475851e-01 -3.35686657e-01 -3.06217227e-02 1.73006428e+02] [ 3.35516033e-01 9.41973688e-01 -1.07033514e-02 2.57611165e+01] [ 3.24378294e-02 -1.97132090e-04 9.99473736e-01 6.76532681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.014391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:173.04, Y:25.77, Z:6.77 [[ 9.41732240e-01 -3.34907315e-01 -3.12646562e-02 1.73037588e+02] [ 3.34729374e-01 9.42251058e-01 -1.09173769e-02 2.57722568e+01] [ 3.31154648e-02 -1.83952973e-04 9.99451516e-01 6.76602135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.044391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:173.07, Y:25.78, Z:6.77 [[ 9.41892656e-01 -3.34356068e-01 -3.23147691e-02 1.73069260e+02] [ 3.34166041e-01 9.42446809e-01 -1.12725125e-02 2.57830922e+01] [ 3.42239840e-02 -1.81001747e-04 9.99414171e-01 6.76652456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.074391418 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:173.10, Y:25.79, Z:6.77 [[ 9.41679106e-01 -3.34872322e-01 -3.31811639e-02 1.73099800e+02] [ 3.34672668e-01 9.42263489e-01 -1.15638751e-02 2.57933349e+01] [ 3.51378210e-02 -2.15369116e-04 9.99382453e-01 6.76680064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.104391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:173.13, Y:25.80, Z:6.77 [[ 9.41444392e-01 -3.35441227e-01 -3.40828483e-02 1.73130848e+02] [ 3.35231271e-01 9.42061102e-01 -1.18690669e-02 2.58035398e+01] [ 3.60895000e-02 -2.51570138e-04 9.99348530e-01 6.76771350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.134391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:173.16, Y:25.81, Z:6.77 [[ 9.41193773e-01 -3.36109134e-01 -3.44228474e-02 1.73162380e+02] [ 3.35895857e-01 9.41823001e-01 -1.19753167e-02 2.58138244e+01] [ 3.64452428e-02 -2.91398341e-04 9.99335609e-01 6.76860422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.164391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:173.18, Y:25.82, Z:6.77 [[ 9.39268081e-01 -3.40184177e-01 -4.52791142e-02 1.73182660e+02] [ 3.40598848e-01 9.40207445e-01 1.54442462e-03 2.58201223e+01] [ 4.20463714e-02 -1.68726429e-02 9.98973181e-01 6.77068689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.194391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:173.22, Y:25.84, Z:6.78 [[ 9.40437546e-01 -3.38829947e-01 -2.77756926e-02 1.73220706e+02] [ 3.38082614e-01 9.40688785e-01 -2.83682213e-02 2.58411156e+01] [ 3.57402854e-02 1.72880617e-02 9.99211567e-01 6.77632653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.224391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:173.25, Y:25.84, Z:6.77 [[ 9.40124986e-01 -3.39203822e-01 -3.32532219e-02 1.73254217e+02] [ 3.39007930e-01 9.40712806e-01 -1.15343298e-02 2.58439851e+01] [ 3.51942204e-02 -4.29394311e-04 9.99380399e-01 6.77157195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.254391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:173.29, Y:25.85, Z:6.77 [[ 9.39651362e-01 -3.40625686e-01 -3.20852115e-02 1.73285297e+02] [ 3.40444433e-01 9.40198871e-01 -1.11207014e-02 2.58544331e+01] [ 3.39544762e-02 -4.73649374e-04 9.99423268e-01 6.77278987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:173.32, Y:25.86, Z:6.77 [[ 9.39562072e-01 -3.40921292e-01 -3.15560701e-02 1.73316931e+02] [ 3.40746330e-01 9.40091719e-01 -1.09315074e-02 2.58648224e+01] [ 3.33923838e-02 -4.81785280e-04 9.99442203e-01 6.77340448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.314391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:173.35, Y:25.88, Z:6.77 [[ 9.39318096e-01 -3.41646113e-01 -3.09749714e-02 1.73347691e+02] [ 3.41478279e-01 9.39828535e-01 -1.07195902e-02 2.58752670e+01] [ 3.27734683e-02 -5.08174864e-04 9.99462676e-01 6.77412599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34439141800001 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:173.37, Y:25.88, Z:6.77 [[ 9.36457806e-01 -3.47634261e-01 -4.68742901e-02 1.73370407e+02] [ 3.48648496e-01 9.37128904e-01 1.52853978e-02 2.58759944e+01] [ 3.86135241e-02 -3.06567809e-02 9.98783839e-01 6.77404951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37439141800002 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:173.40, Y:25.91, Z:6.79 [[ 9.37994979e-01 -3.46056182e-01 -2.02617543e-02 1.73402218e+02] [ 3.45098030e-01 9.37724836e-01 -3.97427021e-02 2.59074077e+01] [ 3.27531580e-02 3.02861635e-02 9.99004494e-01 6.78616888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40439141800002 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:173.44, Y:25.90, Z:6.78 [[ 9.37324358e-01 -3.47125710e-01 -3.04432150e-02 1.73438291e+02] [ 3.46967007e-01 9.37818344e-01 -1.05189870e-02 2.59040674e+01] [ 3.22016164e-02 -7.03088418e-04 9.99481146e-01 6.77614370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43439141800002 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:173.47, Y:25.91, Z:6.78 [[ 9.36007221e-01 -3.50586997e-01 -3.12928134e-02 1.73469949e+02] [ 3.50421616e-01 9.36529778e-01 -1.08011820e-02 2.59128910e+01] [ 3.30934055e-02 -8.55693930e-04 9.99451897e-01 6.77620112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.464391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:173.50, Y:25.92, Z:6.78 [[ 9.36056736e-01 -3.50454505e-01 -3.12958003e-02 1.73501700e+02] [ 3.50289340e-01 9.36579361e-01 -1.07925214e-02 2.59237133e+01] [ 3.30932884e-02 -8.60172909e-04 9.99451897e-01 6.77703249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.494391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:173.53, Y:25.93, Z:6.78 [[ 9.35504356e-01 -3.51864218e-01 -3.19870494e-02 1.73532005e+02] [ 3.51692721e-01 9.36050584e-01 -1.10242621e-02 2.59329445e+01] [ 3.38205397e-02 -9.36367203e-04 9.99427483e-01 6.77742757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.524391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:173.56, Y:25.94, Z:6.78 [[ 9.35048666e-01 -3.53044724e-01 -3.23019271e-02 1.73563800e+02] [ 3.52870914e-01 9.35605913e-01 -1.11217297e-02 2.59432347e+01] [ 3.41483420e-02 -9.99051970e-04 9.99416276e-01 6.77792233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.554391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:173.59, Y:25.95, Z:6.78 [[ 9.34839492e-01 -3.53552442e-01 -3.27993018e-02 1.73594899e+02] [ 3.53373956e-01 9.35414122e-01 -1.12812637e-02 2.59533669e+01] [ 3.46694485e-02 -1.04424816e-03 9.99398288e-01 6.77868905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.584391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:173.63, Y:25.96, Z:6.78 [[ 9.35036935e-01 -3.53010017e-01 -3.30130052e-02 1.73626472e+02] [ 3.52829269e-01 9.35618962e-01 -1.13430538e-02 2.59641038e+01] [ 3.48918053e-02 -1.04178025e-03 9.99390553e-01 6.77919360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.614391418 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:173.66, Y:25.97, Z:6.78 [[ 9.35370795e-01 -3.52093253e-01 -3.33439140e-02 1.73657754e+02] [ 3.51908698e-01 9.35964360e-01 -1.14448872e-02 2.59748293e+01] [ 3.52383827e-02 -1.02880011e-03 9.99378406e-01 6.77996955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.644391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:173.69, Y:25.99, Z:6.78 [[ 9.36604428e-01 -3.48799079e-01 -3.33368890e-02 1.73688787e+02] [ 3.48612852e-01 9.37197081e-01 -1.14328905e-02 2.59856435e+01] [ 3.52310167e-02 -9.13572065e-04 9.99378777e-01 6.78035139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.674391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:173.72, Y:26.00, Z:6.78 [[ 9.37622917e-01 -3.46053247e-01 -3.33229168e-02 1.73720075e+02] [ 3.45865674e-01 9.38214519e-01 -1.14215288e-02 2.59964171e+01] [ 3.52165015e-02 -8.16165899e-04 9.99379373e-01 6.78100945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.704391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:173.75, Y:26.00, Z:6.78 [[ 9.38038158e-01 -3.43167661e-01 -4.81702333e-02 1.73750873e+02] [ 3.44230194e-01 9.38756058e-01 1.55767791e-02 2.59960297e+01] [ 3.98746515e-02 -3.11932619e-02 9.98717674e-01 6.78172158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.734391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:173.78, Y:26.03, Z:6.79 [[ 9.40174764e-01 -3.39930361e-01 -2.27763499e-02 1.73775574e+02] [ 3.38899368e-01 9.39984115e-01 -3.97124852e-02 2.60315518e+01] [ 3.49088865e-02 2.96177858e-02 9.98951529e-01 6.79319282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.764391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:173.81, Y:26.03, Z:6.78 [[ 9.42360620e-01 -3.32970905e-01 -3.29672208e-02 1.73810310e+02] [ 3.32780499e-01 9.42937034e-01 -1.12645208e-02 2.60307193e+01] [ 3.48367711e-02 -3.55607388e-04 9.99392952e-01 6.78459568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.794391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:173.84, Y:26.04, Z:6.79 [[ 9.43466173e-01 -3.29801723e-01 -3.32024587e-02 1.73841217e+02] [ 3.29607028e-01 9.44050189e-01 -1.13334506e-02 2.60417899e+01] [ 3.50825790e-02 -2.51036438e-04 9.99384385e-01 6.78536434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.824391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:173.87, Y:26.05, Z:6.79 [[ 9.44492294e-01 -3.26852918e-01 -3.31885020e-02 1.73871208e+02] [ 3.26656969e-01 9.45075207e-01 -1.13171548e-02 2.60521072e+01] [ 3.50646755e-02 -1.52290002e-04 9.99385034e-01 6.78609493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.854391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:173.90, Y:26.06, Z:6.79 [[ 9.45343166e-01 -3.24389058e-01 -3.31366531e-02 1.73902913e+02] [ 3.24192595e-01 9.45923746e-01 -1.12883706e-02 2.60624479e+01] [ 3.50065709e-02 -7.12735668e-05 9.99387080e-01 6.78660641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.884391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:173.93, Y:26.07, Z:6.79 [[ 9.46303346e-01 -3.21600417e-01 -3.29112203e-02 1.73934565e+02] [ 3.21405329e-01 9.46875478e-01 -1.12001325e-02 2.60723549e+01] [ 3.47647948e-02 2.08812708e-05 9.99395522e-01 6.78681746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.914391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:173.96, Y:26.08, Z:6.79 [[ 9.47390257e-01 -3.18451823e-01 -3.22511625e-02 1.73960535e+02] [ 3.18077871e-01 9.47925049e-01 -1.62656018e-02 2.60823393e+01] [ 3.57514953e-02 5.15149161e-03 9.99347433e-01 6.78899476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.944391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:174.00, Y:26.09, Z:6.79 [[ 9.46773031e-01 -3.19709285e-01 -3.75073420e-02 1.73998467e+02] [ 3.20011217e-01 9.47411243e-01 2.18139323e-03 2.60856516e+01] [ 3.48374658e-02 -1.40680544e-02 9.99293971e-01 6.78539469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.974391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:174.02, Y:26.10, Z:6.79 [[ 9.46658578e-01 -3.20827904e-01 -3.01163256e-02 1.74024855e+02] [ 3.20317550e-01 9.47086258e-01 -2.05982172e-02 2.61048206e+01] [ 3.51312409e-02 9.85269139e-03 9.99334139e-01 6.79122251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:174.05, Y:26.11, Z:6.79 [[ 9.47375317e-01 -3.18479666e-01 -3.24146765e-02 1.74050631e+02] [ 3.17888526e-01 9.47869692e-01 -2.21344156e-02 2.61121844e+01] [ 3.77742507e-02 1.06653453e-02 9.99229381e-01 6.79238020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.034391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:174.09, Y:26.10, Z:6.78 [[ 9.45433314e-01 -3.21579143e-01 -5.23708227e-02 1.74090188e+02] [ 3.23364156e-01 9.45799753e-01 2.99741616e-02 2.60996039e+01] [ 3.98932459e-02 -4.52734178e-02 9.98177763e-01 6.78275437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:174.11, Y:26.14, Z:6.80 [[ 9.46332630e-01 -3.22570304e-01 -2.00736801e-02 1.74111976e+02] [ 3.21439925e-01 9.45841297e-01 -4.53940115e-02 2.61413711e+01] [ 3.36292757e-02 3.65053520e-02 9.98767456e-01 6.80046393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09439141800001 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:174.15, Y:26.13, Z:6.79 [[ 9.46064266e-01 -3.22504006e-01 -3.08799437e-02 1.74149048e+02] [ 3.22336477e-01 9.46568091e-01 -1.03944346e-02 2.61343574e+01] [ 3.25822162e-02 -1.19929105e-04 9.99469051e-01 6.78859852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12439141800002 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:174.18, Y:26.14, Z:6.79 [[ 9.45910476e-01 -3.23071409e-01 -2.96350488e-02 1.74178289e+02] [ 3.22738053e-01 9.46360619e-01 -1.55475882e-02 2.61433765e+01] [ 3.30684244e-02 5.14226859e-03 9.99439861e-01 6.79144703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15439141800002 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:174.21, Y:26.15, Z:6.79 [[ 9.45239117e-01 -3.24865728e-01 -3.13890156e-02 1.74212888e+02] [ 3.24862701e-01 9.45746121e-01 -5.33846828e-03 2.61481729e+01] [ 3.14203251e-02 -5.15099134e-03 9.99492987e-01 6.78862306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18439141800002 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:174.24, Y:26.16, Z:6.79 [[ 9.44958898e-01 -3.25868420e-01 -2.93675742e-02 1.74243100e+02] [ 3.25719380e-01 9.45415099e-01 -9.85775812e-03 2.61590209e+01] [ 3.09768802e-02 -2.50411812e-04 9.99520070e-01 6.79078050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.214391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:174.28, Y:26.17, Z:6.79 [[ 9.44724739e-01 -3.26583574e-01 -2.89540342e-02 1.74275486e+02] [ 3.26439336e-01 9.45168287e-01 -9.70922658e-03 2.61680892e+01] [ 3.05373088e-02 -2.79189118e-04 9.99533589e-01 6.79156826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.244391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:174.31, Y:26.18, Z:6.79 [[ 9.43899711e-01 -3.28973467e-01 -2.88061477e-02 1.74308233e+02] [ 3.28832119e-01 9.44339095e-01 -9.64943644e-03 2.61751251e+01] [ 3.03771800e-02 -3.64286342e-04 9.99538441e-01 6.79185215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.274391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:174.34, Y:26.18, Z:6.79 [[ 9.43488509e-01 -3.30156777e-01 -2.87390959e-02 1.74339328e+02] [ 3.30016938e-01 9.43926022e-01 -9.61699234e-03 2.61829589e+01] [ 3.03026957e-02 -4.10866665e-04 9.99540683e-01 6.79221149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.304391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:174.37, Y:26.19, Z:6.79 [[ 9.43327643e-01 -3.30627550e-01 -2.86073479e-02 1.74369221e+02] [ 3.30437120e-01 9.43760566e-01 -1.12829033e-02 2.61911866e+01] [ 3.07289255e-02 1.19054498e-03 9.99527046e-01 6.79315842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.334391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:174.40, Y:26.18, Z:6.80 [[ 9.40408995e-01 -3.34930826e-01 -5.87559660e-02 1.74396939e+02] [ 3.37457134e-01 9.40492407e-01 3.99589275e-02 2.61773349e+01] [ 4.18760633e-02 -5.74053548e-02 9.97472316e-01 6.79612211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.364391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:174.42, Y:26.21, Z:6.82 [[ 9.39686233e-01 -3.39827126e-01 -3.88240732e-02 1.74419987e+02] [ 3.39220244e-01 9.40461779e-01 -2.14771582e-02 2.62118615e+01] [ 4.38110780e-02 7.01187829e-03 9.99015227e-01 6.81633615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.394391418 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:174.45, Y:26.23, Z:6.81 [[ 9.41178817e-01 -3.37682826e-01 -1.23589201e-02 1.74454257e+02] [ 3.36608056e-01 9.40134451e-01 -5.33125792e-02 2.62331790e+01] [ 2.96217890e-02 4.60165581e-02 9.98501390e-01 6.80832808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.424391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:174.49, Y:26.22, Z:6.79 [[ 9.40411061e-01 -3.38917614e-01 -2.76023239e-02 1.74493163e+02] [ 3.38794433e-01 9.40815771e-01 -9.16603708e-03 2.62198384e+01] [ 2.90752330e-02 -7.31671016e-04 9.99576958e-01 6.79381392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.454391418 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:174.52, Y:26.23, Z:6.79 [[ 9.40968955e-01 -3.37288514e-01 -2.85286492e-02 1.74522025e+02] [ 3.37141160e-01 9.41401298e-01 -9.97172093e-03 2.62277720e+01] [ 3.02202543e-02 -2.35102065e-04 9.99543236e-01 6.79485065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.484391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:174.56, Y:26.24, Z:6.80 [[ 9.41000378e-01 -3.37230919e-01 -2.81708314e-02 1.74556485e+02] [ 3.37109575e-01 9.41421492e-01 -9.09442386e-03 2.62370619e+01] [ 2.95875471e-02 -9.38800711e-04 9.99561752e-01 6.79520689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.514391418 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:174.59, Y:26.25, Z:6.80 [[ 9.41457282e-01 -3.35952950e-01 -2.81745015e-02 1.74587703e+02] [ 3.35823739e-01 9.41878532e-01 -9.34059592e-03 2.62467624e+01] [ 2.96749589e-02 -6.67894402e-04 9.99559378e-01 6.79604454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.544391418 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:174.62, Y:26.23, Z:6.80 [[ 9.38665774e-01 -3.39423084e-01 -6.08155741e-02 1.74615024e+02] [ 3.42436543e-01 9.38279703e-01 4.86663494e-02 2.62330355e+01] [ 4.05435363e-02 -6.65069115e-02 9.96961911e-01 6.79912979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.574391418 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:174.64, Y:26.29, Z:6.82 [[ 9.42904631e-01 -3.32978623e-01 -7.48961548e-03 1.74636891e+02] [ 3.31602567e-01 9.40636611e-01 -7.24051382e-02 2.62937506e+01] [ 3.11543697e-02 6.57875643e-02 9.97347182e-01 6.81817342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.604391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:174.68, Y:26.27, Z:6.80 [[ 9.44080721e-01 -3.28472193e-01 -2.85938744e-02 1.74678564e+02] [ 3.28335944e-01 9.44513535e-01 -9.47047180e-03 2.62739835e+01] [ 3.01180881e-02 -4.47506906e-04 9.99546247e-01 6.79777734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.634391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:174.71, Y:26.28, Z:6.80 [[ 9.44669157e-01 -3.26768997e-01 -2.86741430e-02 1.74710188e+02] [ 3.26631313e-01 9.45104155e-01 -9.49321965e-03 2.62838015e+01] [ 3.02021416e-02 -3.97921172e-04 9.99543732e-01 6.79861840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.664391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:174.74, Y:26.29, Z:6.80 [[ 9.45192618e-01 -3.25232232e-01 -2.88948150e-02 1.74741995e+02] [ 3.25091821e-01 9.45634109e-01 -9.56237669e-03 2.62935251e+01] [ 3.04339158e-02 -3.55180181e-04 9.99536718e-01 6.79960550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.694391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:174.77, Y:26.30, Z:6.80 [[ 9.46062514e-01 -3.22718550e-01 -2.86086884e-02 1.74773369e+02] [ 3.22579926e-01 9.46494935e-01 -9.46205379e-03 2.63023573e+01] [ 3.01315589e-02 -2.76894170e-04 9.99545903e-01 6.80070543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.724391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:174.81, Y:26.31, Z:6.80 [[ 9.46304690e-01 -3.21995739e-01 -2.87432953e-02 1.74805168e+02] [ 3.21855708e-01 9.46741082e-01 -9.49883089e-03 2.63120384e+01] [ 3.02710416e-02 -2.62405444e-04 9.99541693e-01 6.80153558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.754391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:174.84, Y:26.32, Z:6.80 [[ 9.46479063e-01 -3.21478926e-01 -2.87868548e-02 1.74836041e+02] [ 3.21338341e-01 9.46916701e-01 -9.50961047e-03 2.63212320e+01] [ 3.03158929e-02 -2.49672948e-04 9.99540337e-01 6.80230003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:174.87, Y:26.33, Z:6.80 [[ 9.46527275e-01 -3.21296041e-01 -2.92399157e-02 1.74867713e+02] [ 3.21151014e-01 9.46978770e-01 -9.65582306e-03 2.63295512e+01] [ 3.07919571e-02 -2.50928697e-04 9.99525784e-01 6.80335764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.814391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:174.90, Y:26.34, Z:6.80 [[ 9.46339485e-01 -3.21866516e-01 -2.90434895e-02 1.74898997e+02] [ 3.21723816e-01 9.46785019e-01 -9.58716666e-03 2.63386087e+01] [ 3.05837287e-02 -2.71267922e-04 9.99532172e-01 6.80384410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84439141800001 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:174.92, Y:26.34, Z:6.81 [[ 9.44350702e-01 -3.25935129e-01 -4.43626401e-02 1.74923510e+02] [ 3.26917247e-01 9.44902731e-01 1.68506239e-02 2.63384238e+01] [ 3.64261695e-02 -3.04158107e-02 9.98873372e-01 6.80770083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87439141800002 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:174.95, Y:26.37, Z:6.81 [[ 9.44899519e-01 -3.26744886e-01 -2.00668527e-02 1.74954064e+02] [ 3.25818704e-01 9.44623012e-01 -3.91093068e-02 2.63684731e+01] [ 3.17343767e-02 3.04162092e-02 9.99033425e-01 6.81384240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90439141800002 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:174.99, Y:26.36, Z:6.81 [[ 9.43314108e-01 -3.30100125e-01 -3.45311690e-02 1.74986751e+02] [ 3.30151777e-01 9.43917791e-01 -4.35986186e-03 2.63630541e+01] [ 3.40337757e-02 -7.28780764e-03 9.99394111e-01 6.80740201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93439141800002 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:175.02, Y:26.38, Z:6.81 [[ 9.43347761e-01 -3.30569992e-01 -2.86091220e-02 1.75019110e+02] [ 3.30205814e-01 9.43759955e-01 -1.67710726e-02 2.63760935e+01] [ 3.25441570e-02 6.37405542e-03 9.99449973e-01 6.80849497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.964391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:175.05, Y:26.38, Z:6.81 [[ 9.41598908e-01 -3.35289891e-01 -3.11799045e-02 1.75050646e+02] [ 3.35133274e-01 9.42114691e-01 -1.02760631e-02 2.63813681e+01] [ 3.28205062e-02 -7.73493665e-04 9.99460963e-01 6.80745413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.994391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:175.07, Y:26.39, Z:6.81 [[ 9.39967459e-01 -3.39286614e-01 -3.66847359e-02 1.75074558e+02] [ 3.39526117e-01 9.40596574e-01 3.18242795e-04 2.63884255e+01] [ 3.43975613e-02 -1.27545638e-02 9.99326838e-01 6.80983093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.024391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:175.11, Y:26.40, Z:6.81 [[ 9.39812513e-01 -3.40614222e-01 -2.70996594e-02 1.75107243e+02] [ 3.40095598e-01 9.40133128e-01 -2.20155869e-02 2.64047218e+01] [ 3.29761096e-02 1.14740492e-02 9.99390275e-01 6.81316843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.054391418 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:175.14, Y:26.41, Z:6.81 [[ 9.38726553e-01 -3.43289540e-01 -3.07367996e-02 1.75138552e+02] [ 3.43141727e-01 9.39229050e-01 -1.01265578e-02 2.64086377e+01] [ 3.23452365e-02 -1.04100978e-03 9.99476214e-01 6.81057247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.084391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:175.17, Y:26.42, Z:6.81 [[ 9.36577412e-01 -3.49138010e-01 -3.04203957e-02 1.75168066e+02] [ 3.48996348e-01 9.37070506e-01 -1.00207630e-02 2.64171795e+01] [ 3.20046849e-02 -1.23138677e-03 9.99486960e-01 6.81172802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.114391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:175.20, Y:26.43, Z:6.81 [[ 9.35382346e-01 -3.52319996e-01 -3.05039086e-02 1.75196240e+02] [ 3.52179270e-01 9.35878631e-01 -1.00473686e-02 2.64260469e+01] [ 3.20878451e-02 -1.34471304e-03 9.99484148e-01 6.81275125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.144391418 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:175.22, Y:26.45, Z:6.81 [[ 9.33516183e-01 -3.58065379e-01 -1.83499683e-02 1.75217847e+02] [ 3.57273502e-01 9.33301817e-01 -3.61021287e-02 2.64466269e+01] [ 3.00529811e-02 2.71459640e-02 9.99179621e-01 6.81286614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.174391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:175.25, Y:26.44, Z:6.81 [[ 9.31555970e-01 -3.61528206e-01 -3.87405591e-02 1.75249850e+02] [ 3.61895172e-01 9.32214961e-01 2.67434092e-03 2.64397559e+01] [ 3.51476791e-02 -1.65113195e-02 9.99245724e-01 6.80905126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.204391418 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:175.28, Y:26.45, Z:6.81 [[ 9.31030892e-01 -3.62928420e-01 -3.82680009e-02 1.75284962e+02] [ 3.63128900e-01 9.31737135e-01 -1.82037385e-03 2.64497658e+01] [ 3.63163829e-02 -1.22013928e-02 9.99265854e-01 6.81277263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.234391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:175.30, Y:26.47, Z:6.82 [[ 9.31514566e-01 -3.62931586e-01 -2.36912908e-02 1.75304650e+02] [ 3.62012094e-01 9.31487846e-01 -3.57440455e-02 2.64747900e+01] [ 3.50407926e-02 2.47195653e-02 9.99080120e-01 6.81619349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.264391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:175.34, Y:26.48, Z:6.81 [[ 9.30538833e-01 -3.65081444e-01 -2.85134900e-02 1.75339551e+02] [ 3.64386701e-01 9.30861786e-01 -2.68079745e-02 2.64816576e+01] [ 3.63292122e-02 1.45559248e-02 9.99233863e-01 6.81412464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.294391418 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:175.37, Y:26.48, Z:6.81 [[ 9.30213827e-01 -3.65310189e-01 -3.53652556e-02 1.75371722e+02] [ 3.65597740e-01 9.30771202e-01 1.80598304e-03 2.64778604e+01] [ 3.22572174e-02 -1.46094079e-02 9.99372822e-01 6.80579899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.324391418 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:175.40, Y:26.48, Z:6.81 [[ 9.27900963e-01 -3.70152680e-01 -4.45734997e-02 1.75401081e+02] [ 3.71203331e-01 9.28379025e-01 1.79017691e-02 2.64809794e+01] [ 3.47547143e-02 -3.31569004e-02 9.98845699e-01 6.81153925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.354391418 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:175.42, Y:26.52, Z:6.82 [[ 9.28441342e-01 -3.70884458e-01 -2.10093766e-02 1.75422223e+02] [ 3.69973188e-01 9.28284921e-01 -3.75092721e-02 2.65172133e+01] [ 3.34142936e-02 2.70522529e-02 9.99075403e-01 6.81815135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.384391418 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:175.45, Y:26.51, Z:6.81 [[ 9.28330718e-01 -3.70497565e-01 -3.05553871e-02 1.75453763e+02] [ 3.70374898e-01 9.28830764e-01 -9.79014302e-03 2.65132023e+01] [ 3.20080077e-02 -2.22845787e-03 9.99485128e-01 6.81076932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.414391418 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:175.48, Y:26.52, Z:6.81 [[ 9.28433310e-01 -3.70235308e-01 -3.06170658e-02 1.75480126e+02] [ 3.70145360e-01 9.28932507e-01 -8.76412197e-03 2.65226310e+01] [ 3.16859751e-02 -3.19586205e-03 9.99492764e-01 6.81083208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.444391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:175.51, Y:26.52, Z:6.82 [[ 9.28578868e-01 -3.68383655e-01 -4.51084119e-02 1.75506316e+02] [ 3.69344341e-01 9.29172730e-01 1.49263253e-02 2.65227785e+01] [ 3.64148919e-02 -3.05208069e-02 9.98870580e-01 6.81522275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.474391418 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:175.53, Y:26.55, Z:6.82 [[ 9.29505347e-01 -3.66979846e-01 -3.66824579e-02 1.75527688e+02] [ 3.66787386e-01 9.30226248e-01 -1.20888485e-02 2.65464367e+01] [ 3.85593489e-02 -2.21801355e-03 9.99253850e-01 6.82373371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504391418 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:175.55, Y:26.56, Z:6.81 [[ 9.31589812e-01 -3.62823752e-01 -2.23460847e-02 1.75553684e+02] [ 3.62751056e-01 9.31856954e-01 -7.36812660e-03 2.65565986e+01] [ 2.34966857e-02 -1.24199413e-03 9.99723143e-01 6.80731662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.534391418 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:175.58, Y:26.57, Z:6.83 [[ 9.31845756e-01 -3.61005142e-01 -3.65892624e-02 1.75579320e+02] [ 3.60567713e-01 9.32556398e-01 -1.81518232e-02 2.65720942e+01] [ 4.06744523e-02 3.72179277e-03 9.99165520e-01 6.82715757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564391418 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:175.61, Y:26.58, Z:6.83 [[ 9.36052012e-01 -3.49892450e-01 -3.71739674e-02 1.75606858e+02] [ 3.49770172e-01 9.36782636e-01 -9.95585560e-03 2.65816895e+01] [ 3.83074059e-02 -3.68314630e-03 9.99259214e-01 6.82526346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59439141800001 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:175.63, Y:26.60, Z:6.82 [[ 9.38115186e-01 -3.45462858e-01 -2.43990011e-02 1.75631660e+02] [ 3.44797704e-01 9.38267361e-01 -2.77290899e-02 2.66038083e+01] [ 3.24721570e-02 1.76003608e-02 9.99317660e-01 6.82325972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62439141800002 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:175.67, Y:26.60, Z:6.82 [[ 9.41664292e-01 -3.34152811e-01 -4.01280339e-02 1.75666936e+02] [ 3.34743364e-01 9.42267948e-01 8.83145543e-03 2.66008078e+01] [ 3.48603045e-02 -2.17488593e-02 9.99155517e-01 6.82183265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65439141800002 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:175.69, Y:26.66, Z:6.84 [[ 9.44846139e-01 -3.27511160e-01 1.48807446e-03 1.75694150e+02] [ 3.26628940e-01 9.41947645e-01 -7.77699748e-02 2.66554975e+01] [ 2.40688464e-02 7.39667086e-02 9.96970219e-01 6.83673417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68439141800002 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:175.73, Y:26.61, Z:6.81 [[ 9.44989496e-01 -3.22050810e-01 -5.72549310e-02 1.75733058e+02] [ 3.24992304e-01 9.44245158e-01 5.27359784e-02 2.66056721e+01] [ 3.70790268e-02 -6.84423576e-02 9.96965792e-01 6.81330292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.714391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:175.75, Y:26.66, Z:6.83 [[ 9.48921347e-01 -3.14678912e-01 -2.29228954e-02 1.75748978e+02] [ 3.13830190e-01 9.48859785e-01 -3.42887625e-02 2.66604529e+01] [ 3.25405641e-02 2.53434421e-02 9.99149049e-01 6.83212211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.744391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:175.78, Y:26.66, Z:6.82 [[ 9.49950298e-01 -3.10677422e-01 -3.27714827e-02 1.75784648e+02] [ 3.10759174e-01 9.50484854e-01 -2.69791408e-03 2.66575164e+01] [ 3.19869789e-02 -7.62115461e-03 9.99459229e-01 6.82270694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.774391418 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:175.82, Y:26.66, Z:6.83 [[ 9.49810974e-01 -3.09922861e-01 -4.25080527e-02 1.75817352e+02] [ 3.10740845e-01 9.50390834e-01 1.40495325e-02 2.66613948e+01] [ 3.60449923e-02 -2.65533884e-02 9.98997335e-01 6.82605526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.804391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:175.84, Y:26.69, Z:6.83 [[ 9.51328823e-01 -3.06287055e-01 -3.40838809e-02 1.75843144e+02] [ 3.06080513e-01 9.51939162e-01 -1.12495239e-02 2.66853935e+01] [ 3.58913645e-02 2.69584582e-04 9.99355661e-01 6.83450694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.834391418 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:175.87, Y:26.71, Z:6.84 [[ 9.52614765e-01 -3.03312430e-01 -2.29495030e-02 1.75868263e+02] [ 3.02511387e-01 9.52581061e-01 -3.28052215e-02 2.67057211e+01] [ 3.18114934e-02 2.43082524e-02 9.99198247e-01 6.83565386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.864391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:175.90, Y:26.71, Z:6.83 [[ 9.53849992e-01 -2.99261467e-01 -2.47541278e-02 1.75901919e+02] [ 2.98808365e-01 9.54094692e-01 -2.04176143e-02 2.67093948e+01] [ 2.97279871e-02 1.20786008e-02 9.99485045e-01 6.82929023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.894391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:175.94, Y:26.70, Z:6.83 [[ 9.52050944e-01 -3.02631943e-01 -4.48654318e-02 1.75938407e+02] [ 3.03860858e-01 9.52425238e-01 2.35530161e-02 2.67011810e+01] [ 3.56030746e-02 -3.60565198e-02 9.98715349e-01 6.82577257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.924391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:175.96, Y:26.73, Z:6.84 [[ 9.51942732e-01 -3.04473484e-01 -3.31803060e-02 1.75964462e+02] [ 3.04277869e-01 9.52520766e-01 -1.09164213e-02 2.67278787e+01] [ 3.49286913e-02 2.95775083e-04 9.99389763e-01 6.83783495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.954391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:176.00, Y:26.74, Z:6.84 [[ 9.51636396e-01 -3.05500593e-01 -3.25201151e-02 1.75995979e+02] [ 3.05313662e-01 9.52191855e-01 -1.06882607e-02 2.67377808e+01] [ 3.42306587e-02 2.42502474e-04 9.99413930e-01 6.83862303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.984391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:176.03, Y:26.75, Z:6.84 [[ 9.50464976e-01 -3.09258507e-01 -3.12330808e-02 1.76027671e+02] [ 3.09088448e-01 9.50978006e-01 -1.02549615e-02 2.67468547e+01] [ 3.28734070e-02 9.31972886e-05 9.99459519e-01 6.83910505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.014391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:176.06, Y:26.76, Z:6.84 [[ 9.49904849e-01 -3.11520367e-01 -2.52158520e-02 1.76059607e+02] [ 3.11134963e-01 9.50193626e-01 -1.80861227e-02 2.67604824e+01] [ 2.95941374e-02 9.33456244e-03 9.99518411e-01 6.83896434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.044391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:176.09, Y:26.76, Z:6.84 [[ 9.47693618e-01 -3.17482010e-01 -3.28934582e-02 1.76091566e+02] [ 3.17634781e-01 9.48212936e-01 -6.10890237e-04 2.67598936e+01] [ 3.13839493e-02 -9.86916961e-03 9.99458677e-01 6.83752187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.074391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:176.12, Y:26.77, Z:6.84 [[ 9.46782487e-01 -3.20491159e-01 -2.98050288e-02 1.76120957e+02] [ 3.20342502e-01 9.47251458e-01 -9.76503550e-03 2.67730583e+01] [ 3.13624646e-02 -3.02452916e-04 9.99508031e-01 6.84161775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.104391418 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:176.15, Y:26.78, Z:6.84 [[ 9.45505368e-01 -3.24282722e-01 -2.93311250e-02 1.76152285e+02] [ 3.24140865e-01 9.45960111e-01 -9.60042679e-03 2.67819787e+01] [ 3.08593268e-02 -4.30161156e-04 9.99523645e-01 6.84210233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.134391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:176.18, Y:26.79, Z:6.84 [[ 9.43032887e-01 -3.31424323e-01 -2.91014151e-02 1.76184065e+02] [ 3.31288187e-01 9.43481574e-01 -9.52142056e-03 2.67885833e+01] [ 3.06122793e-02 -6.61942323e-04 9.99531115e-01 6.84188600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.164391418 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:176.22, Y:26.80, Z:6.84 [[ 9.41558511e-01 -3.35606348e-01 -2.89127786e-02 1.76215901e+02] [ 3.35474218e-01 9.42001984e-01 -9.45049340e-03 2.67972647e+01] [ 3.04075403e-02 -8.01299295e-04 9.99537263e-01 6.84221026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.194391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:176.25, Y:26.81, Z:6.84 [[ 9.40192530e-01 -3.39419468e-01 -2.88518970e-02 1.76246697e+02] [ 3.39289792e-01 9.40634662e-01 -9.42707104e-03 2.68053797e+01] [ 3.03388258e-02 -9.25892348e-04 9.99539243e-01 6.84294070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.224391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:176.28, Y:26.81, Z:6.84 [[ 9.38909663e-01 -3.42932802e-01 -2.90815819e-02 1.76278840e+02] [ 3.42802825e-01 9.39359351e-01 -9.49913936e-03 2.68139256e+01] [ 3.05756223e-02 -1.05041469e-03 9.99531904e-01 6.84370185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.254391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:176.31, Y:26.82, Z:6.84 [[ 9.36626815e-01 -3.49148566e-01 -2.87313158e-02 1.76311684e+02] [ 3.49024721e-01 9.37066560e-01 -9.38115675e-03 2.68211743e+01] [ 3.01985727e-02 -1.24129650e-03 9.99543148e-01 6.84417011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284391418 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:176.34, Y:26.83, Z:6.85 [[ 9.35741171e-01 -3.51555348e-01 -2.82364597e-02 1.76342780e+02] [ 3.51436932e-01 9.36166197e-01 -9.21597038e-03 2.68301484e+01] [ 2.96739428e-02 -1.29957187e-03 9.99558787e-01 6.84504070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.314391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:176.37, Y:26.84, Z:6.85 [[ 9.34473300e-01 -3.54970439e-01 -2.74888965e-02 1.76372543e+02] [ 3.54859768e-01 9.34876516e-01 -8.96904501e-03 2.68380570e+01] [ 2.88824697e-02 -1.37337037e-03 9.99581871e-01 6.84553814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34439141800001 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:176.40, Y:26.85, Z:6.85 [[ 9.34002538e-01 -3.56224260e-01 -2.72678638e-02 1.76403729e+02] [ 3.56115939e-01 9.34399438e-01 -8.89537161e-03 2.68476361e+01] [ 2.86478238e-02 -1.40222126e-03 9.99588583e-01 6.84631912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37439141800002 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:176.43, Y:26.86, Z:6.85 [[ 9.33615158e-01 -3.57230155e-01 -2.73743098e-02 1.76434569e+02] [ 3.57121523e-01 9.34015277e-01 -8.92642248e-03 2.68571817e+01] [ 2.87568108e-02 -1.44211186e-03 9.99585397e-01 6.84679406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40439141800002 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:176.47, Y:26.87, Z:6.85 [[ 9.33263845e-01 -3.58109223e-01 -2.78636001e-02 1.76466144e+02] [ 3.57997153e-01 9.33678499e-01 -9.08288486e-03 2.68672081e+01] [ 2.92683092e-02 -1.49836146e-03 9.99570468e-01 6.84764473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43439141800002 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:176.50, Y:26.88, Z:6.85 [[ 9.32487145e-01 -3.60127590e-01 -2.78539528e-02 1.76497199e+02] [ 3.60016601e-01 9.32901748e-01 -9.07611649e-03 2.68770783e+01] [ 2.92535612e-02 -1.56452344e-03 9.99570799e-01 6.84746121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.464391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:176.53, Y:26.89, Z:6.85 [[ 9.32141136e-01 -3.61007366e-01 -2.80461193e-02 1.76527893e+02] [ 3.60895345e-01 9.32561580e-01 -9.13505764e-03 2.68869939e+01] [ 2.94525564e-02 -1.60655090e-03 9.99564888e-01 6.84782964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.494391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:176.56, Y:26.90, Z:6.85 [[ 9.31715542e-01 -3.62099480e-01 -2.81089992e-02 1.76558370e+02] [ 3.61987635e-01 9.32137995e-01 -9.14931280e-03 2.68969313e+01] [ 2.95144275e-02 -1.65055321e-03 9.99562992e-01 6.84848524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.524391418 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:176.59, Y:26.91, Z:6.85 [[ 9.31022025e-01 -3.63869207e-01 -2.82345483e-02 1.76589815e+02] [ 3.63757260e-01 9.31448470e-01 -9.18717023e-03 2.69073634e+01] [ 2.96419551e-02 -1.71706408e-03 9.99559106e-01 6.84905851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.554391418 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:176.62, Y:26.92, Z:6.85 [[ 9.30708666e-01 -3.64667425e-01 -2.82674260e-02 1.76621398e+02] [ 3.64555696e-01 9.31136195e-01 -9.19408927e-03 2.69177111e+01] [ 2.96736083e-02 -1.74803257e-03 9.99558113e-01 6.84968266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.584391418 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:176.65, Y:26.93, Z:6.85 [[ 9.30266246e-01 -3.65763323e-01 -2.86688602e-02 1.76651107e+02] [ 3.65649032e-01 9.30706134e-01 -9.32080049e-03 2.69285270e+01] [ 3.00914911e-02 -1.81191491e-03 9.99545506e-01 6.85016391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.614391418 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:176.68, Y:26.94, Z:6.85 [[ 9.30284332e-01 -3.65692640e-01 -2.89819784e-02 1.76681862e+02] [ 3.65575901e-01 9.30733869e-01 -9.41938549e-03 2.69393145e+01] [ 3.04191088e-02 -1.83240611e-03 9.99535552e-01 6.85114415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.644391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:176.71, Y:26.95, Z:6.85 [[ 9.30759572e-01 -3.64482065e-01 -2.89731374e-02 1.76711501e+02] [ 3.64364929e-01 9.31208677e-01 -9.41271617e-03 2.69512545e+01] [ 3.04108031e-02 -1.79581946e-03 9.99535871e-01 6.85164428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.674391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:176.74, Y:26.96, Z:6.85 [[ 9.31274928e-01 -3.63193218e-01 -2.85953784e-02 1.76742225e+02] [ 3.63078695e-01 9.31712225e-01 -9.28388945e-03 2.69623804e+01] [ 3.00145094e-02 -1.73651921e-03 9.99547955e-01 6.85263563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.704391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:176.77, Y:26.97, Z:6.85 [[ 9.31991068e-01 -3.61383370e-01 -2.81905698e-02 1.76772078e+02] [ 3.61271310e-01 9.32415849e-01 -9.15013748e-03 2.69733259e+01] [ 2.95920416e-02 -1.65659769e-03 9.99560687e-01 6.85362406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.734391418 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:176.80, Y:26.98, Z:6.85 [[ 9.32865196e-01 -3.59172300e-01 -2.75279007e-02 1.76802930e+02] [ 3.59064550e-01 9.33269978e-01 -8.93287269e-03 2.69849948e+01] [ 2.88994037e-02 -1.55112725e-03 9.99581122e-01 6.85449647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.764391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:176.83, Y:27.00, Z:6.86 [[ 9.35049560e-01 -3.53540788e-01 -2.62912812e-02 1.76831992e+02] [ 3.53440369e-01 9.35418181e-01 -8.52828248e-03 2.69981401e+01] [ 2.76084382e-02 -1.31803334e-03 9.99617945e-01 6.85595886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.794391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:176.86, Y:27.01, Z:6.86 [[ 9.36239536e-01 -3.50393544e-01 -2.60748124e-02 1.76862367e+02] [ 3.50293627e-01 9.36601773e-01 -8.45534601e-03 2.70099822e+01] [ 2.73844142e-02 -1.21761138e-03 9.99624235e-01 6.85744692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.824391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:176.89, Y:27.02, Z:6.86 [[ 9.38977219e-01 -3.43068429e-01 -2.50167097e-02 1.76892415e+02] [ 3.42973913e-01 9.39309918e-01 -8.11006369e-03 2.70236150e+01] [ 2.62807503e-02 -9.64913764e-04 9.99654136e-01 6.85887594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.854391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:176.92, Y:27.04, Z:6.86 [[ 9.40155031e-01 -3.39854154e-01 -2.46510125e-02 1.76922169e+02] [ 3.39725767e-01 9.40478060e-01 -9.34998715e-03 2.70357108e+01] [ 2.63613684e-02 4.15853339e-04 9.99652392e-01 6.86042378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.884391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:176.95, Y:27.05, Z:6.86 [[ 9.41612784e-01 -3.35746620e-01 -2.52897510e-02 1.76952422e+02] [ 3.35685141e-01 9.41949954e-01 -6.76532698e-03 2.70456809e+01] [ 2.60931155e-02 -2.11907526e-03 9.99657271e-01 6.86043089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.914391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:176.98, Y:27.06, Z:6.86 [[ 9.44028390e-01 -3.28852926e-01 -2.58099294e-02 1.76983284e+02] [ 3.28747560e-01 9.44380954e-01 -8.34604323e-03 2.70590601e+01] [ 2.71190265e-02 -6.06049554e-04 9.99632028e-01 6.86161048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.944391418 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:177.01, Y:27.07, Z:6.86 [[ 9.45232152e-01 -3.25356673e-01 -2.60617375e-02 1.77014019e+02] [ 3.25248165e-01 9.45591225e-01 -8.41815193e-03 2.70703080e+01] [ 2.73826522e-02 -5.19424443e-04 9.99624890e-01 6.86220955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.974391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:177.05, Y:27.08, Z:6.86 [[ 9.46411305e-01 -3.21852205e-01 -2.67731259e-02 1.77045315e+02] [ 3.21736561e-01 9.46789821e-01 -8.63828514e-03 2.70815000e+01] [ 2.81287742e-02 -4.38522744e-04 9.99604212e-01 6.86300098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:177.08, Y:27.09, Z:6.86 [[ 9.47616672e-01 -3.18237939e-01 -2.73360263e-02 1.77076903e+02] [ 3.18116165e-01 9.48010809e-01 -8.80977646e-03 2.70927356e+01] [ 2.87184535e-02 -3.47740799e-04 9.99587480e-01 6.86429923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.034391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:177.11, Y:27.10, Z:6.86 [[ 9.49743709e-01 -3.11765990e-01 -2.80865525e-02 1.77106516e+02] [ 3.11634909e-01 9.50158903e-01 -9.04121078e-03 2.71042561e+01] [ 2.95054299e-02 -1.65917172e-04 9.99564606e-01 6.86495887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:177.14, Y:27.12, Z:6.87 [[ 9.50871518e-01 -3.08286640e-01 -2.83320122e-02 1.77138017e+02] [ 3.08151997e-01 9.51293510e-01 -9.11066409e-03 2.71151828e+01] [ 2.97607554e-02 -6.74951395e-05 9.99557048e-01 6.86575770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09439141800001 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:177.17, Y:27.13, Z:6.87 [[ 9.52648059e-01 -3.02696983e-01 -2.89173261e-02 1.77167878e+02] [ 3.02554458e-01 9.53086841e-01 -9.28834780e-03 2.71263178e+01] [ 3.03722778e-02 9.94605982e-05 9.99538651e-01 6.86613804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12439141800002 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:177.19, Y:27.14, Z:6.87 [[ 9.53072351e-01 -3.01219220e-01 -3.03327320e-02 1.77194861e+02] [ 3.01188135e-01 9.53547717e-01 -5.69732711e-03 2.71364187e+01] [ 3.06398517e-02 -3.70589403e-03 9.99523619e-01 6.86687356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15439141800002 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:177.22, Y:27.15, Z:6.87 [[ 9.53828196e-01 -2.99309143e-01 -2.50161715e-02 1.77223474e+02] [ 2.98929200e-01 9.54108511e-01 -1.78404794e-02 2.71529303e+01] [ 2.92079608e-02 9.53868819e-03 9.99527843e-01 6.87132243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18439141800002 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:177.26, Y:27.15, Z:6.87 [[ 9.54091625e-01 -2.97972930e-01 -3.03530061e-02 1.77260120e+02] [ 2.97970849e-01 9.54563414e-01 -4.69694798e-03 2.71546084e+01] [ 3.03734325e-02 -4.56299226e-03 9.99528206e-01 6.86833328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.214391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:177.29, Y:27.17, Z:6.87 [[ 9.54022341e-01 -2.98341801e-01 -2.88711507e-02 1.77291059e+02] [ 2.98197841e-01 9.54459069e-01 -9.26999897e-03 2.71661244e+01] [ 3.03219598e-02 2.34471315e-04 9.99540156e-01 6.87141108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.244391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:177.32, Y:27.18, Z:6.87 [[ 9.54061717e-01 -2.98663484e-01 -2.37984039e-02 1.77318192e+02] [ 2.98326674e-01 9.54317499e-01 -1.67124746e-02 2.71791988e+01] [ 2.77026392e-02 8.84503351e-03 9.99577075e-01 6.87390626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.274391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:177.35, Y:27.19, Z:6.87 [[ 9.54189683e-01 -2.98023563e-01 -2.65330724e-02 1.77351727e+02] [ 2.97892366e-01 9.54558356e-01 -8.85912245e-03 2.71853785e+01] [ 2.79675932e-02 5.49283525e-04 9.99608679e-01 6.87227442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.304391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:177.39, Y:27.19, Z:6.87 [[ 9.52874159e-01 -3.01769819e-01 -3.10775289e-02 1.77386816e+02] [ 3.01884563e-01 9.53343916e-01 -1.04328194e-03 2.71885187e+01] [ 2.99424041e-02 -8.38770981e-03 9.99516432e-01 6.87201392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.334391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:177.42, Y:27.20, Z:6.88 [[ 9.52166664e-01 -3.04207549e-01 -2.89207577e-02 1.77417647e+02] [ 3.04066976e-01 9.52605777e-01 -9.24703246e-03 2.72011378e+01] [ 3.03630980e-02 1.08687117e-05 9.99538935e-01 6.87603344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.364391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:177.45, Y:27.21, Z:6.88 [[ 9.50172116e-01 -3.10287875e-01 -2.99062560e-02 1.77450053e+02] [ 3.10140911e-01 9.50642622e-01 -9.55094019e-03 2.72077911e+01] [ 3.13937026e-02 -2.00116445e-04 9.99507076e-01 6.87677610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.394391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:177.48, Y:27.22, Z:6.88 [[ 9.49028934e-01 -3.13738445e-01 -3.02038071e-02 1.77481413e+02] [ 3.13590638e-01 9.49509390e-01 -9.63489286e-03 2.72154825e+01] [ 3.17016347e-02 -3.27839015e-04 9.99497323e-01 6.87753346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.424391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:177.51, Y:27.22, Z:6.88 [[ 9.47857631e-01 -3.17199325e-01 -3.08301832e-02 1.77513094e+02] [ 3.17047494e-01 9.48358779e-01 -9.82406704e-03 2.72230372e+01] [ 3.23542623e-02 -4.62815430e-04 9.99476357e-01 6.87846465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.454391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:177.54, Y:27.23, Z:6.88 [[ 9.45403069e-01 -3.24353306e-01 -3.17485305e-02 1.77544518e+02] [ 3.24196669e-01 9.45935721e-01 -1.01060557e-02 2.72285568e+01] [ 3.33100017e-02 -7.38471775e-04 9.99444795e-01 6.87948135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.484391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:177.58, Y:27.24, Z:6.88 [[ 9.44383934e-01 -3.27297751e-01 -3.18616889e-02 1.77576365e+02] [ 3.27141896e-01 9.44920873e-01 -1.01352270e-02 2.72363880e+01] [ 3.34240119e-02 -8.51747755e-04 9.99440899e-01 6.88046774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.514391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:177.61, Y:27.24, Z:6.88 [[ 9.43391208e-01 -3.30092566e-01 -3.24334224e-02 1.77608513e+02] [ 3.29932863e-01 9.43948067e-01 -1.03127405e-02 2.72445661e+01] [ 3.40196253e-02 -9.71903210e-04 9.99420692e-01 6.88173900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.544391418 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:177.64, Y:27.25, Z:6.88 [[ 9.41760583e-01 -3.34648678e-01 -3.31250059e-02 1.77639984e+02] [ 3.34485081e-01 9.42342244e-01 -1.05274159e-02 2.72513085e+01] [ 3.47380781e-02 -1.16551495e-03 9.99395771e-01 6.88332140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.574391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:177.67, Y:27.26, Z:6.88 [[ 9.41115226e-01 -3.36425612e-01 -3.34654868e-02 1.77672136e+02] [ 3.36260116e-01 9.41709210e-01 -1.06253644e-02 2.72600071e+01] [ 3.50894019e-02 -1.25341624e-03 9.99383391e-01 6.88463000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.604391418 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:177.70, Y:27.25, Z:6.88 [[ 9.38227994e-01 -3.41412287e-01 -5.62661710e-02 1.77704718e+02] [ 3.43586070e-01 9.38478998e-01 3.47243760e-02 2.72482922e+01] [ 4.09492912e-02 -5.19116542e-02 9.97811774e-01 6.88275412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.634391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:177.73, Y:27.28, Z:6.90 [[ 9.38178559e-01 -3.43972177e-01 -3.87831642e-02 1.77728706e+02] [ 3.43593677e-01 9.38977887e-01 -1.62453769e-02 2.72815380e+01] [ 4.20044912e-02 1.91541426e-03 9.99115586e-01 6.89844559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.664391418 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:177.76, Y:27.31, Z:6.90 [[ 9.39865498e-01 -3.41054294e-01 -1.82979406e-02 1.77759463e+02] [ 3.39633920e-01 9.38924111e-01 -5.54104206e-02 2.73059909e+01] [ 3.60783395e-02 4.58637412e-02 9.98295983e-01 6.90054592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.694391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:177.80, Y:27.29, Z:6.89 [[ 9.39130061e-01 -3.41902534e-01 -3.37251471e-02 1.77798344e+02] [ 3.41739849e-01 9.39734191e-01 -1.06548561e-02 2.72933702e+01] [ 3.53355961e-02 -1.51893104e-03 9.99374349e-01 6.88576806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.724391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:177.83, Y:27.30, Z:6.89 [[ 9.38792879e-01 -3.42788176e-01 -3.41203185e-02 1.77830143e+02] [ 3.42622398e-01 9.39411404e-01 -1.07752248e-02 2.73027332e+01] [ 3.57466359e-02 -1.57468103e-03 9.99359644e-01 6.88640409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.754391418 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:177.86, Y:27.31, Z:6.89 [[ 9.38380440e-01 -3.43799141e-01 -3.52746494e-02 1.77860554e+02] [ 3.43622833e-01 9.39041722e-01 -1.11352670e-02 2.73116391e+01] [ 3.69526627e-02 -1.67205816e-03 9.99315618e-01 6.88712459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:177.89, Y:27.32, Z:6.89 [[ 9.37602064e-01 -3.45718271e-01 -3.71651195e-02 1.77892184e+02] [ 3.45524227e-01 9.38336545e-01 -1.17276486e-02 2.73208885e+01] [ 3.89278523e-02 -1.84558163e-03 9.99240320e-01 6.88831223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.814391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:177.92, Y:27.33, Z:6.89 [[ 9.37297053e-01 -3.46479317e-01 -3.77666130e-02 1.77924185e+02] [ 3.46279755e-01 9.38055662e-01 -1.19124190e-02 2.73307653e+01] [ 3.95545920e-02 -1.91233831e-03 9.99215581e-01 6.88928826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84439141800001 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:177.96, Y:27.34, Z:6.89 [[ 9.37097461e-01 -3.46999264e-01 -3.79454837e-02 1.77955670e+02] [ 3.46798430e-01 9.37863378e-01 -1.19638215e-02 2.73408568e+01] [ 3.97391167e-02 -1.94816743e-03 9.99208190e-01 6.89092964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87439141800002 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:177.99, Y:27.35, Z:6.89 [[ 9.37244515e-01 -3.46694249e-01 -3.70920038e-02 1.77986023e+02] [ 3.46502292e-01 9.37976280e-01 -1.16901341e-02 2.73511373e+01] [ 3.88443220e-02 -1.89595028e-03 9.99243476e-01 6.89241597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90439141800002 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:178.02, Y:27.36, Z:6.89 [[ 9.37481556e-01 -3.46083654e-01 -3.68026792e-02 1.78017315e+02] [ 3.45894372e-01 9.38201815e-01 -1.15947732e-02 2.73615720e+01] [ 3.85411019e-02 -1.85995358e-03 9.99255285e-01 6.89366806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93439141800002 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:178.05, Y:27.37, Z:6.89 [[ 9.38476480e-01 -3.43386110e-01 -3.67134353e-02 1.78047880e+02] [ 3.43195865e-01 9.39192696e-01 -1.15619634e-02 2.73730963e+01] [ 3.84512079e-02 -1.74926850e-03 9.99258948e-01 6.89492922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.964391418 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:178.08, Y:27.38, Z:6.90 [[ 9.39281899e-01 -3.41119207e-01 -3.72451516e-02 1.78078279e+02] [ 3.40921857e-01 9.40018534e-01 -1.17236164e-02 2.73836845e+01] [ 3.90102835e-02 -1.68590559e-03 9.99237387e-01 6.89602928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.994391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:178.11, Y:27.39, Z:6.90 [[ 9.40189781e-01 -3.38536119e-01 -3.79008200e-02 1.78109572e+02] [ 3.38329952e-01 9.40952014e-01 -1.19226893e-02 2.73945175e+01] [ 3.96991139e-02 -1.61339193e-03 9.99210377e-01 6.89715647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.024391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:178.14, Y:27.41, Z:6.90 [[ 9.41202893e-01 -3.35656764e-01 -3.83621009e-02 1.78140312e+02] [ 3.35443357e-01 9.41983143e-01 -1.20628447e-02 2.74052926e+01] [ 4.01854278e-02 -1.51472761e-03 9.99191091e-01 6.89831666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.054391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:178.17, Y:27.42, Z:6.90 [[ 9.43589965e-01 -3.28906667e-01 -3.81887748e-02 1.78169770e+02] [ 3.28689836e-01 9.44361638e-01 -1.20037123e-02 2.74180378e+01] [ 4.00121149e-02 -1.22567966e-03 9.99198443e-01 6.89954798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.084391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:178.20, Y:27.43, Z:6.90 [[ 9.44924204e-01 -3.25049974e-01 -3.82199278e-02 1.78201037e+02] [ 3.24829806e-01 9.45696238e-01 -1.20092234e-02 2.74298731e+01] [ 4.00480397e-02 -1.06716593e-03 9.99197186e-01 6.90123891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.114391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:178.23, Y:27.44, Z:6.90 [[ 9.48243071e-01 -3.15194405e-01 -3.85689744e-02 1.78229139e+02] [ 3.15120573e-01 9.49016754e-01 -8.13791061e-03 2.74398754e+01] [ 3.91676268e-02 -4.43715999e-03 9.99222802e-01 6.90119302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.144391418 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:178.26, Y:27.46, Z:6.91 [[ 9.48993445e-01 -3.13156082e-01 -3.66702748e-02 1.78259679e+02] [ 3.12777124e-01 9.49695136e-01 -1.57993698e-02 2.74556199e+01] [ 3.97732503e-02 3.52387532e-03 9.99202517e-01 6.90504363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.174391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:178.29, Y:27.47, Z:6.91 [[ 9.50257278e-01 -3.09150784e-01 -3.79064275e-02 1.78291318e+02] [ 3.08922041e-01 9.51012949e-01 -1.18972229e-02 2.74652678e+01] [ 3.97275392e-02 -4.04708305e-04 9.99210468e-01 6.90509473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.204391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:178.32, Y:27.48, Z:6.91 [[ 9.52735100e-01 -3.01510753e-01 -3.72437142e-02 1.78320087e+02] [ 3.01175498e-01 9.53459392e-01 -1.44397726e-02 2.74783048e+01] [ 3.98641158e-02 2.54038403e-03 9.99201881e-01 6.90704657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.234391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:178.35, Y:27.48, Z:6.90 [[ 9.53802410e-01 -2.98014433e-01 -3.80573355e-02 1.78350998e+02] [ 2.98166781e-01 9.54512202e-01 -1.73996662e-03 2.74822952e+01] [ 3.68447263e-02 -9.68784888e-03 9.99274042e-01 6.90252392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.264391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:178.38, Y:27.50, Z:6.91 [[ 9.54079273e-01 -2.97596988e-01 -3.41873219e-02 1.78380729e+02] [ 2.97122774e-01 9.54663521e-01 -1.83198946e-02 2.75011803e+01] [ 3.80893345e-02 7.32079983e-03 9.99247521e-01 6.90902740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.294391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:178.41, Y:27.51, Z:6.91 [[ 9.54702318e-01 -2.95327753e-01 -3.64005761e-02 1.78412196e+02] [ 2.95108657e-01 9.55395993e-01 -1.13743653e-02 2.75085128e+01] [ 3.81361303e-02 1.17007754e-04 9.99272546e-01 6.90705411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.324391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:178.44, Y:27.52, Z:6.91 [[ 9.54801192e-01 -2.94980782e-01 -3.66199750e-02 1.78444226e+02] [ 2.94759147e-01 9.55503178e-01 -1.14333808e-02 2.75185350e+01] [ 3.83631301e-02 1.22533055e-04 9.99263857e-01 6.90800732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.354391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:178.47, Y:27.53, Z:6.91 [[ 9.54184160e-01 -2.96923616e-01 -3.69994040e-02 1.78474462e+02] [ 2.96699279e-01 9.54901233e-01 -1.15400575e-02 2.75279673e+01] [ 3.87572921e-02 3.36436211e-05 9.99248653e-01 6.90848846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.384391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:178.50, Y:27.54, Z:6.91 [[ 9.53687964e-01 -2.98496365e-01 -3.71374146e-02 1.78504800e+02] [ 2.98271904e-01 9.54410770e-01 -1.15737924e-02 2.75370983e+01] [ 3.88990835e-02 -3.92609277e-05 9.99243143e-01 6.90928381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.414391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:178.54, Y:27.55, Z:6.91 [[ 9.53056904e-01 -3.00519067e-01 -3.70246856e-02 1.78536259e+02] [ 3.00297962e-01 9.53775798e-01 -1.15265477e-02 2.75459552e+01] [ 3.87771964e-02 -1.32981733e-04 9.99247873e-01 6.91007626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.444391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:178.57, Y:27.55, Z:6.91 [[ 9.51411341e-01 -3.05771556e-01 -3.63347647e-02 1.78567240e+02] [ 3.05562905e-01 9.52104843e-01 -1.12995446e-02 2.75541816e+01] [ 3.80495848e-02 -3.52041362e-04 9.99275790e-01 6.91062483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.474391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:178.60, Y:27.56, Z:6.91 [[ 9.50530104e-01 -3.08523471e-01 -3.61357031e-02 1.78598577e+02] [ 3.08319537e-01 9.51216614e-01 -1.12257283e-02 2.75632528e+01] [ 3.78362818e-02 -4.70950512e-04 9.99283841e-01 6.91157332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.504391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:178.63, Y:27.57, Z:6.91 [[ 9.49652422e-01 -3.11269929e-01 -3.56554186e-02 1.78630761e+02] [ 3.11073776e-01 9.50321361e-01 -1.10641751e-02 2.75725870e+01] [ 3.73280510e-02 -5.84344993e-04 9.99302895e-01 6.91269912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.534391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:178.66, Y:27.58, Z:6.91 [[ 9.48795131e-01 -3.13930618e-01 -3.51477719e-02 1.78662325e+02] [ 3.13742283e-01 9.49445675e-01 -1.08944859e-02 2.75816501e+01] [ 3.67910127e-02 -6.90707004e-04 9.99322743e-01 6.91371614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:178.69, Y:27.59, Z:6.91 [[ 9.47059180e-01 -3.19246445e-01 -3.40678433e-02 1.78693194e+02] [ 3.19073352e-01 9.47671321e-01 -1.05481503e-02 2.75896888e+01] [ 3.56525776e-02 -8.80418368e-04 9.99363857e-01 6.91466160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59439141800001 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:178.72, Y:27.60, Z:6.92 [[ 9.46203358e-01 -3.21781066e-01 -3.40022200e-02 1.78724854e+02] [ 3.21610616e-01 9.46813593e-01 -1.05181968e-02 2.75985807e+01] [ 3.55783207e-02 -9.83121852e-04 9.99366408e-01 6.91577736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62439141800002 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:178.76, Y:27.61, Z:6.92 [[ 9.44669733e-01 -3.26305295e-01 -3.35253573e-02 1.78757193e+02] [ 3.26142587e-01 9.45263747e-01 -1.03663498e-02 2.76072583e+01] [ 3.50728997e-02 -1.14126985e-03 9.99384105e-01 6.91638296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65439141800002 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:178.79, Y:27.62, Z:6.92 [[ 9.43922024e-01 -3.28426307e-01 -3.38728960e-02 1.78788456e+02] [ 3.28261750e-01 9.44528787e-01 -1.04687152e-02 2.76162613e+01] [ 3.54321268e-02 -1.23752526e-03 9.99371319e-01 6.91671919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68439141800002 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:178.82, Y:27.63, Z:6.92 [[ 9.43264701e-01 -3.30268221e-01 -3.42725336e-02 1.78819996e+02] [ 3.30101210e-01 9.43886189e-01 -1.05855314e-02 2.76251479e+01] [ 3.58454357e-02 -1.32844668e-03 9.99356463e-01 6.91755939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.714391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:178.85, Y:27.63, Z:6.92 [[ 9.42096555e-01 -3.33484832e-01 -3.52412734e-02 1.78851904e+02] [ 3.33310655e-01 9.42754278e-01 -1.08801910e-02 2.76345921e+01] [ 3.68522399e-02 -1.49610143e-03 9.99319606e-01 6.91809841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.744391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:178.88, Y:27.64, Z:6.92 [[ 9.41794996e-01 -3.34308655e-01 -3.54952020e-02 1.78882386e+02] [ 3.34132777e-01 9.42462379e-01 -1.09522533e-02 2.76437425e+01] [ 3.71143256e-02 -1.54533305e-03 9.99309831e-01 6.91908739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.774391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:178.91, Y:27.65, Z:6.92 [[ 9.41471824e-01 -3.35173919e-01 -3.59061141e-02 1.78913854e+02] [ 3.34994933e-01 9.42154904e-01 -1.10694527e-02 2.76533181e+01] [ 3.75393133e-02 -1.60678846e-03 9.99293860e-01 6.91958831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.804391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:178.95, Y:27.66, Z:6.92 [[ 9.41503725e-01 -3.35038002e-01 -3.63355707e-02 1.78945374e+02] [ 3.34854782e-01 9.42203214e-01 -1.11972419e-02 2.76632028e+01] [ 3.79869930e-02 -1.62489464e-03 9.99276913e-01 6.92029720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.834391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:178.98, Y:27.67, Z:6.92 [[ 9.41769206e-01 -3.34266331e-01 -3.65620297e-02 1.78977073e+02] [ 3.34080417e-01 9.42477286e-01 -1.12623816e-02 2.76733759e+01] [ 3.82235175e-02 -1.60809395e-03 9.99267920e-01 6.92117011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.864391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:179.01, Y:27.68, Z:6.92 [[ 9.42105165e-01 -3.33356000e-01 -3.62165136e-02 1.79008442e+02] [ 3.33173088e-01 9.42799736e-01 -1.11513067e-02 2.76835710e+01] [ 3.78622744e-02 -1.56066406e-03 9.99281748e-01 6.92201825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.894391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:179.04, Y:27.69, Z:6.92 [[ 9.42663858e-01 -3.31774899e-01 -3.61976270e-02 1.79038523e+02] [ 3.31591265e-01 9.43357387e-01 -1.11388616e-02 2.76934373e+01] [ 3.78428935e-02 -1.50261473e-03 9.99282571e-01 6.92273165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.924391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:179.07, Y:27.70, Z:6.92 [[ 9.43949651e-01 -3.28039620e-01 -3.67296169e-02 1.79068887e+02] [ 3.27848177e-01 9.44662952e-01 -1.12906970e-02 2.77045354e+01] [ 3.84009043e-02 -1.38388848e-03 9.99261455e-01 6.92355474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.954391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:179.10, Y:27.71, Z:6.92 [[ 9.44686253e-01 -3.25849472e-01 -3.72827627e-02 1.79098992e+02] [ 3.25650933e-01 9.45420736e-01 -1.14499871e-02 2.77149267e+01] [ 3.89788692e-02 -1.32452105e-03 9.99239157e-01 6.92451299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.984391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:179.13, Y:27.73, Z:6.93 [[ 9.46311870e-01 -3.20993607e-01 -3.81700040e-02 1.79129555e+02] [ 3.20781837e-01 9.47080653e-01 -1.17153297e-02 2.77262297e+01] [ 3.99106183e-02 -1.15788846e-03 9.99202583e-01 6.92577753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.014391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:179.16, Y:27.74, Z:6.93 [[ 9.47255504e-01 -3.18208443e-01 -3.80840914e-02 1.79160297e+02] [ 3.17995661e-01 9.48020198e-01 -1.16817848e-02 2.77365478e+01] [ 3.98217304e-02 -1.04494086e-03 9.99206254e-01 6.92664881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.044391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:179.19, Y:27.73, Z:6.93 [[ 9.45871971e-01 -3.19080256e-01 -5.92790400e-02 1.79186021e+02] [ 3.20988585e-01 9.46730854e-01 2.58266974e-02 2.77331094e+01] [ 4.78805069e-02 -4.34566443e-02 9.97907299e-01 6.92873218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.074391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:179.21, Y:27.78, Z:6.94 [[ 9.50094203e-01 -3.10939075e-01 -2.52566300e-02 1.79213297e+02] [ 3.09319124e-01 9.49467635e-01 -5.32248935e-02 2.77775674e+01] [ 4.05300519e-02 4.27563041e-02 9.98263098e-01 6.94420012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.104391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:179.25, Y:27.76, Z:6.93 [[ 9.48484007e-01 -3.11880775e-01 -5.57536644e-02 1.79246159e+02] [ 3.13453205e-01 9.49351085e-01 2.18999048e-02 2.77575277e+01] [ 4.60996425e-02 -3.82478742e-02 9.98204349e-01 6.93135970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.134391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:179.28, Y:27.80, Z:6.94 [[ 9.51530606e-01 -3.06332795e-01 -2.73810865e-02 1.79275406e+02] [ 3.04887491e-01 9.51233031e-01 -4.68971142e-02 2.77953906e+01] [ 4.04119180e-02 3.62758888e-02 9.98524380e-01 6.94371072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.164391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:179.31, Y:27.79, Z:6.93 [[ 9.53155986e-01 -2.99997540e-01 -3.86670572e-02 1.79310794e+02] [ 2.99809446e-01 9.53938972e-01 -1.07113816e-02 2.77896304e+01] [ 4.00994009e-02 -1.38313147e-03 9.99194738e-01 6.93196914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.194391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:179.34, Y:27.80, Z:6.93 [[ 9.53228116e-01 -2.99805478e-01 -3.83775174e-02 1.79341832e+02] [ 2.99582205e-01 9.54000243e-01 -1.15775466e-02 2.77994890e+01] [ 4.00831728e-02 -4.61178375e-04 9.99196240e-01 6.93313177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.224391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:179.37, Y:27.81, Z:6.93 [[ 9.54328053e-01 -2.96284471e-01 -3.83859294e-02 1.79371553e+02] [ 2.96006816e-01 9.55099310e-01 -1.28558817e-02 2.78102516e+01] [ 4.04713728e-02 9.06231825e-04 9.99180287e-01 6.93472269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.254391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:179.40, Y:27.82, Z:6.94 [[ 9.55273737e-01 -2.93141920e-01 -3.89859223e-02 1.79402699e+02] [ 2.92900144e-01 9.56068937e-01 -1.19035063e-02 2.78199302e+01] [ 4.07626460e-02 -4.78753017e-05 9.99168857e-01 6.93568146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:179.43, Y:27.83, Z:6.94 [[ 9.56988625e-01 -2.87499770e-01 -3.89442375e-02 1.79433342e+02] [ 2.87254313e-01 9.57780690e-01 -1.18789756e-02 2.78310224e+01] [ 4.07152414e-02 1.81144299e-04 9.99170774e-01 6.93728889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.314391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:179.47, Y:27.84, Z:6.94 [[ 9.57815817e-01 -2.84781307e-01 -3.85806582e-02 1.79465229e+02] [ 2.84538609e-01 9.58592471e-01 -1.17581273e-02 2.78413326e+01] [ 4.03316234e-02 2.84433469e-04 9.99186309e-01 6.93862928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34439141800001 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:179.50, Y:27.85, Z:6.94 [[ 9.58465512e-01 -2.82592648e-01 -3.85390508e-02 1.79496388e+02] [ 2.82349234e-01 9.59239940e-01 -1.17323004e-02 2.78511574e+01] [ 4.02836586e-02 3.63533825e-04 9.99188218e-01 6.93978420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37439141800002 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:179.53, Y:27.86, Z:6.94 [[ 9.59003370e-01 -2.80716754e-01 -3.88669592e-02 1.79526832e+02] [ 2.80468165e-01 9.59790558e-01 -1.18191586e-02 2.78606973e+01] [ 4.06219763e-02 4.33668206e-04 9.99174493e-01 6.94126081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40439141800002 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:179.56, Y:27.87, Z:6.94 [[ 9.59637643e-01 -2.78554559e-01 -3.87679165e-02 1.79558269e+02] [ 2.78305976e-01 9.60420270e-01 -1.17765723e-02 2.78706670e+01] [ 4.05139108e-02 5.11899201e-04 9.99178843e-01 6.94270110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43439141800002 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:179.59, Y:27.88, Z:6.94 [[ 9.59887846e-01 -2.77738601e-01 -3.84264595e-02 1.79590447e+02] [ 2.77494238e-01 9.60656541e-01 -1.16601247e-02 2.78802854e+01] [ 4.01530964e-02 5.29290866e-04 9.99193399e-01 6.94363458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.464391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:179.62, Y:27.89, Z:6.94 [[ 9.60126916e-01 -2.76916335e-01 -3.83881217e-02 1.79622562e+02] [ 2.76672312e-01 9.60893875e-01 -1.16358060e-02 2.78894996e+01] [ 4.01090558e-02 5.50920149e-04 9.99195156e-01 6.94490517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.494391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:179.65, Y:27.90, Z:6.95 [[ 9.60499437e-01 -2.75674196e-01 -3.80074935e-02 1.79653429e+02] [ 2.75434502e-01 9.61250953e-01 -1.15082625e-02 2.78979982e+01] [ 3.97072704e-02 5.85104594e-04 9.99211184e-01 6.94583231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.524391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:179.69, Y:27.91, Z:6.95 [[ 9.60695217e-01 -2.74996390e-01 -3.79695398e-02 1.79685786e+02] [ 2.74757122e-01 9.61445071e-01 -1.14847671e-02 2.79069466e+01] [ 3.96638964e-02 6.00959333e-04 9.99212897e-01 6.94680689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.554391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:179.72, Y:27.91, Z:6.95 [[ 9.60809525e-01 -2.74650593e-01 -3.75780220e-02 1.79718262e+02] [ 2.74416463e-01 9.61543913e-01 -1.13538117e-02 2.79142369e+01] [ 3.92512494e-02 5.96822496e-04 9.99229195e-01 6.94756342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.584391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:179.75, Y:27.92, Z:6.95 [[ 9.60796814e-01 -2.74687525e-01 -3.76330420e-02 1.79749080e+02] [ 2.74453223e-01 9.61533370e-01 -1.13580857e-02 2.79219799e+01] [ 3.93053501e-02 5.84302876e-04 9.99227075e-01 6.94858616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.614391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:179.78, Y:27.93, Z:6.95 [[ 9.60767400e-01 -2.74793038e-01 -3.76136780e-02 1.79779188e+02] [ 2.74249656e-01 9.61470494e-01 -1.90161854e-02 2.79333846e+01] [ 4.13899569e-02 7.95459271e-03 9.99111403e-01 6.95211612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.644391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:179.81, Y:27.93, Z:6.95 [[ 9.60072679e-01 -2.76878245e-01 -3.99861024e-02 1.79813732e+02] [ 2.76908489e-01 9.60883848e-01 -4.89067315e-03 2.79331777e+01] [ 3.97761210e-02 -6.37708953e-03 9.99188267e-01 6.94795769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.674391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:179.84, Y:27.94, Z:6.95 [[ 9.57811989e-01 -2.82398809e-01 -5.33582858e-02 1.79837031e+02] [ 2.83535221e-01 9.58845613e-01 1.49287782e-02 2.79356167e+01] [ 4.69464891e-02 -2.94279160e-02 9.98463833e-01 6.95194063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.704391418 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:179.87, Y:27.96, Z:6.96 [[ 9.58992275e-01 -2.81939423e-01 -2.90513117e-02 1.79870869e+02] [ 2.80673621e-01 9.58922553e-01 -4.11078611e-02 2.79632005e+01] [ 3.94478846e-02 3.12681844e-02 9.98732279e-01 6.96220632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.734391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:179.91, Y:27.96, Z:6.95 [[ 9.58446352e-01 -2.82672658e-01 -3.84286122e-02 1.79907373e+02] [ 2.82437018e-01 9.59216412e-01 -1.15414810e-02 2.79568447e+01] [ 4.01238166e-02 2.08227735e-04 9.99194694e-01 6.95284512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.764391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:179.94, Y:27.96, Z:6.95 [[ 9.57979921e-01 -2.84313003e-01 -3.79550696e-02 1.79939367e+02] [ 2.84084955e-01 9.58731506e-01 -1.13858536e-02 2.79645039e+01] [ 3.96258673e-02 1.24954905e-04 9.99214579e-01 6.95364182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.794391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:179.97, Y:27.97, Z:6.95 [[ 9.57618898e-01 -2.85533257e-01 -3.79052166e-02 1.79972134e+02] [ 2.85307293e-01 9.58368799e-01 -1.13575075e-02 2.79722190e+01] [ 3.95701230e-02 6.15290388e-05 9.99216794e-01 6.95464733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.824391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:180.01, Y:27.98, Z:6.96 [[ 9.56923908e-01 -2.87914081e-01 -3.74448401e-02 1.80005020e+02] [ 2.87695908e-01 9.57656243e-01 -1.12064934e-02 2.79786322e+01] [ 3.90857921e-02 -4.89657843e-05 9.99235857e-01 6.95609224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.854391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:180.04, Y:27.99, Z:6.96 [[ 9.56853091e-01 -2.88148666e-01 -3.74500733e-02 1.80037611e+02] [ 2.87931127e-01 9.57585683e-01 -1.11948707e-02 2.79865599e+01] [ 3.90874411e-02 -7.11952152e-05 9.99235791e-01 6.95720651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.884391418 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:180.07, Y:27.99, Z:6.96 [[ 9.56842625e-01 -2.88147059e-01 -3.77288078e-02 1.80068484e+02] [ 2.87926730e-01 9.57586166e-01 -1.12664398e-02 2.79941976e+01] [ 3.93749759e-02 -8.29224228e-05 9.99224502e-01 6.95821687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.914391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:180.09, Y:27.99, Z:6.96 [[ 9.54899477e-01 -2.92124775e-01 -5.31987287e-02 1.80094513e+02] [ 2.93250108e-01 9.55924738e-01 1.45694366e-02 2.79920417e+01] [ 4.65978875e-02 -2.95128803e-02 9.98477655e-01 6.95902987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.944391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:180.13, Y:28.02, Z:6.97 [[ 9.57287529e-01 -2.87646017e-01 -2.93318253e-02 1.80125375e+02] [ 2.86402152e-01 9.57260356e-01 -4.03288793e-02 2.80217608e+01] [ 3.96786350e-02 3.02056353e-02 9.98755839e-01 6.96935874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.974391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:180.15, Y:28.00, Z:6.96 [[ 9.55518111e-01 -2.89171666e-01 -5.80076455e-02 1.80154383e+02] [ 2.90878139e-01 9.56475451e-01 2.33370894e-02 2.80027663e+01] [ 4.87344638e-02 -3.91721676e-02 9.98043332e-01 6.96158143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.004391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:180.19, Y:28.04, Z:6.97 [[ 9.58346419e-01 -2.84393818e-01 -2.63115579e-02 1.80186062e+02] [ 2.82865070e-01 9.57843016e-01 -5.02405067e-02 2.80400889e+01] [ 3.94904315e-02 4.07051890e-02 9.98390501e-01 6.97409930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.034391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:180.22, Y:28.03, Z:6.96 [[ 9.58563896e-01 -2.82317014e-01 -3.81098550e-02 1.80223812e+02] [ 2.82089187e-01 9.59321161e-01 -1.13402477e-02 2.80298318e+01] [ 3.97611352e-02 1.19974038e-04 9.99209206e-01 6.96184308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064391418 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:180.26, Y:28.04, Z:6.96 [[ 9.59051864e-01 -2.80648700e-01 -3.81553342e-02 1.80255931e+02] [ 2.80419316e-01 9.59810541e-01 -1.13460565e-02 2.80376284e+01] [ 3.98061479e-02 1.81963875e-04 9.99207405e-01 6.96282004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09439141800001 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:180.29, Y:28.05, Z:6.96 [[ 9.59440763e-01 -2.79306410e-01 -3.82276207e-02 1.80286862e+02] [ 2.79075616e-01 9.60201999e-01 -1.13543918e-02 2.80454171e+01] [ 3.98775922e-02 2.25469500e-04 9.99204547e-01 6.96358328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12439141800002 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:180.32, Y:28.05, Z:6.96 [[ 9.60056629e-01 -2.77266488e-01 -3.76106816e-02 1.80318684e+02] [ 2.77041944e-01 9.60793010e-01 -1.11603579e-02 2.80519071e+01] [ 3.92304732e-02 2.94839189e-04 9.99230145e-01 6.96480429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15439141800002 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:180.35, Y:28.06, Z:6.97 [[ 9.60354215e-01 -2.76279583e-01 -3.72743036e-02 1.80350996e+02] [ 2.76058667e-01 9.61077254e-01 -1.10510132e-02 2.80597688e+01] [ 3.88766546e-02 3.22992560e-04 9.99243965e-01 6.96571374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18439141800002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:180.38, Y:28.07, Z:6.97 [[ 9.60838914e-01 -2.74606619e-01 -3.71454800e-02 1.80383118e+02] [ 2.74386471e-01 9.61556583e-01 -1.10000826e-02 2.80652624e+01] [ 3.87381763e-02 3.77090238e-04 9.99249324e-01 6.96621782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.214391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:180.42, Y:28.07, Z:6.97 [[ 9.61047591e-01 -2.73876172e-01 -3.71398667e-02 1.80415501e+02] [ 2.73655927e-01 9.61764880e-01 -1.09885668e-02 2.80726712e+01] [ 3.87293260e-02 3.96991049e-04 9.99249659e-01 6.96687306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.244391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:180.45, Y:28.08, Z:6.97 [[ 9.61320711e-01 -2.72920714e-01 -3.71049108e-02 1.80448205e+02] [ 2.72700360e-01 9.62036433e-01 -1.09733948e-02 2.80801027e+01] [ 3.86911428e-02 4.30429137e-04 9.99251125e-01 6.96756001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.274391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:180.48, Y:28.09, Z:6.97 [[ 9.61566313e-01 -2.72061185e-01 -3.70531583e-02 1.80481077e+02] [ 2.71840994e-01 9.62279845e-01 -1.09532531e-02 2.80864699e+01] [ 3.86354624e-02 4.59711784e-04 9.99253266e-01 6.96841041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.304391418 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:180.51, Y:28.08, Z:6.97 [[ 9.59237658e-01 -2.75345223e-01 -6.36248656e-02 1.80507495e+02] [ 2.78009878e-01 9.59844022e-01 3.75494377e-02 2.80754522e+01] [ 5.07308886e-02 -5.37071758e-02 9.97267224e-01 6.97147826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.334391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:180.53, Y:28.13, Z:6.99 [[ 9.62014585e-01 -2.72210078e-01 -2.07270733e-02 1.80534963e+02] [ 2.70435610e-01 9.60612274e-01 -6.39424725e-02 2.81251941e+01] [ 3.73164664e-02 5.59082525e-02 9.97738317e-01 6.98643327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.364391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:180.58, Y:28.11, Z:6.97 [[ 9.61854495e-01 -2.71146844e-01 -3.62673292e-02 1.80575430e+02] [ 2.70935807e-01 9.62537878e-01 -1.07061582e-02 2.81079224e+01] [ 3.78116191e-02 4.71648277e-04 9.99284774e-01 6.97028693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.394391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:180.61, Y:28.11, Z:6.97 [[ 9.61597611e-01 -2.72098882e-01 -3.59476412e-02 1.80607947e+02] [ 2.71892381e-01 9.62269202e-01 -1.06073944e-02 2.81125048e+01] [ 3.74775682e-02 4.26155383e-04 9.99297378e-01 6.97091106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.424391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:180.64, Y:28.12, Z:6.97 [[ 9.61292137e-01 -2.73175936e-01 -3.59490541e-02 1.80640707e+02] [ 2.72970326e-01 9.61964014e-01 -1.06036702e-02 2.81197243e+01] [ 3.74783639e-02 3.80199763e-04 9.99297367e-01 6.97169930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.454391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:180.67, Y:28.12, Z:6.97 [[ 9.60617365e-01 -2.75608740e-01 -3.54132751e-02 1.80672681e+02] [ 2.75411030e-01 9.61269861e-01 -1.04412066e-02 2.81237333e+01] [ 3.69194019e-02 2.76797830e-04 9.99318208e-01 6.97227472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.484391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:180.71, Y:28.13, Z:6.97 [[ 9.60265313e-01 -2.76881565e-01 -3.50303943e-02 1.80705063e+02] [ 2.76689101e-01 9.60904027e-01 -1.03243058e-02 2.81306531e+01] [ 3.65194569e-02 2.21544391e-04 9.99332918e-01 6.97296262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.514391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:180.74, Y:28.14, Z:6.97 [[ 9.60031899e-01 -2.77742242e-01 -3.46121266e-02 1.80736161e+02] [ 2.77555062e-01 9.60655617e-01 -1.01967391e-02 2.81369403e+01] [ 3.60823990e-02 1.82423802e-04 9.99348802e-01 6.97340933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.544391418 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:180.77, Y:28.14, Z:6.97 [[ 9.59794640e-01 -2.78664428e-01 -3.37695837e-02 1.80768282e+02] [ 2.78486957e-01 9.60388524e-01 -9.94473073e-03 2.81436668e+01] [ 3.52031634e-02 1.40510631e-04 9.99380167e-01 6.97413449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.574391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:180.80, Y:28.14, Z:6.98 [[ 9.58600022e-01 -2.81610092e-01 -4.22108174e-02 1.80796790e+02] [ 2.82195760e-01 9.59319164e-01 8.50266326e-03 2.81415887e+01] [ 3.80992103e-02 -2.00623669e-02 9.99072546e-01 6.97644302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.604391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:180.83, Y:28.16, Z:6.98 [[ 9.59280834e-01 -2.81303946e-01 -2.54631433e-02 1.80829385e+02] [ 2.80577649e-01 9.59402103e-01 -2.87017072e-02 2.81642521e+01] [ 3.25032967e-02 2.03886088e-02 9.99263649e-01 6.98045223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.634391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:180.86, Y:28.16, Z:6.98 [[ 9.58467919e-01 -2.83658103e-01 -2.96197310e-02 1.80864425e+02] [ 2.83524604e-01 9.58925481e-01 -8.70179815e-03 2.81600654e+01] [ 3.08714504e-02 -5.75281647e-05 9.99523362e-01 6.97530473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.664391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:180.90, Y:28.17, Z:6.98 [[ 9.57933175e-01 -2.85578253e-01 -2.84445825e-02 1.80897009e+02] [ 2.85456077e-01 9.58355387e-01 -8.35345609e-03 2.81671466e+01] [ 2.96455842e-02 -1.17626226e-04 9.99560466e-01 6.97551652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.694391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:180.93, Y:28.17, Z:6.98 [[ 9.57400466e-01 -2.87436387e-01 -2.76526967e-02 1.80928586e+02] [ 2.87321798e-01 9.57799714e-01 -8.11734365e-03 2.81738593e+01] [ 2.88189650e-02 -1.73673958e-04 9.99584632e-01 6.97573979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.724391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:180.96, Y:28.19, Z:6.98 [[ 9.56315417e-01 -2.91727550e-01 -1.88642713e-02 1.80959523e+02] [ 2.91236235e-01 9.56323581e-01 -2.50332372e-02 2.81870925e+01] [ 2.53432324e-02 1.84457113e-02 9.99508617e-01 6.97502878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.754391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:180.99, Y:28.18, Z:6.97 [[ 9.55315744e-01 -2.93851375e-01 -3.19874855e-02 1.80994873e+02] [ 2.94299339e-01 9.55658546e-01 1.02294390e-02 2.81772331e+01] [ 2.75631792e-02 -1.91862399e-02 9.99435921e-01 6.97069469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:181.02, Y:28.19, Z:6.98 [[ 9.54644226e-01 -2.96541138e-01 -2.67909502e-02 1.81024351e+02] [ 2.96437477e-01 9.55019976e-01 -7.85284232e-03 2.81931290e+01] [ 2.79145834e-02 -4.45171089e-04 9.99610213e-01 6.97568804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.814391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:181.05, Y:28.20, Z:6.98 [[ 9.53755959e-01 -2.99571824e-01 -2.46230120e-02 1.81053386e+02] [ 2.99343684e-01 9.54062587e-01 -1.25673972e-02 2.82035058e+01] [ 2.72567326e-02 4.61548681e-03 9.99617811e-01 6.97555159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84439141800001 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:181.09, Y:28.20, Z:6.97 [[ 9.52552731e-01 -3.03081965e-01 -2.80110314e-02 1.81087562e+02] [ 3.03120035e-01 9.52947726e-01 -2.97928012e-03 2.82036942e+01] [ 2.75960148e-02 -5.65278340e-03 9.99603174e-01 6.97464543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87439141800002 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:181.12, Y:28.22, Z:6.98 [[ 9.51773102e-01 -3.05795599e-01 -2.48397490e-02 1.81115800e+02] [ 3.05552163e-01 9.52084394e-01 -1.31598677e-02 2.82169391e+01] [ 2.76737670e-02 4.93536904e-03 9.99604824e-01 6.97585368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90439141800002 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:181.15, Y:28.22, Z:6.98 [[ 9.51414528e-01 -3.06579304e-01 -2.86273725e-02 1.81149811e+02] [ 3.06632428e-01 9.51824390e-01 -2.62381339e-03 2.82185485e+01] [ 2.80526383e-02 -6.28174657e-03 9.99586709e-01 6.97570964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93439141800002 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:181.18, Y:28.23, Z:6.98 [[ 9.50452349e-01 -3.09932860e-01 -2.41237486e-02 1.81179382e+02] [ 3.09708449e-01 9.50747617e-01 -1.26350512e-02 2.82313487e+01] [ 2.68516140e-02 4.53768531e-03 9.99629131e-01 6.97643999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.964391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:181.21, Y:28.23, Z:6.98 [[ 9.50231873e-01 -3.10256800e-01 -2.82861254e-02 1.81212019e+02] [ 3.10307919e-01 9.50632336e-01 -2.67522779e-03 2.82344742e+01] [ 2.77197131e-02 -6.23532198e-03 9.99596288e-01 6.97699513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.994391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:181.24, Y:28.25, Z:6.98 [[ 9.49946652e-01 -3.11326021e-01 -2.60281827e-02 1.81242737e+02] [ 3.11234497e-01 9.50302758e-01 -7.59977958e-03 2.82450681e+01] [ 2.71006630e-02 -8.81483190e-04 9.99632321e-01 6.97885320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.024391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:181.27, Y:28.25, Z:6.98 [[ 9.50058418e-01 -3.11005732e-01 -2.57766786e-02 1.81273035e+02] [ 3.10915908e-01 9.50407641e-01 -7.52419715e-03 2.82535275e+01] [ 2.68384208e-02 -8.65952604e-04 9.99639410e-01 6.97959931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.054391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:181.30, Y:28.26, Z:6.98 [[ 9.50234279e-01 -3.10527590e-01 -2.50485707e-02 1.81302764e+02] [ 3.10442631e-01 9.50564005e-01 -7.31063301e-03 2.82621742e+01] [ 2.60804229e-02 -8.29330079e-04 9.99659504e-01 6.98007887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.084391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:181.33, Y:28.27, Z:6.98 [[ 9.50252345e-01 -3.10472280e-01 -2.50488543e-02 1.81333340e+02] [ 3.10387327e-01 9.50582072e-01 -7.30966103e-03 2.82710513e+01] [ 2.60804390e-02 -8.28824390e-04 9.99659504e-01 6.98091002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.114391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:181.36, Y:28.28, Z:6.98 [[ 9.50376983e-01 -3.09720692e-01 -2.92691450e-02 1.81363728e+02] [ 3.09963804e-01 9.50739708e-01 4.05559665e-03 2.82759241e+01] [ 2.65712362e-02 -1.29267212e-02 9.99563339e-01 6.98152010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.144391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:181.39, Y:28.30, Z:6.99 [[ 9.51169120e-01 -3.08010034e-01 -2.01773139e-02 1.81391113e+02] [ 3.07630026e-01 9.51298247e-01 -1.98849606e-02 2.82956292e+01] [ 2.53194108e-02 1.27068128e-02 9.99598652e-01 6.98695384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.174391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:181.42, Y:28.30, Z:6.98 [[ 9.51071736e-01 -3.08101284e-01 -2.31549613e-02 1.81420551e+02] [ 3.08070384e-01 9.51350539e-01 -4.97895369e-03 2.82975786e+01] [ 2.35625070e-02 -2.39801570e-03 9.99719490e-01 6.98384698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.204391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:181.45, Y:28.31, Z:6.99 [[ 9.51321879e-01 -3.07375306e-01 -2.25189693e-02 1.81451329e+02] [ 3.07305459e-01 9.51588142e-01 -6.58510617e-03 2.83078001e+01] [ 2.34528832e-02 -6.55646613e-04 9.99724728e-01 6.98515231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.234391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:181.48, Y:28.32, Z:6.99 [[ 9.51658498e-01 -3.06363279e-01 -2.20826947e-02 1.81481230e+02] [ 3.06295884e-01 9.51914469e-01 -6.45562528e-03 2.83172434e+01] [ 2.29986031e-02 -6.20287821e-04 9.99735305e-01 6.98585937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.264391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:181.51, Y:28.32, Z:6.99 [[ 9.50444488e-01 -3.08756418e-01 -3.63971060e-02 1.81509852e+02] [ 3.09633386e-01 9.50613709e-01 2.14649198e-02 2.83153957e+01] [ 2.79721561e-02 -3.16709739e-02 9.99106855e-01 6.98699486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.294391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:181.54, Y:28.35, Z:6.99 [[ 9.51743191e-01 -3.06609309e-01 -1.32525581e-02 1.81538006e+02] [ 3.05963133e-01 9.51330044e-01 -3.68471067e-02 2.83503870e+01] [ 2.39052226e-02 3.10141887e-02 9.99233036e-01 6.99466548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.324391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:181.57, Y:28.33, Z:6.99 [[ 9.50887071e-01 -3.07410107e-01 -3.62326369e-02 1.81571378e+02] [ 3.08247705e-01 9.51090444e-01 2.02563749e-02 2.83344444e+01] [ 2.82335004e-02 -3.04301522e-02 9.99138066e-01 6.98817587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.354391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:181.60, Y:28.37, Z:6.99 [[ 9.52084264e-01 -3.05557362e-01 -1.30480694e-02 1.81598940e+02] [ 3.04963582e-01 9.51724376e-01 -3.48987863e-02 2.83688831e+01] [ 2.30817468e-02 2.92473993e-02 9.99305670e-01 6.99466708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.384391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:181.63, Y:28.37, Z:6.99 [[ 9.52548481e-01 -3.03631005e-01 -2.14383769e-02 1.81633112e+02] [ 3.03567304e-01 9.52789536e-01 -6.24441158e-03 2.83656371e+01] [ 2.23222581e-02 -5.59885516e-04 9.99750671e-01 6.98799522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.414391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:181.66, Y:28.38, Z:6.99 [[ 9.52793166e-01 -3.02831759e-01 -2.18656751e-02 1.81664197e+02] [ 3.02765342e-01 9.53043870e-01 -6.36629291e-03 2.83754673e+01] [ 2.27668633e-02 -5.54408206e-04 9.99740648e-01 6.98872356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.444391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:181.70, Y:28.39, Z:6.99 [[ 9.53163932e-01 -3.01651619e-01 -2.20186420e-02 1.81695237e+02] [ 3.01583997e-01 9.53418071e-01 -6.40894029e-03 2.83853403e+01] [ 2.29262384e-02 -5.31699340e-04 9.99737018e-01 6.98957425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.474391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:181.72, Y:28.40, Z:6.99 [[ 9.53996734e-01 -2.98947349e-01 -2.28191629e-02 1.81724970e+02] [ 2.98873993e-01 9.54269483e-01 -6.64002477e-03 2.83962475e+01] [ 2.37606486e-02 -4.85492399e-04 9.99717558e-01 6.99074305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.504391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:181.76, Y:28.41, Z:6.99 [[ 9.54515422e-01 -2.97289060e-01 -2.27930609e-02 1.81756046e+02] [ 2.97215475e-01 9.54787419e-01 -6.62920269e-03 2.84061779e+01] [ 2.37333172e-02 -4.46774216e-04 9.99718225e-01 6.99165463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.534391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:181.79, Y:28.42, Z:6.99 [[ 9.55058171e-01 -2.95556176e-01 -2.25928411e-02 1.81787214e+02] [ 2.95483464e-01 9.55325277e-01 -6.56796474e-03 2.84159784e+01] [ 2.35247147e-02 -4.03022565e-04 9.99723174e-01 6.99262072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:181.82, Y:28.43, Z:6.99 [[ 9.55524265e-01 -2.94040336e-01 -2.26640762e-02 1.81817676e+02] [ 2.93966811e-01 9.55792940e-01 -6.58558816e-03 2.84257806e+01] [ 2.35985926e-02 -3.69796932e-04 9.99721446e-01 6.99378737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59439141800001 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:181.85, Y:28.44, Z:6.99 [[ 9.56209775e-01 -2.91833821e-01 -2.22685440e-02 1.81848259e+02] [ 2.91762297e-01 9.56468987e-01 -6.46823438e-03 2.84350244e+01] [ 2.31868213e-02 -3.12132612e-04 9.99731101e-01 6.99456525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62439141800002 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:181.88, Y:28.44, Z:7.00 [[ 9.56285698e-01 -2.91583041e-01 -2.22933543e-02 1.81880196e+02] [ 2.91511344e-01 9.56545470e-01 -6.47309972e-03 2.84438912e+01] [ 2.32120532e-02 -3.08632992e-04 9.99730516e-01 6.99554436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65439141800002 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:181.91, Y:28.44, Z:7.00 [[ 9.55978677e-01 -2.91741639e-01 -3.14894432e-02 1.81911149e+02] [ 2.92173460e-01 9.56312927e-01 1.00127824e-02 2.84446269e+01] [ 2.71926160e-02 -1.87723861e-02 9.99453930e-01 6.99723372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68439141800002 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:181.94, Y:28.47, Z:7.00 [[ 9.55807103e-01 -2.93496568e-01 -1.71039730e-02 1.81937602e+02] [ 2.93054550e-01 9.55785918e-01 -2.43374227e-02 2.84687324e+01] [ 2.34906866e-02 1.82494844e-02 9.99557474e-01 7.00174360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.714391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:181.97, Y:28.47, Z:7.00 [[ 9.55368247e-01 -2.94547083e-01 -2.26611651e-02 1.81971678e+02] [ 2.94473972e-01 9.55636888e-01 -6.57403705e-03 2.84687141e+01] [ 2.35922087e-02 -3.92497042e-04 9.99721588e-01 6.99797091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.744391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:182.00, Y:28.48, Z:7.00 [[ 9.54818185e-01 -2.96298588e-01 -2.30082848e-02 1.82002560e+02] [ 2.96223805e-01 9.55095256e-01 -6.67151707e-03 2.84768528e+01] [ 2.39518648e-02 -4.45515858e-04 9.99713014e-01 6.99842793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.774391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:182.03, Y:28.48, Z:7.00 [[ 9.53321291e-01 -3.01010551e-01 -2.38990568e-02 1.82033201e+02] [ 3.00931412e-01 9.53620628e-01 -6.92700142e-03 2.84840998e+01] [ 2.48757341e-02 -5.88318976e-04 9.99690378e-01 6.99963878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.804391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:182.06, Y:28.48, Z:7.00 [[ 9.53184307e-01 -3.01367544e-01 -2.48451389e-02 1.82058924e+02] [ 3.01620730e-01 9.53401732e-01 7.07616184e-03 2.84832877e+01] [ 2.15548730e-02 -1.42386954e-02 9.99666268e-01 6.99573212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.834391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:182.08, Y:28.50, Z:7.00 [[ 9.51976963e-01 -3.05499354e-01 -2.02486328e-02 1.82084785e+02] [ 3.05166539e-01 9.52129766e-01 -1.79525019e-02 2.85028735e+01] [ 2.47638037e-02 1.09111631e-02 9.99633783e-01 7.00328809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.864391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:182.12, Y:28.48, Z:7.00 [[ 9.48593176e-01 -3.12987248e-01 -4.70103131e-02 1.82119668e+02] [ 3.15041504e-01 9.47987304e-01 4.54854148e-02 2.84810838e+01] [ 3.03288252e-02 -5.79573538e-02 9.97858260e-01 6.99966724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.894391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:182.14, Y:28.54, Z:7.01 [[ 9.49575996e-01 -3.13529359e-01 -2.18380448e-03 1.82140647e+02] [ 3.12700110e-01 9.47527081e-01 -6.64159012e-02 2.85407844e+01] [ 2.28925488e-02 6.23840696e-02 9.97789637e-01 7.01262553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.924391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:182.18, Y:28.50, Z:7.00 [[ 9.47519993e-01 -3.16667751e-01 -4.39021438e-02 1.82181982e+02] [ 3.18474237e-01 9.46951769e-01 4.30871974e-02 2.84989495e+01] [ 2.79288869e-02 -5.48076828e-02 9.98106254e-01 6.99918418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.954391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:182.20, Y:28.55, Z:7.01 [[ 9.48349815e-01 -3.17206881e-01 -3.52457945e-03 1.82202867e+02] [ 3.16481879e-01 9.46826280e-01 -5.79587489e-02 2.85541177e+01] [ 2.17220784e-02 5.38497033e-02 9.98312757e-01 7.01059974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.984391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:182.24, Y:28.54, Z:7.00 [[ 9.48412973e-01 -3.16471002e-01 -1.89456511e-02 1.82237857e+02] [ 3.16360680e-01 9.48599631e-01 -8.64060451e-03 2.85387915e+01] [ 2.07063384e-02 2.20120235e-03 9.99783178e-01 6.99853896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.014391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:182.27, Y:28.54, Z:7.00 [[ 9.48383552e-01 -3.16502778e-01 -1.98652979e-02 1.82267501e+02] [ 3.16515875e-01 9.48583747e-01 -2.56437530e-03 2.85446871e+01] [ 1.96555306e-02 -3.85567078e-03 9.99799377e-01 6.99707841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.044391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:182.30, Y:28.56, Z:7.00 [[ 9.48751022e-01 -3.15447581e-01 -1.90872347e-02 1.82299035e+02] [ 3.15400957e-01 9.48942652e-01 -5.48449316e-03 2.85554575e+01] [ 1.98427612e-02 -8.16713598e-04 9.99802779e-01 6.99809063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.074391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:182.33, Y:28.57, Z:7.00 [[ 9.49772497e-01 -3.12319028e-01 -1.97238005e-02 1.82330056e+02] [ 3.12268623e-01 9.49976957e-01 -5.66471972e-03 2.85655508e+01] [ 2.05063557e-02 -7.78929016e-04 9.99789419e-01 6.99902785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.104391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:182.36, Y:28.58, Z:7.00 [[ 9.50412352e-01 -3.10351067e-01 -1.99643882e-02 1.82361028e+02] [ 3.10299046e-01 9.50621721e-01 -5.73116135e-03 2.85756014e+01] [ 2.07572531e-02 -7.47964091e-04 9.99784265e-01 7.00026579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.134391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:182.39, Y:28.59, Z:7.00 [[ 9.51720140e-01 -3.06295516e-01 -2.02936185e-02 1.82391075e+02] [ 3.06240904e-01 9.51936239e-01 -5.82281435e-03 2.85861867e+01] [ 2.11017328e-02 -6.73046389e-04 9.99777107e-01 7.00117852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.164391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:182.42, Y:28.60, Z:7.00 [[ 9.52310692e-01 -3.04429158e-01 -2.06696307e-02 1.82422183e+02] [ 3.04372158e-01 9.52534760e-01 -5.92630025e-03 2.85958289e+01] [ 2.14926803e-02 -6.47581007e-04 9.99768796e-01 7.00206503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.194391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:182.45, Y:28.61, Z:7.00 [[ 9.52908659e-01 -3.02506719e-01 -2.13253828e-02 1.82453440e+02] [ 3.02445627e-01 9.53147047e-01 -6.11144987e-03 2.86053683e+01] [ 2.21749803e-02 -6.26115272e-04 9.99753909e-01 7.00284354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.224391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:182.48, Y:28.62, Z:7.00 [[ 9.53862000e-01 -2.99395688e-01 -2.25722380e-02 1.82482315e+02] [ 2.99198978e-01 9.54118781e-01 -1.17185167e-02 2.86176448e+01] [ 2.50450696e-02 4.42425720e-03 9.99676533e-01 7.00492417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.254391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:182.51, Y:28.62, Z:7.00 [[ 9.54245147e-01 -2.98034141e-01 -2.43279761e-02 1.82511508e+02] [ 2.98081223e-01 9.54538902e-01 -1.75195194e-03 2.86218715e+01] [ 2.37441411e-02 -5.57992122e-03 9.99702496e-01 7.00218390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:182.54, Y:28.63, Z:7.00 [[ 9.55186687e-01 -2.95035530e-01 -2.39254744e-02 1.82542250e+02] [ 2.94956256e-01 9.55486148e-01 -6.85768876e-03 2.86347994e+01] [ 2.48837213e-02 -5.06595351e-04 9.99690224e-01 7.00418371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.314391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:182.57, Y:28.65, Z:7.01 [[ 9.55665761e-01 -2.93411155e-01 -2.47557690e-02 1.82573956e+02] [ 2.93325823e-01 9.55986224e-01 -7.09234680e-03 2.86450113e+01] [ 2.57471478e-02 -4.83593324e-04 9.99668370e-01 7.00521026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34439141800001 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:182.60, Y:28.66, Z:7.01 [[ 9.56143485e-01 -2.91756341e-01 -2.58432510e-02 1.82604067e+02] [ 2.91662852e-01 9.56492563e-01 -7.39977806e-03 2.86550035e+01] [ 2.68778096e-02 -4.62266719e-04 9.99638620e-01 7.00651759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37439141800002 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:182.64, Y:28.67, Z:7.01 [[ 9.56671773e-01 -2.89942744e-01 -2.66893897e-02 1.82635416e+02] [ 2.89842472e-01 9.57043897e-01 -7.63680554e-03 2.86652147e+01] [ 2.77571539e-02 -4.29802384e-04 9.99614604e-01 7.00760366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40439141800002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:182.67, Y:28.68, Z:7.01 [[ 9.57559684e-01 -2.86950119e-01 -2.71860426e-02 1.82665835e+02] [ 2.86844970e-01 9.57945460e-01 -7.77547515e-03 2.86765600e+01] [ 2.82739196e-02 -3.52698054e-04 9.99600151e-01 7.00874689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43439141800002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:182.70, Y:28.69, Z:7.01 [[ 9.57959757e-01 -2.85611879e-01 -2.71837801e-02 1.82697511e+02] [ 2.85506298e-01 9.58345321e-01 -7.77168565e-03 2.86865686e+01] [ 2.82711342e-02 -3.16178324e-04 9.99600242e-01 7.00956480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.464391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:182.73, Y:28.70, Z:7.01 [[ 9.58362514e-01 -2.84261533e-01 -2.71417166e-02 1.82728328e+02] [ 2.84155854e-01 9.58746735e-01 -7.75551103e-03 2.86961490e+01] [ 2.82266257e-02 -2.79886638e-04 9.99601510e-01 7.01051085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.494391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:182.76, Y:28.70, Z:7.01 [[ 9.59144581e-01 -2.81555356e-01 -2.77174037e-02 1.82756255e+02] [ 2.81645060e-01 9.59518410e-01 -6.93228742e-04 2.87007664e+01] [ 2.67905414e-02 -7.14156323e-03 9.99615559e-01 7.00907853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.524391418 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:182.79, Y:28.72, Z:7.01 [[ 9.59064204e-01 -2.82131147e-01 -2.44513581e-02 1.82787048e+02] [ 2.81853697e-01 9.59352223e-01 -1.42058193e-02 2.87184565e+01] [ 2.74653689e-02 6.73258708e-03 9.99600083e-01 7.01406568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.554391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:182.82, Y:28.72, Z:7.01 [[ 9.59203488e-01 -2.81501650e-01 -2.61818515e-02 1.82819748e+02] [ 2.81402751e-01 9.59560721e-01 -7.46418651e-03 2.87245079e+01] [ 2.72242571e-02 -2.07971299e-04 9.99629330e-01 7.01328687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.584391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:182.85, Y:28.73, Z:7.01 [[ 9.59336772e-01 -2.81049980e-01 -2.61508537e-02 1.82850549e+02] [ 2.80951236e-01 9.59693112e-01 -7.45205767e-03 2.87332595e+01] [ 2.71911949e-02 -1.98081740e-04 9.99630231e-01 7.01497733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.614391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:182.88, Y:28.74, Z:7.02 [[ 9.59263049e-01 -2.81294808e-01 -2.62227714e-02 1.82882438e+02] [ 2.81195695e-01 9.59621377e-01 -7.46951433e-03 2.87422857e+01] [ 2.72650676e-02 -2.08501320e-04 9.99628217e-01 7.01564877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.644391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:182.91, Y:28.75, Z:7.02 [[ 9.59276671e-01 -2.81218693e-01 -2.65389326e-02 1.82914280e+02] [ 2.81117243e-01 9.59643685e-01 -7.55606237e-03 2.87507007e+01] [ 2.75928251e-02 -2.12197207e-04 9.99619223e-01 7.01637492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.674391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:182.94, Y:28.76, Z:7.02 [[ 9.59200769e-01 -2.81496357e-01 -2.63379089e-02 1.82944912e+02] [ 2.81396632e-01 9.59562271e-01 -7.49554882e-03 2.87588475e+01] [ 2.73828334e-02 -2.21662671e-04 9.99624995e-01 7.01677435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.704391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:182.98, Y:28.77, Z:7.02 [[ 9.59050989e-01 -2.81935909e-01 -2.70803287e-02 1.82975856e+02] [ 2.81830767e-01 9.59433210e-01 -7.70293251e-03 2.87665111e+01] [ 2.81535000e-02 -2.44564759e-04 9.99603582e-01 7.01756240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.734391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:183.01, Y:28.77, Z:7.02 [[ 9.59064155e-01 -2.81869580e-01 -2.73035900e-02 1.83007856e+02] [ 2.81762816e-01 9.59452697e-01 -7.76129364e-03 2.87747870e+01] [ 2.83841756e-02 -2.49557877e-04 9.99597057e-01 7.01874743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.764391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:183.04, Y:28.78, Z:7.02 [[ 9.58958491e-01 -2.82213679e-01 -2.74600205e-02 1.83039741e+02] [ 2.82105932e-01 9.59351536e-01 -7.80217928e-03 2.87831313e+01] [ 2.85456946e-02 -2.64668615e-04 9.99592454e-01 7.01971501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.794391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:183.07, Y:28.79, Z:7.02 [[ 9.58739927e-01 -2.82910940e-01 -2.79133227e-02 1.83070639e+02] [ 2.82800000e-01 9.59146138e-01 -7.92753716e-03 2.87901155e+01] [ 2.90157426e-02 -2.93441256e-04 9.99578912e-01 7.02006150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.824391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:183.10, Y:28.80, Z:7.02 [[ 9.58608950e-01 -2.83320173e-01 -2.82588108e-02 1.83101339e+02] [ 2.83206736e-01 9.59025329e-01 -8.02262611e-03 2.87975379e+01] [ 2.93738871e-02 -3.12524366e-04 9.99568445e-01 7.02034732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.854391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:183.13, Y:28.81, Z:7.02 [[ 9.58437032e-01 -2.83886956e-01 -2.84016214e-02 1.83133254e+02] [ 2.83772714e-01 9.58857698e-01 -8.05992131e-03 2.88052750e+01] [ 2.95212198e-02 -3.34678133e-04 9.99564098e-01 7.02062704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.884391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:183.17, Y:28.81, Z:7.02 [[ 9.58052149e-01 -2.85090491e-01 -2.93170803e-02 1.83165210e+02] [ 2.84969447e-01 9.58500528e-01 -8.31580515e-03 2.88124060e+01] [ 3.04711939e-02 -3.87497152e-04 9.99535570e-01 7.02149121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.914391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:183.20, Y:28.82, Z:7.02 [[ 9.57978979e-01 -2.85346693e-01 -2.92153992e-02 1.83196559e+02] [ 2.85226716e-01 9.58424283e-01 -8.28337312e-03 2.88205759e+01] [ 3.03643812e-02 -3.97715047e-04 9.99538817e-01 7.02197690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.944391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:183.23, Y:28.83, Z:7.02 [[ 9.57945520e-01 -2.85466777e-01 -2.91393258e-02 1.83228273e+02] [ 2.85347583e-01 9.58388520e-01 -8.25838676e-03 2.88285841e+01] [ 3.02842904e-02 -4.03751594e-04 9.99541244e-01 7.02269438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.974391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:183.26, Y:28.84, Z:7.02 [[ 9.57880739e-01 -2.85690444e-01 -2.90767902e-02 1.83260800e+02] [ 2.85571999e-01 9.58321866e-01 -8.23620449e-03 2.88360353e+01] [ 3.02179288e-02 -4.14215457e-04 9.99543248e-01 7.02377065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.004391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:183.29, Y:28.85, Z:7.02 [[ 9.57931762e-01 -2.85519166e-01 -2.90782543e-02 1.83293114e+02] [ 2.85400799e-01 9.58372910e-01 -8.23103283e-03 2.88450482e+01] [ 3.02179288e-02 -4.14189232e-04 9.99543248e-01 7.02441671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.034391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:183.32, Y:28.85, Z:7.02 [[ 9.57907201e-01 -2.85644785e-01 -2.86504986e-02 1.83323889e+02] [ 2.85530100e-01 9.58335475e-01 -8.10429236e-03 2.88526771e+01] [ 2.97717380e-02 -4.17419707e-04 9.99556636e-01 7.02489492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:183.36, Y:28.86, Z:7.03 [[ 9.57753827e-01 -2.86161848e-01 -2.86182213e-02 1.83355191e+02] [ 2.86047794e-01 9.58181196e-01 -8.09040306e-03 2.88605975e+01] [ 2.97366062e-02 -4.37564557e-04 9.99557674e-01 7.02603033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09439141800001 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:183.39, Y:28.87, Z:7.03 [[ 9.57218832e-01 -2.88054451e-01 -2.75089293e-02 1.83385674e+02] [ 2.87949909e-01 9.57613912e-01 -7.77473139e-03 2.88665646e+01] [ 2.85824794e-02 -4.79074386e-04 9.99591323e-01 7.02658739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12439141800002 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:183.42, Y:28.88, Z:7.03 [[ 9.57035613e-01 -2.88734665e-01 -2.67418850e-02 1.83416778e+02] [ 2.88542947e-01 9.57405429e-01 -1.08541297e-02 2.88756087e+01] [ 2.87367894e-02 2.67160644e-03 9.99583443e-01 7.02796063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15439141800002 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:183.45, Y:28.88, Z:7.03 [[ 9.56198976e-01 -2.91447515e-01 -2.72371883e-02 1.83445703e+02] [ 2.91178913e-01 9.56574146e-01 -1.34440685e-02 2.88843765e+01] [ 2.99726305e-02 4.92430960e-03 9.99538590e-01 7.02957275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18439141800002 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:183.47, Y:28.89, Z:7.03 [[ 9.55759987e-01 -2.92724896e-01 -2.88960478e-02 1.83473266e+02] [ 2.92692402e-01 9.56191160e-01 -5.44267634e-03 2.88865773e+01] [ 2.92233523e-02 -3.25576136e-03 9.99567604e-01 7.02822347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.214391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:183.51, Y:28.89, Z:7.03 [[ 9.54007704e-01 -2.98517076e-01 -2.75110097e-02 1.83506492e+02] [ 2.98596138e-01 9.54378697e-01 -1.28390771e-03 2.88915866e+01] [ 2.66391900e-02 -6.98982342e-03 9.99620676e-01 7.02704508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.244391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:183.54, Y:28.90, Z:7.03 [[ 9.53199585e-01 -3.01228253e-01 -2.59246991e-02 1.83537829e+02] [ 3.01140279e-01 9.53551709e-01 -7.32608805e-03 2.89021915e+01] [ 2.69273658e-02 -8.23747013e-04 9.99637053e-01 7.02889503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.274391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:183.57, Y:28.91, Z:7.03 [[ 9.52448724e-01 -3.03591574e-01 -2.59535092e-02 1.83567848e+02] [ 3.03504358e-01 9.52801845e-01 -7.33131403e-03 2.89094305e+01] [ 2.69542766e-02 -8.94302457e-04 9.99636267e-01 7.02926355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.304391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:183.60, Y:28.92, Z:7.03 [[ 9.51656507e-01 -3.06042916e-01 -2.62226284e-02 1.83598298e+02] [ 3.05954856e-01 9.52017218e-01 -7.40563491e-03 2.89170437e+01] [ 2.72308358e-02 -9.75319851e-04 9.99628696e-01 7.02966235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.334391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:183.63, Y:28.92, Z:7.03 [[ 9.50336239e-01 -3.10081314e-01 -2.66573069e-02 1.83630058e+02] [ 3.09991946e-01 9.50709390e-01 -7.52651813e-03 2.89243972e+01] [ 2.76771846e-02 -1.11082751e-03 9.99616296e-01 7.02961740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.364391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:183.66, Y:28.93, Z:7.03 [[ 9.49751455e-01 -3.11868668e-01 -2.66478547e-02 1.83660916e+02] [ 3.11780128e-01 9.50124506e-01 -7.52159857e-03 2.89327776e+01] [ 2.76645307e-02 -1.16462236e-03 9.99616585e-01 7.02991668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.394391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:183.69, Y:28.94, Z:7.03 [[ 9.49247886e-01 -3.13379499e-01 -2.68652391e-02 1.83691268e+02] [ 3.13290188e-01 9.49627189e-01 -7.58019570e-03 2.89411266e+01] [ 2.78874394e-02 -1.22113105e-03 9.99610324e-01 7.03061518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.424391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:183.72, Y:28.95, Z:7.03 [[ 9.48597473e-01 -3.15393831e-01 -2.62595764e-02 1.83722527e+02] [ 3.15309361e-01 9.48960040e-01 -7.40604325e-03 2.89500032e+01] [ 2.72551090e-02 -1.25453633e-03 9.99627723e-01 7.03112389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.454391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:183.75, Y:28.96, Z:7.03 [[ 9.48369380e-01 -3.16138905e-01 -2.55286498e-02 1.83752782e+02] [ 3.16059410e-01 9.48712100e-01 -7.19731038e-03 2.89589559e+01] [ 2.64946888e-02 -1.24286122e-03 9.99648181e-01 7.03170527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.484391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:183.78, Y:28.97, Z:7.03 [[ 9.48244075e-01 -3.16523927e-01 -2.54121506e-02 1.83781370e+02] [ 3.16445363e-01 9.48583702e-01 -7.16186721e-03 2.89672810e+01] [ 2.63724543e-02 -1.25035908e-03 9.99651404e-01 7.03226518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.514391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:183.81, Y:28.98, Z:7.03 [[ 9.48259011e-01 -3.16502658e-01 -2.51180205e-02 1.83810096e+02] [ 3.16425885e-01 9.48590819e-01 -7.07935593e-03 2.89768094e+01] [ 2.60673586e-02 -1.23492881e-03 9.99659426e-01 7.03289543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.544391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:183.84, Y:28.99, Z:7.03 [[ 9.48331727e-01 -3.16302690e-01 -2.48906557e-02 1.83837523e+02] [ 3.16227221e-01 9.48657538e-01 -7.01564455e-03 2.89857357e+01] [ 2.58317754e-02 -1.21794458e-03 9.99665562e-01 7.03346944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.574391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:183.87, Y:29.00, Z:7.03 [[ 9.48244156e-01 -3.16929713e-01 -1.97123568e-02 1.83867170e+02] [ 3.16629939e-01 9.48398539e-01 -1.69024491e-02 2.90020727e+01] [ 2.40520587e-02 9.78612630e-03 9.99662808e-01 7.03380250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.604391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:183.90, Y:29.00, Z:7.03 [[ 9.48535765e-01 -3.15438736e-01 -2.78981522e-02 1.83899800e+02] [ 3.15657958e-01 9.48865742e-01 3.72253894e-03 2.90001936e+01] [ 2.52973679e-02 -1.23372351e-02 9.99603839e-01 7.03215115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.634391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:183.93, Y:29.02, Z:7.04 [[ 9.48651018e-01 -3.15289222e-01 -2.55725065e-02 1.83927990e+02] [ 3.15209357e-01 9.48994835e-01 -7.20173425e-03 2.90158740e+01] [ 2.65388058e-02 -1.22876080e-03 9.99647029e-01 7.03535482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.664391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:183.96, Y:29.03, Z:7.04 [[ 9.48578483e-01 -3.15538313e-01 -2.51879972e-02 1.83958519e+02] [ 3.15460965e-01 9.48912055e-01 -7.09170322e-03 2.90255662e+01] [ 2.61388983e-02 -1.21879284e-03 9.99657578e-01 7.03542170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.694391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:183.99, Y:29.04, Z:7.04 [[ 9.48625600e-01 -3.15381723e-01 -2.53739991e-02 1.83989308e+02] [ 3.15303230e-01 9.48964102e-01 -7.14186620e-03 2.90351878e+01] [ 2.63314284e-02 -1.22554676e-03 9.99652517e-01 7.03627377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.724391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:184.02, Y:29.05, Z:7.04 [[ 9.48778186e-01 -3.14973331e-01 -2.47336725e-02 1.84020455e+02] [ 3.14898672e-01 9.49099781e-01 -6.95926884e-03 2.90463181e+01] [ 2.56667073e-02 -1.18579817e-03 9.99669853e-01 7.03723375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.754391418 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:184.05, Y:29.06, Z:7.04 [[ 9.48321243e-01 -3.16168519e-01 -2.69125964e-02 1.84050274e+02] [ 3.16216684e-01 9.48683540e-01 -2.55905098e-03 2.90562941e+01] [ 2.63406286e-02 -6.08340959e-03 9.99634515e-01 7.03829147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:184.08, Y:29.07, Z:7.04 [[ 9.49183041e-01 -3.13877451e-01 -2.30759880e-02 1.84081556e+02] [ 3.13682832e-01 9.49455582e-01 -1.17123295e-02 2.90693843e+01] [ 2.55858618e-02 3.87860323e-03 9.99665104e-01 7.04007534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.814391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:184.11, Y:29.08, Z:7.04 [[ 9.49618816e-01 -3.12465341e-01 -2.42799242e-02 1.84113609e+02] [ 3.12392809e-01 9.49928517e-01 -6.82244020e-03 2.90775302e+01] [ 2.51959685e-02 -1.10615615e-03 9.99681919e-01 7.03930340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84439141800001 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:184.14, Y:29.09, Z:7.04 [[ 9.50665562e-01 -3.09287734e-01 -2.40018225e-02 1.84143807e+02] [ 3.09215918e-01 9.50967965e-01 -6.74125426e-03 2.90897050e+01] [ 2.49099515e-02 -1.01306731e-03 9.99689186e-01 7.03974361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87439141800002 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:184.18, Y:29.10, Z:7.04 [[ 9.51416154e-01 -3.06971493e-01 -2.39959310e-02 1.84175194e+02] [ 3.06899045e-01 9.51718231e-01 -6.73686053e-03 2.91004308e+01] [ 2.49053891e-02 -9.54770367e-04 9.99689357e-01 7.04055683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90439141800002 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:184.21, Y:29.11, Z:7.04 [[ 9.52282826e-01 -3.04292070e-01 -2.37435316e-02 1.84206107e+02] [ 3.04220382e-01 9.52578377e-01 -6.66293720e-03 2.91112900e+01] [ 2.46450537e-02 -8.78265568e-04 9.99695879e-01 7.04133656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93439141800002 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:184.24, Y:29.12, Z:7.04 [[ 9.54175819e-01 -2.98296479e-01 -2.38268079e-02 1.84236530e+02] [ 2.98222493e-01 9.54472985e-01 -6.68318563e-03 2.91247034e+01] [ 2.47356152e-02 -7.28755933e-04 9.99693762e-01 7.04250550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.964391418 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:184.27, Y:29.14, Z:7.04 [[ 9.55240028e-01 -2.94874538e-01 -2.37801655e-02 1.84268005e+02] [ 2.94799858e-01 9.55535763e-01 -6.66697408e-03 2.91356706e+01] [ 2.46887195e-02 -6.41828925e-04 9.99694981e-01 7.04310053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.994391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:184.29, Y:29.13, Z:7.04 [[ 9.54110150e-01 -2.96101199e-01 -4.46978849e-02 1.84294927e+02] [ 2.97733992e-01 9.53980726e-01 3.57105645e-02 2.91300351e+01] [ 3.20669797e-02 -4.73798918e-02 9.98362086e-01 7.04376351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.024391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:184.32, Y:29.18, Z:7.06 [[ 9.57915770e-01 -2.86846825e-01 -1.07831448e-02 1.84321471e+02] [ 2.85929063e-01 9.56819233e-01 -5.23595848e-02 2.91792101e+01] [ 2.53367010e-02 4.70728575e-02 9.98570076e-01 7.05758591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.054391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:184.36, Y:29.17, Z:7.05 [[ 9.58442213e-01 -2.84293525e-01 -2.37847978e-02 1.84358712e+02] [ 2.84215908e-01 9.58737214e-01 -6.65376385e-03 2.91677157e+01] [ 2.46949927e-02 -3.82769747e-04 9.99694959e-01 7.04507127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.084391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:184.39, Y:29.16, Z:7.04 [[ 9.56855291e-01 -2.87249678e-01 -4.37672862e-02 1.84386344e+02] [ 2.88838165e-01 9.56713676e-01 3.56574899e-02 2.91606611e+01] [ 3.16301588e-02 -4.67607205e-02 9.98405212e-01 7.04476177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.114391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:184.41, Y:29.21, Z:7.06 [[ 9.59270204e-01 -2.82286451e-01 -1.07254221e-02 1.84413446e+02] [ 2.81387587e-01 9.58188448e-01 -5.19222940e-02 2.92078071e+01] [ 2.49339357e-02 4.67895089e-02 9.98593531e-01 7.05950508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.144391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:184.45, Y:29.20, Z:7.05 [[ 9.59472296e-01 -2.80783171e-01 -2.39525340e-02 1.84448932e+02] [ 2.80586892e-01 9.59762525e-01 -1.12645977e-02 2.91966343e+01] [ 2.61516540e-02 4.08730233e-03 9.99649631e-01 7.04806858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.174391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:184.48, Y:29.20, Z:7.05 [[ 9.58993753e-01 -2.82282496e-01 -2.54474859e-02 1.84483154e+02] [ 2.82308138e-01 9.59320109e-01 -2.65385882e-03 2.92018289e+01] [ 2.51614229e-02 -4.63899834e-03 9.99672638e-01 7.04592551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.204391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:184.51, Y:29.21, Z:7.05 [[ 9.58626313e-01 -2.83594265e-01 -2.46958394e-02 1.84514616e+02] [ 2.83511061e-01 9.58944278e-01 -6.88108681e-03 2.92123581e+01] [ 2.56333707e-02 -4.05152771e-04 9.99671329e-01 7.04776404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.234391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:184.55, Y:29.22, Z:7.05 [[ 9.57689313e-01 -2.86694779e-01 -2.52444772e-02 1.84545765e+02] [ 2.86609036e-01 9.58021842e-01 -7.02927316e-03 2.92200603e+01] [ 2.62000165e-02 -5.03435491e-04 9.99656594e-01 7.04807489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.264391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:184.58, Y:29.23, Z:7.05 [[ 9.57093342e-01 -2.88673061e-01 -2.53021396e-02 1.84577965e+02] [ 2.88587794e-01 9.57427566e-01 -7.03853415e-03 2.92283588e+01] [ 2.62568011e-02 -5.65354487e-04 9.99655071e-01 7.04862505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.294391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:184.61, Y:29.24, Z:7.05 [[ 9.56265782e-01 -2.91380500e-01 -2.55569496e-02 1.84608730e+02] [ 2.91333414e-01 9.56605013e-01 -5.62948724e-03 2.92365609e+01] [ 2.60882289e-02 -2.06230735e-03 9.99657517e-01 7.04928954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.324391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:184.64, Y:29.24, Z:7.05 [[ 9.55461404e-01 -2.94060652e-01 -2.49367024e-02 1.84639915e+02] [ 2.93939347e-01 9.55786449e-01 -8.48085267e-03 2.92447547e+01] [ 2.63280473e-02 7.73249359e-04 9.99653058e-01 7.05091779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.354391418 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:184.67, Y:29.25, Z:7.05 [[ 9.54937754e-01 -2.95753084e-01 -2.49799899e-02 1.84672075e+02] [ 2.95672753e-01 9.55264116e-01 -6.93487998e-03 2.92524564e+01] [ 2.59135001e-02 -7.63523679e-04 9.99663897e-01 7.05075998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.384391418 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:184.70, Y:29.26, Z:7.05 [[ 9.54486106e-01 -2.97163928e-01 -2.54926078e-02 1.84704304e+02] [ 2.97080854e-01 9.54826123e-01 -7.07395333e-03 2.92608944e+01] [ 2.64431316e-02 -8.21375529e-04 9.99649982e-01 7.05116732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.414391418 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:184.74, Y:29.27, Z:7.05 [[ 9.53626985e-01 -2.99876396e-01 -2.58789523e-02 1.84736284e+02] [ 2.99791871e-01 9.53977627e-01 -7.17783063e-03 2.92691759e+01] [ 2.68404035e-02 -9.13326547e-04 9.99639314e-01 7.05179505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.444391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:184.77, Y:29.28, Z:7.05 [[ 9.52731755e-01 -3.02761862e-01 -2.52479147e-02 1.84766060e+02] [ 3.02669546e-01 9.53066106e-01 -7.49295534e-03 2.92801915e+01] [ 2.63315128e-02 -5.02998373e-04 9.99653139e-01 7.05221678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.474391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:184.80, Y:29.29, Z:7.05 [[ 9.53174028e-01 -3.01269155e-01 -2.63850074e-02 1.84799707e+02] [ 3.01192208e-01 9.53538210e-01 -6.93805313e-03 2.92858602e+01] [ 2.72493341e-02 -1.33378656e-03 9.99627778e-01 7.05309126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.504391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:184.83, Y:29.29, Z:7.05 [[ 9.53071956e-01 -3.01597158e-01 -2.63248998e-02 1.84830855e+02] [ 3.01510882e-01 9.53434927e-01 -7.28201848e-03 2.92941303e+01] [ 2.72953150e-02 -9.96956142e-04 9.99626916e-01 7.05383130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.534391418 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:184.86, Y:29.30, Z:7.05 [[ 9.52866187e-01 -3.02213193e-01 -2.67060914e-02 1.84862997e+02] [ 3.02124842e-01 9.53239798e-01 -7.38023512e-03 2.93031721e+01] [ 2.76877136e-02 -1.03619715e-03 9.99616085e-01 7.05469871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564391418 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:184.89, Y:29.31, Z:7.06 [[ 9.52936532e-01 -3.01948527e-01 -2.71855203e-02 1.84894165e+02] [ 3.01856963e-01 9.53323651e-01 -7.50931034e-03 2.93118436e+01] [ 2.81840246e-02 -1.05024243e-03 9.99602200e-01 7.05553574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59439141800001 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:184.92, Y:29.32, Z:7.06 [[ 9.53120121e-01 -3.01420602e-01 -2.66017931e-02 1.84924640e+02] [ 3.01156800e-01 9.53478836e-01 -1.35163623e-02 2.93242821e+01] [ 2.94383568e-02 4.87140596e-03 9.99554727e-01 7.05787468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62439141800002 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:184.96, Y:29.33, Z:7.06 [[ 9.53888453e-01 -2.98877790e-01 -2.77287838e-02 1.84957536e+02] [ 2.98838631e-01 9.54286976e-01 -5.64262216e-03 2.93305810e+01] [ 2.81476717e-02 -2.90399968e-03 9.99599558e-01 7.05609141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65439141800002 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:184.99, Y:29.34, Z:7.06 [[ 9.54677930e-01 -2.96195883e-01 -2.92924810e-02 1.84988551e+02] [ 2.96204486e-01 9.55115555e-01 -4.14473679e-03 2.93383916e+01] [ 2.92053582e-02 -4.71967552e-03 9.99562290e-01 7.05790590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68439141800002 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:185.02, Y:29.36, Z:7.06 [[ 9.56022194e-01 -2.92613608e-01 -1.99710076e-02 1.85020269e+02] [ 2.92150536e-01 9.56091368e-01 -2.31810180e-02 2.93560444e+01] [ 2.58771893e-02 1.63270271e-02 9.99531790e-01 7.05988038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.714391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:185.05, Y:29.35, Z:7.06 [[ 9.56147190e-01 -2.91119880e-01 -3.21211404e-02 1.85050477e+02] [ 2.91543433e-01 9.56512402e-01 9.29789149e-03 2.93505762e+01] [ 2.80174681e-02 -1.82548604e-02 9.99440734e-01 7.05598947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.744391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:185.08, Y:29.37, Z:7.06 [[ 9.57789551e-01 -2.86233379e-01 -2.66388533e-02 1.85079479e+02] [ 2.86140319e-01 9.58159738e-01 -7.32358490e-03 2.93687558e+01] [ 2.76205311e-02 -6.07996880e-04 9.99618295e-01 7.06189743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.774391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:185.11, Y:29.38, Z:7.06 [[ 9.58633125e-01 -2.83358849e-01 -2.70239450e-02 1.85110093e+02] [ 2.83262082e-01 9.59013803e-01 -7.42423318e-03 2.93778345e+01] [ 2.80200585e-02 -5.37743087e-04 9.99607216e-01 7.06231668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.804391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:185.14, Y:29.40, Z:7.06 [[ 9.60010225e-01 -2.79695404e-01 -1.22820883e-02 1.85141697e+02] [ 2.79039493e-01 9.59479718e-01 -3.91871500e-02 2.94020283e+01] [ 2.27448803e-02 3.41928769e-02 9.99156403e-01 7.06416564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.834391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:185.18, Y:29.38, Z:7.05 [[ 9.60165473e-01 -2.76752255e-01 -3.86063825e-02 1.85176592e+02] [ 2.77826009e-01 9.60283260e-01 2.58605697e-02 2.93809728e+01] [ 2.99160919e-02 -3.55562833e-02 9.98919806e-01 7.05355248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.864391418 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:185.20, Y:29.41, Z:7.06 [[ 9.60540443e-01 -2.76546152e-01 -2.97369138e-02 1.85203572e+02] [ 2.76426201e-01 9.61000559e-01 -8.15354029e-03 2.94064966e+01] [ 3.08320210e-02 -3.88256937e-04 9.99524505e-01 7.06314517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.894391418 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:185.24, Y:29.42, Z:7.06 [[ 9.60578987e-01 -2.76412128e-01 -2.97379485e-02 1.85235951e+02] [ 2.76292230e-01 9.61039117e-01 -8.14976534e-03 2.94152478e+01] [ 3.08320257e-02 -3.87870759e-04 9.99524505e-01 7.06380281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.924391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:185.27, Y:29.42, Z:7.06 [[ 9.60770633e-01 -2.75659156e-01 -3.05257471e-02 1.85267424e+02] [ 2.75532579e-01 9.61255370e-01 -8.36126168e-03 2.94242886e+01] [ 3.16478967e-02 -3.77583159e-04 9.99499009e-01 7.06448159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.954391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:185.30, Y:29.43, Z:7.06 [[ 9.60587400e-01 -2.76256156e-01 -3.08930860e-02 1.85298088e+02] [ 2.76126982e-01 9.61083956e-01 -8.45689029e-03 2.94331967e+01] [ 3.20271173e-02 -4.06832340e-04 9.99486917e-01 7.06492345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.984391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:185.33, Y:29.44, Z:7.07 [[ 9.60785328e-01 -2.75585756e-01 -3.07253271e-02 1.85327399e+02] [ 2.75392504e-01 9.61275215e-01 -1.04369653e-02 2.94418879e+01] [ 3.24117744e-02 1.56615839e-03 9.99473373e-01 7.06657352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.014391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:185.36, Y:29.45, Z:7.07 [[ 9.60322531e-01 -2.77205350e-01 -3.06240309e-02 1.85360915e+02] [ 2.77137440e-01 9.60808130e-01 -6.52512858e-03 2.94496251e+01] [ 3.12326184e-02 -2.22083755e-03 9.99509676e-01 7.06643569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.044391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:185.39, Y:29.46, Z:7.07 [[ 9.59973038e-01 -2.78654792e-01 -2.83420677e-02 1.85392073e+02] [ 2.78547506e-01 9.60391220e-01 -7.74538126e-03 2.94599038e+01] [ 2.93777606e-02 -4.59255086e-04 9.99568275e-01 7.06837047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.074391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:185.42, Y:29.47, Z:7.07 [[ 9.60159658e-01 -2.78034264e-01 -2.81136793e-02 1.85421751e+02] [ 2.77792634e-01 9.60563059e-01 -1.22418306e-02 2.94701674e+01] [ 3.04086101e-02 3.94433886e-03 9.99529769e-01 7.07093231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.104391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:185.45, Y:29.48, Z:7.07 [[ 9.60058012e-01 -2.78330990e-01 -2.86439228e-02 1.85453635e+02] [ 2.78320738e-01 9.60478001e-01 -4.42463761e-03 2.94750431e+01] [ 2.87433715e-02 -3.72428895e-03 9.99579886e-01 7.06938153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.134391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:185.49, Y:29.49, Z:7.07 [[ 9.58776933e-01 -2.82858172e-01 -2.71670242e-02 1.85486347e+02] [ 2.82785926e-01 9.59160714e-01 -6.54556629e-03 2.94856019e+01] [ 2.79090092e-02 -1.40671413e-03 9.99609478e-01 7.07060445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.164391418 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:185.52, Y:29.49, Z:7.07 [[ 9.58287980e-01 -2.84561017e-01 -2.66303504e-02 1.85517967e+02] [ 2.84469196e-01 9.58657728e-01 -7.25515139e-03 2.94941918e+01] [ 2.75939244e-02 -6.22989992e-04 9.99619021e-01 7.07107985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.194391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:185.55, Y:29.50, Z:7.07 [[ 9.57746199e-01 -2.86419426e-01 -2.61941102e-02 1.85549037e+02] [ 2.86331384e-01 9.58104099e-01 -7.13257242e-03 2.95021026e+01] [ 2.71395917e-02 -6.69001705e-04 9.99631430e-01 7.07155722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.224391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:185.58, Y:29.51, Z:7.07 [[ 9.56409045e-01 -2.90897708e-01 -2.56955683e-02 1.85580529e+02] [ 2.90814720e-01 9.56753838e-01 -6.99223908e-03 2.95103792e+01] [ 2.66183599e-02 -7.85208792e-04 9.99645360e-01 7.07211294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.254391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:185.61, Y:29.51, Z:7.07 [[ 9.56634782e-01 -2.90128734e-01 -2.59848454e-02 1.85609649e+02] [ 2.90401545e-01 9.56876707e-01 7.34238969e-03 2.95103677e+01] [ 2.27340551e-02 -1.45700246e-02 9.99635372e-01 7.06800436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284391418 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:185.64, Y:29.53, Z:7.08 [[ 9.55017878e-01 -2.95722195e-01 -2.21186958e-02 1.85639948e+02] [ 2.95288553e-01 9.55179761e-01 -2.08876668e-02 2.95327799e+01] [ 2.73042772e-02 1.34166976e-02 9.99537127e-01 7.07738897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.314391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:185.67, Y:29.53, Z:7.07 [[ 9.53556049e-01 -3.00085112e-01 -2.60727196e-02 1.85674149e+02] [ 3.00003335e-01 9.53911836e-01 -7.08576881e-03 2.95347603e+01] [ 2.69974095e-02 -1.06522512e-03 9.99634936e-01 7.07373167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34439141800001 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:185.70, Y:29.54, Z:7.07 [[ 9.53400881e-01 -3.00504209e-01 -2.69068931e-02 1.85702733e+02] [ 3.00409111e-01 9.53780125e-01 -7.60518513e-03 2.95423732e+01] [ 2.79486500e-02 -8.32285616e-04 9.99609014e-01 7.07424839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37439141800002 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:185.74, Y:29.55, Z:7.07 [[ 9.52403089e-01 -3.03664190e-01 -2.67659375e-02 1.85736803e+02] [ 3.03582480e-01 9.52778233e-01 -7.16355466e-03 2.95517149e+01] [ 2.76773176e-02 -1.30307809e-03 9.99616060e-01 7.07494880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40439141800002 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:185.77, Y:29.57, Z:7.08 [[ 9.52629456e-01 -3.03638102e-01 -1.73500044e-02 1.85766285e+02] [ 3.02966771e-01 9.52421754e-01 -3.32255582e-02 2.95716881e+01] [ 2.66130671e-02 2.63951706e-02 9.99297273e-01 7.07750567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43439141800002 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:185.80, Y:29.56, Z:7.07 [[ 9.51501118e-01 -3.05713112e-01 -3.44255024e-02 1.85801008e+02] [ 3.06477955e-01 9.51676265e-01 1.95844385e-02 2.95559768e+01] [ 2.67747139e-02 -2.91852727e-02 9.99215359e-01 7.06855087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.464391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:185.83, Y:29.58, Z:7.08 [[ 9.51113443e-01 -3.07635956e-01 -2.72641912e-02 1.85827997e+02] [ 3.07550539e-01 9.51503150e-01 -7.37705344e-03 2.95787234e+01] [ 2.82114107e-02 -1.36870201e-03 9.99601042e-01 7.07689190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.494391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:185.86, Y:29.59, Z:7.08 [[ 9.51071692e-01 -3.07783156e-01 -2.70585600e-02 1.85859500e+02] [ 3.07699282e-01 9.51455545e-01 -7.31427037e-03 2.95879476e+01] [ 2.79962261e-02 -1.36950396e-03 9.99607091e-01 7.07750324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.524391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:185.89, Y:29.60, Z:7.08 [[ 9.51036386e-01 -3.07943569e-01 -2.64679415e-02 1.85890822e+02] [ 3.07863470e-01 9.51403670e-01 -7.15128702e-03 2.95974346e+01] [ 2.73838895e-02 -1.34737814e-03 9.99624083e-01 7.07802718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.554391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:185.92, Y:29.61, Z:7.08 [[ 9.50996587e-01 -3.08123659e-01 -2.57934693e-02 1.85922496e+02] [ 3.08047744e-01 9.51345398e-01 -6.96576029e-03 2.96080597e+01] [ 2.66848139e-02 -1.32120579e-03 9.99643024e-01 7.07898309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.584391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:185.95, Y:29.62, Z:7.08 [[ 9.51003629e-01 -3.08108321e-01 -2.57169115e-02 1.85953550e+02] [ 3.08032973e-01 9.51350365e-01 -6.94051758e-03 2.96173589e+01] [ 2.66042244e-02 -1.32119930e-03 9.99645172e-01 7.07984616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.614391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:185.99, Y:29.63, Z:7.08 [[ 9.50884082e-01 -3.08471145e-01 -2.57878945e-02 1.85985456e+02] [ 3.08395703e-01 9.51232754e-01 -6.95257958e-03 2.96270155e+01] [ 2.66749601e-02 -1.34177861e-03 9.99643259e-01 7.08057141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.644391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:186.02, Y:29.64, Z:7.08 [[ 9.50669616e-01 -3.09129980e-01 -2.58057353e-02 1.86016737e+02] [ 3.09054801e-01 9.51018817e-01 -6.95266924e-03 2.96368116e+01] [ 2.66910183e-02 -1.36569497e-03 9.99642798e-01 7.08082075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.674391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:186.05, Y:29.65, Z:7.08 [[ 9.50529842e-01 -3.09543758e-01 -2.59938689e-02 1.86047786e+02] [ 3.09467871e-01 9.50884175e-01 -6.99450220e-03 2.96457723e+01] [ 2.68822631e-02 -1.39578421e-03 9.99637632e-01 7.08154458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.704391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:186.08, Y:29.65, Z:7.08 [[ 9.50412482e-01 -3.09864609e-01 -2.64582220e-02 1.86079364e+02] [ 3.09786352e-01 9.50779604e-01 -7.11062852e-03 2.96549052e+01] [ 2.73592700e-02 -1.43836598e-03 9.99624630e-01 7.08212044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.734391418 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:186.11, Y:29.66, Z:7.08 [[ 9.50460950e-01 -3.09688673e-01 -2.67751321e-02 1.86110115e+02] [ 3.09608718e-01 9.50836893e-01 -7.18647097e-03 2.96638231e+01] [ 2.76843520e-02 -1.45935429e-03 9.99615650e-01 7.08274476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.764391418 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:186.14, Y:29.67, Z:7.08 [[ 9.50527934e-01 -3.09456230e-01 -2.70829945e-02 1.86141580e+02] [ 3.09374539e-01 9.50912542e-01 -7.26170335e-03 2.96731458e+01] [ 2.80007385e-02 -1.47633705e-03 9.99606812e-01 7.08342403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.794391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:186.17, Y:29.68, Z:7.08 [[ 9.51301041e-01 -3.07073479e-01 -2.70593528e-02 1.86172081e+02] [ 3.06991105e-01 9.51684765e-01 -7.25048497e-03 2.96838847e+01] [ 2.79784055e-02 -1.40958675e-03 9.99607534e-01 7.08367339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.824391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:186.20, Y:29.70, Z:7.09 [[ 9.52070083e-01 -3.04641943e-01 -2.74926276e-02 1.86201979e+02] [ 3.04400112e-01 9.52459703e-01 -1.26919210e-02 2.96961975e+01] [ 3.00521114e-02 3.71483930e-03 9.99541430e-01 7.08636887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.854391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:186.23, Y:29.70, Z:7.08 [[ 9.53916060e-01 -2.98725913e-01 -2.84073915e-02 1.86234519e+02] [ 2.98777423e-01 9.54319515e-01 -2.51296564e-03 2.97039213e+01] [ 2.78604160e-02 -6.09032892e-03 9.99593270e-01 7.08428889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.884391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:186.26, Y:29.72, Z:7.09 [[ 9.55184771e-01 -2.94767082e-01 -2.71001938e-02 1.86264805e+02] [ 2.94680008e-01 9.55568537e-01 -7.24325214e-03 2.97164047e+01] [ 2.80311648e-02 -1.06724118e-03 9.99606480e-01 7.08686225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.914391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:186.30, Y:29.73, Z:7.09 [[ 9.57725258e-01 -2.86436290e-01 -2.67690589e-02 1.86295746e+02] [ 2.86348269e-01 9.58098940e-01 -7.14769256e-03 2.97288810e+01] [ 2.76947655e-02 -8.19747972e-04 9.99616090e-01 7.08862353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.944391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:186.33, Y:29.74, Z:7.09 [[ 9.58951788e-01 -2.82330211e-01 -2.64786671e-02 1.86326252e+02] [ 2.82242648e-01 9.59317030e-01 -7.06561191e-03 2.97389475e+01] [ 2.73962720e-02 -6.97827948e-04 9.99624408e-01 7.08923641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.974391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:186.36, Y:29.75, Z:7.09 [[ 9.60042816e-01 -2.78601208e-01 -2.64415947e-02 1.86357361e+02] [ 2.78512663e-01 9.60406690e-01 -7.04882157e-03 2.97491217e+01] [ 2.73584947e-02 -5.97148460e-04 9.99625508e-01 7.08988566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.004391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:186.39, Y:29.76, Z:7.09 [[ 9.61885973e-01 -2.72162166e-01 -2.65166196e-02 1.86388453e+02] [ 2.72070797e-01 9.62251308e-01 -7.06412623e-03 2.97602883e+01] [ 2.74382398e-02 -4.19513911e-04 9.99623413e-01 7.09040738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.034391418 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:186.41, Y:29.75, Z:7.08 [[ 9.60118266e-01 -2.75197065e-01 -4.93911974e-02 1.86413522e+02] [ 2.77342767e-01 9.59781955e-01 4.35842600e-02 2.97497288e+01] [ 3.54105196e-02 -5.55443355e-02 9.97828102e-01 7.08499130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:186.44, Y:29.80, Z:7.11 [[ 9.63160094e-01 -2.68603131e-01 -1.32284706e-02 1.86441215e+02] [ 2.67340997e-01 9.61651943e-01 -6.12726023e-02 2.98032038e+01] [ 2.91791972e-02 5.54788128e-02 9.98033404e-01 7.10973785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09439141800001 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:186.48, Y:29.79, Z:7.09 [[ 9.63344034e-01 -2.66820195e-01 -2.78434035e-02 1.86480157e+02] [ 2.66717630e-01 9.63746282e-01 -7.40332807e-03 2.97875253e+01] [ 2.88093340e-02 -2.94374647e-04 9.99584882e-01 7.09137812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12439141800002 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:186.51, Y:29.80, Z:7.09 [[ 9.63637451e-01 -2.65739338e-01 -2.80261906e-02 1.86512155e+02] [ 2.65635117e-01 9.64044881e-01 -7.44667755e-03 2.97973548e+01] [ 2.89973808e-02 -2.68843044e-04 9.99579451e-01 7.09222235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15439141800002 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:186.54, Y:29.81, Z:7.09 [[ 9.63633516e-01 -2.65737428e-01 -2.81791765e-02 1.86544053e+02] [ 2.65632336e-01 9.64045404e-01 -7.47801165e-03 2.98062720e+01] [ 2.91531932e-02 -2.79237804e-04 9.99574916e-01 7.09333772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18439141800002 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:186.57, Y:29.81, Z:7.09 [[ 9.63447328e-01 -2.66463769e-01 -2.76822407e-02 1.86574927e+02] [ 2.66362879e-01 9.63844888e-01 -7.33817428e-03 2.98147633e+01] [ 2.86367437e-02 -3.03576924e-04 9.99589838e-01 7.09421214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.214391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:186.61, Y:29.82, Z:7.09 [[ 9.62776963e-01 -2.68927361e-01 -2.71770744e-02 1.86606820e+02] [ 2.68831286e-01 9.63160388e-01 -7.19769158e-03 2.98231550e+01] [ 2.81115377e-02 -3.76276230e-04 9.99604722e-01 7.09465943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.244391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:186.64, Y:29.83, Z:7.10 [[ 9.62378682e-01 -2.70357108e-01 -2.70981082e-02 1.86638208e+02] [ 2.70262414e-01 9.62760018e-01 -7.16758025e-03 2.98309898e+01] [ 2.80267814e-02 -4.25673712e-04 9.99607082e-01 7.09515282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.274391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:186.67, Y:29.84, Z:7.10 [[ 9.61933328e-01 -2.71932325e-01 -2.71492725e-02 1.86670469e+02] [ 2.71838152e-01 9.62316257e-01 -7.17218920e-03 2.98389899e+01] [ 2.80765364e-02 -4.81040226e-04 9.99605661e-01 7.09559984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.304391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:186.70, Y:29.85, Z:7.10 [[ 9.61393981e-01 -2.73814130e-01 -2.73392526e-02 1.86702755e+02] [ 2.73719659e-01 9.61782471e-01 -7.21298415e-03 2.98473299e+01] [ 2.82694309e-02 -5.48771366e-04 9.99600189e-01 7.09637184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.334391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:186.73, Y:29.85, Z:7.10 [[ 9.60461804e-01 -2.77042905e-01 -2.75744616e-02 1.86733940e+02] [ 2.76948394e-01 9.60857323e-01 -7.26579829e-03 2.98541204e+01] [ 2.85080612e-02 -6.58181095e-04 9.99593346e-01 7.09687111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.364391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:186.77, Y:29.86, Z:7.10 [[ 9.60061837e-01 -2.78419628e-01 -2.76365609e-02 1.86766465e+02] [ 2.78325514e-01 9.60459269e-01 -7.27327126e-03 2.98616385e+01] [ 2.85688125e-02 -7.09169826e-04 9.99591577e-01 7.09744012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.394391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:186.80, Y:29.87, Z:7.10 [[ 9.59755972e-01 -2.79468533e-01 -2.76733181e-02 1.86798787e+02] [ 2.79374868e-01 9.60154558e-01 -7.27373159e-03 2.98689676e+01] [ 2.86034416e-02 -7.50222259e-04 9.99590556e-01 7.09799584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.424391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:186.83, Y:29.88, Z:7.10 [[ 9.59429060e-01 -2.80647019e-01 -2.70763503e-02 1.86830426e+02] [ 2.80558063e-01 9.59810735e-01 -7.10815450e-03 2.98763912e+01] [ 2.79830540e-02 -7.76718393e-04 9.99608096e-01 7.09848149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.454391418 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:186.86, Y:29.88, Z:7.10 [[ 9.58824177e-01 -2.82701699e-01 -2.71283463e-02 1.86862857e+02] [ 2.82613465e-01 9.59207503e-01 -7.11314074e-03 2.98835727e+01] [ 2.80326103e-02 -8.46584630e-04 9.99606651e-01 7.09900776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.484391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:186.90, Y:29.91, Z:7.10 [[ 9.59523487e-01 -2.81428804e-01 -1.06068799e-02 1.86895470e+02] [ 2.80753728e-01 9.58830416e-01 -4.26799466e-02 2.99072083e+01] [ 2.21815654e-02 3.79744902e-02 9.99032490e-01 7.10227946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.514391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:186.93, Y:29.88, Z:7.09 [[ 9.58302546e-01 -2.83171170e-01 -3.83447407e-02 1.86927786e+02] [ 2.84314334e-01 9.58306134e-01 2.85431880e-02 2.98806259e+01] [ 2.86633923e-02 -3.82549691e-02 9.98856830e-01 7.08930271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.544391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:186.95, Y:29.90, Z:7.10 [[ 9.57877936e-01 -2.85779105e-01 -2.82871515e-02 1.86954731e+02] [ 2.85768059e-01 9.58288161e-01 -4.51847540e-03 2.99035623e+01] [ 2.83985282e-02 -3.75541647e-03 9.99589626e-01 7.10035353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.574391418 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:186.99, Y:29.91, Z:7.10 [[ 9.57888065e-01 -2.85860480e-01 -2.70968904e-02 1.86986744e+02] [ 2.85774069e-01 9.58270778e-01 -7.09214192e-03 2.99125130e+01] [ 2.79935213e-02 -9.50110512e-04 9.99607653e-01 7.10149103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.604391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:187.02, Y:29.92, Z:7.10 [[ 9.58057476e-01 -2.85346799e-01 -2.65155938e-02 1.87019248e+02] [ 2.85264100e-01 9.58423889e-01 -6.93123553e-03 2.99199120e+01] [ 2.73909844e-02 -9.23424977e-04 9.99624370e-01 7.10235592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.634391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:187.05, Y:29.93, Z:7.10 [[ 9.58355270e-01 -2.84393695e-01 -2.59885345e-02 1.87051090e+02] [ 2.84314131e-01 9.58707171e-01 -6.78487420e-03 2.99271934e+01] [ 2.68449698e-02 -8.86587653e-04 9.99639216e-01 7.10326100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.664391418 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:187.08, Y:29.93, Z:7.10 [[ 9.59115796e-01 -2.81926684e-01 -2.47837515e-02 1.87082600e+02] [ 2.81853709e-01 9.59435628e-01 -6.46232581e-03 2.99340829e+01] [ 2.56003163e-02 -7.87273518e-04 9.99671948e-01 7.10400057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.694391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:187.11, Y:29.94, Z:7.10 [[ 9.59668824e-01 -2.80055484e-01 -2.45901277e-02 1.87114768e+02] [ 2.79983229e-01 9.59983531e-01 -6.40402618e-03 2.99419013e+01] [ 2.53996003e-02 -7.39079106e-04 9.99677105e-01 7.10482004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.724391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:187.15, Y:29.95, Z:7.11 [[ 9.60207261e-01 -2.78177362e-01 -2.48871601e-02 1.87145799e+02] [ 2.78102932e-01 9.60529467e-01 -6.47313928e-03 2.99492843e+01] [ 2.57055314e-02 -7.05636853e-04 9.99669309e-01 7.10508200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.754391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:187.18, Y:29.96, Z:7.10 [[ 9.61064430e-01 -2.75075653e-01 -2.62401753e-02 1.87177806e+02] [ 2.74991985e-01 9.61422354e-01 -6.81648964e-03 2.99558695e+01] [ 2.71029415e-02 -6.64752178e-04 9.99632427e-01 7.10454466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:187.21, Y:29.96, Z:7.10 [[ 9.61471289e-01 -2.73532577e-01 -2.74388513e-02 1.87209933e+02] [ 2.73440725e-01 9.61862514e-01 -7.11859272e-03 2.99629969e+01] [ 2.83395695e-02 -6.58576854e-04 9.99598137e-01 7.10480154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.814391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:187.24, Y:29.97, Z:7.11 [[ 9.61508230e-01 -2.73402507e-01 -2.74407031e-02 1.87242434e+02] [ 2.73310806e-01 9.61899491e-01 -7.11144769e-03 2.99712905e+01] [ 2.83394860e-02 -6.62125192e-04 9.99598137e-01 7.10548812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84439141800001 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:187.28, Y:29.98, Z:7.11 [[ 9.61840864e-01 -2.72125432e-01 -2.84587782e-02 1.87275011e+02] [ 2.72026415e-01 9.62261566e-01 -7.36934675e-03 2.99785147e+01] [ 2.93901752e-02 -6.53400567e-04 9.99567802e-01 7.10541385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87439141800002 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:187.31, Y:29.98, Z:7.11 [[ 9.62176826e-01 -2.70853055e-01 -2.92297562e-02 1.87307097e+02] [ 2.70748316e-01 9.62620492e-01 -7.55892394e-03 2.99845130e+01] [ 3.01845199e-02 -6.40885834e-04 9.99544138e-01 7.10579566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90439141800002 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:187.34, Y:29.99, Z:7.11 [[ 9.62292450e-01 -2.70445659e-01 -2.91956647e-02 1.87339634e+02] [ 2.70341265e-01 9.62735031e-01 -7.54055685e-03 2.99921637e+01] [ 3.01470001e-02 -6.36572029e-04 9.99545273e-01 7.10649803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93439141800002 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:187.37, Y:30.00, Z:7.11 [[ 9.62543028e-01 -2.69595744e-01 -2.87932881e-02 1.87371569e+02] [ 2.69494117e-01 9.62973396e-01 -7.42693346e-03 2.99997858e+01] [ 2.97294400e-02 -6.10878720e-04 9.99557796e-01 7.10731201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.964391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:187.40, Y:30.01, Z:7.11 [[ 9.62795079e-01 -2.68734663e-01 -2.84133087e-02 1.87403689e+02] [ 2.68635608e-01 9.63214067e-01 -7.31931163e-03 3.00076854e+01] [ 2.93350514e-02 -5.85829232e-04 9.99569463e-01 7.10857239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.994391418 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:187.44, Y:30.01, Z:7.11 [[ 9.63330350e-01 -2.66922533e-01 -2.73312668e-02 1.87436249e+02] [ 2.66830407e-01 9.63717849e-01 -7.03149798e-03 3.00149648e+01] [ 2.82164949e-02 -5.19157641e-04 9.99601701e-01 7.10927958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.024391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:187.47, Y:30.02, Z:7.11 [[ 9.63644968e-01 -2.65794430e-01 -2.72340870e-02 1.87467962e+02] [ 2.65702763e-01 9.64029604e-01 -6.99743068e-03 3.00223143e+01] [ 2.81143443e-02 -4.93133314e-04 9.99604592e-01 7.11038502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.054391418 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:187.50, Y:30.03, Z:7.11 [[ 9.63915822e-01 -2.64888224e-01 -2.64672791e-02 1.87500510e+02] [ 2.64801535e-01 9.64279013e-01 -6.79201708e-03 3.00299231e+01] [ 2.73209671e-02 -4.61643423e-04 9.99626606e-01 7.11046195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.084391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:187.53, Y:30.04, Z:7.11 [[ 9.64198130e-01 -2.63898412e-01 -2.60690375e-02 1.87531714e+02] [ 2.63814187e-01 9.64550382e-01 -6.68104046e-03 3.00365418e+01] [ 2.69080160e-02 -4.35535199e-04 9.99637819e-01 7.11117076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.114391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:187.56, Y:30.04, Z:7.11 [[ 9.64250917e-01 -2.63715874e-01 -2.59635744e-02 1.87563652e+02] [ 2.63632490e-01 9.64600304e-01 -6.64555558e-03 3.00442013e+01] [ 2.67970103e-02 -4.36858711e-04 9.99640800e-01 7.11215157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.144391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:187.60, Y:30.05, Z:7.11 [[ 9.64266955e-01 -2.63720566e-01 -2.53120881e-02 1.87595426e+02] [ 2.63641538e-01 9.64599023e-01 -6.47029842e-03 3.00516408e+01] [ 2.61223662e-02 -4.34222887e-04 9.99658658e-01 7.11288517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.174391418 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:187.63, Y:30.06, Z:7.12 [[ 9.64102615e-01 -2.64383934e-01 -2.46431101e-02 1.87626198e+02] [ 2.64144565e-01 9.64401208e-01 -1.25681898e-02 3.00605103e+01] [ 2.70886726e-02 5.60768108e-03 9.99617306e-01 7.11550783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.204391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:187.66, Y:30.06, Z:7.11 [[ 9.63867648e-01 -2.65134198e-01 -2.57490478e-02 1.87659235e+02] [ 2.65215578e-01 9.64189104e-01 -2.63647545e-04 3.00618329e+01] [ 2.48968533e-02 -6.57492726e-03 9.99668404e-01 7.11241228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.234391418 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:187.69, Y:30.07, Z:7.11 [[ 9.63813141e-01 -2.65515234e-01 -2.37884208e-02 1.87691180e+02] [ 2.65446411e-01 9.64106550e-01 -6.06332846e-03 3.00717600e+01] [ 2.45444783e-02 -4.70635258e-04 9.99698628e-01 7.11464648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.264391418 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:187.72, Y:30.08, Z:7.12 [[ 9.63518070e-01 -2.66617877e-01 -2.34059155e-02 1.87722688e+02] [ 2.66551760e-01 9.63802189e-01 -5.95815633e-03 3.00776316e+01] [ 2.41472236e-02 -4.98096681e-04 9.99708289e-01 7.11545573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.294391418 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:187.75, Y:30.08, Z:7.12 [[ 9.63353704e-01 -2.67168695e-01 -2.38857615e-02 1.87754515e+02] [ 2.67100177e-01 9.63649630e-01 -6.07346972e-03 3.00846893e+01] [ 2.46401462e-02 -5.28991574e-04 9.99696246e-01 7.11608558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.324391418 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:187.79, Y:30.09, Z:7.12 [[ 9.63263188e-01 -2.67481826e-01 -2.40312996e-02 1.87786513e+02] [ 2.67412642e-01 9.63562752e-01 -6.10748463e-03 3.00915781e+01] [ 2.47893063e-02 -5.43158204e-04 9.99692550e-01 7.11670609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.354391418 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:187.82, Y:30.10, Z:7.12 [[ 9.63023511e-01 -2.68282961e-01 -2.46975631e-02 1.87817890e+02] [ 2.68210251e-01 9.63339978e-01 -6.27283833e-03 3.00971176e+01] [ 2.54750455e-02 -5.83248805e-04 9.99675288e-01 7.11685305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.384391418 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:187.85, Y:30.10, Z:7.12 [[ 9.62910411e-01 -2.68644429e-01 -2.51736236e-02 1.87850020e+02] [ 2.68569189e-01 9.63239222e-01 -6.38692457e-03 3.01037206e+01] [ 2.59640333e-02 -6.10823512e-04 9.99662691e-01 7.11730267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.414391418 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:187.88, Y:30.11, Z:7.12 [[ 9.62851091e-01 -2.68805457e-01 -2.57177407e-02 1.87880938e+02] [ 2.68634076e-01 9.63190741e-01 -9.96643941e-03 3.01115644e+01] [ 2.74501230e-02 2.68753557e-03 9.99619562e-01 7.11876312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.444391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:187.91, Y:30.11, Z:7.12 [[ 9.62697552e-01 -2.69279466e-01 -2.64951393e-02 1.87912876e+02] [ 2.69288694e-01 9.63053892e-01 -3.28630752e-03 3.01148066e+01] [ 2.64011821e-02 -3.97112124e-03 9.99643540e-01 7.11730477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.474391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:187.94, Y:30.12, Z:7.12 [[ 9.62430780e-01 -2.70301659e-01 -2.57683239e-02 1.87943928e+02] [ 2.70223629e-01 9.62775442e-01 -6.52977092e-03 3.01217722e+01] [ 2.65741173e-02 -6.78757472e-04 9.99646615e-01 7.11899045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.504391418 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:187.98, Y:30.13, Z:7.12 [[ 9.62266643e-01 -2.70876866e-01 -2.58579169e-02 1.87975987e+02] [ 2.70798573e-01 9.62613751e-01 -6.54975130e-03 3.01287298e+01] [ 2.66653625e-02 -6.99679812e-04 9.99644171e-01 7.11970550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.534391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:188.01, Y:30.14, Z:7.12 [[ 9.62149443e-01 -2.71292126e-01 -2.58656343e-02 1.88008570e+02] [ 2.71214019e-01 9.62496791e-01 -6.54860111e-03 3.01357430e+01] [ 2.66721739e-02 -7.14389724e-04 9.99643979e-01 7.12072079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:188.04, Y:30.14, Z:7.12 [[ 9.61791128e-01 -2.72601535e-01 -2.54210450e-02 1.88040177e+02] [ 2.72526637e-01 9.62126735e-01 -6.43261033e-03 3.01412028e+01] [ 2.62118064e-02 -7.41084332e-04 9.99656137e-01 7.12134814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59439141800001 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:188.07, Y:30.15, Z:7.12 [[ 9.61534869e-01 -2.73543463e-01 -2.49933768e-02 1.88072543e+02] [ 2.73471497e-01 9.61859345e-01 -6.31992487e-03 3.01478741e+01] [ 2.57688871e-02 -7.58148017e-04 9.99667640e-01 7.12176843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62439141800002 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:188.10, Y:30.15, Z:7.12 [[ 9.61263629e-01 -2.74509038e-01 -2.48399427e-02 1.88104570e+02] [ 2.74438350e-01 9.61584201e-01 -6.27818172e-03 3.01543131e+01] [ 2.56091141e-02 -7.82045143e-04 9.99671727e-01 7.12281624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65439141800002 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:188.14, Y:30.16, Z:7.12 [[ 9.60594432e-01 -2.76896086e-01 -2.42259223e-02 1.88137091e+02] [ 2.76829684e-01 9.60899512e-01 -6.11994222e-03 3.01604177e+01] [ 2.49732650e-02 -8.27672005e-04 9.99687777e-01 7.12386381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68439141800002 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:188.17, Y:30.17, Z:7.12 [[ 9.60386292e-01 -2.77599239e-01 -2.44301749e-02 1.88169768e+02] [ 2.77532020e-01 9.60696586e-01 -6.16833020e-03 3.01677799e+01] [ 2.51823094e-02 -8.56176026e-04 9.99682509e-01 7.12477371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.714391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:188.20, Y:30.17, Z:7.13 [[ 9.60206803e-01 -2.78205897e-01 -2.45840102e-02 1.88200768e+02] [ 2.78138131e-01 9.60521058e-01 -6.20305909e-03 3.01747349e+01] [ 2.53391871e-02 -8.81531130e-04 9.99678523e-01 7.12542687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.744391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:188.23, Y:30.18, Z:7.13 [[ 9.59676364e-01 -2.80044433e-01 -2.44211267e-02 1.88232649e+02] [ 2.79978329e-01 9.59986588e-01 -6.15514271e-03 3.01805370e+01] [ 2.51676675e-02 -9.30441257e-04 9.99682811e-01 7.12583531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.774391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:188.27, Y:30.19, Z:7.13 [[ 9.59429120e-01 -2.80903518e-01 -2.42688529e-02 1.88265056e+02] [ 2.80838572e-01 9.59735543e-01 -6.11425033e-03 3.01874324e+01] [ 2.50091952e-02 -9.49440186e-04 9.99686770e-01 7.12608284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.804391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:188.30, Y:30.19, Z:7.13 [[ 9.59171146e-01 -2.81775553e-01 -2.43567486e-02 1.88297556e+02] [ 2.81710496e-01 9.59479849e-01 -6.13325325e-03 3.01946295e+01] [ 2.50980103e-02 -9.78712165e-04 9.99684516e-01 7.12630902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.834391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:188.33, Y:30.20, Z:7.13 [[ 9.58870250e-01 -2.82730494e-01 -2.51259116e-02 1.88329108e+02] [ 2.82661672e-01 9.59198827e-01 -6.32373943e-03 3.02008220e+01] [ 2.58886589e-02 -1.03848657e-03 9.99664293e-01 7.12657737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.864391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:188.36, Y:30.21, Z:7.13 [[ 9.58862031e-01 -2.82703563e-01 -2.57352149e-02 1.88361598e+02] [ 2.82631430e-01 9.59206735e-01 -6.47418067e-03 3.02084201e+01] [ 2.65156654e-02 -1.06573458e-03 9.99647830e-01 7.12716431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.894391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:188.39, Y:30.22, Z:7.13 [[ 9.58941820e-01 -2.82396608e-01 -2.61293389e-02 1.88393175e+02] [ 2.82322225e-01 9.59297137e-01 -6.56996040e-03 3.02163179e+01] [ 2.69211345e-02 -1.07668332e-03 9.99636981e-01 7.12781005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.924391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:188.42, Y:30.22, Z:7.13 [[ 9.59279354e-01 -2.81227851e-01 -2.63442121e-02 1.88423893e+02] [ 2.81151889e-01 9.59640444e-01 -6.62072403e-03 3.02246684e+01] [ 2.71429034e-02 -1.05560112e-03 9.99631006e-01 7.12861377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.954391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:188.46, Y:30.23, Z:7.13 [[ 9.59584222e-01 -2.80219923e-01 -2.59791192e-02 1.88455768e+02] [ 2.80145760e-01 9.59935291e-01 -6.52611489e-03 3.02330585e+01] [ 2.67670207e-02 -1.01558320e-03 9.99641183e-01 7.12908877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.984391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:188.49, Y:30.27, Z:7.13 [[ 9.61041947e-01 -2.76398679e-01 -1.46530482e-03 1.88488670e+02] [ 2.75790507e-01 9.59252979e-01 -6.14273420e-02 3.02668035e+01] [ 1.83840342e-02 5.86301352e-02 9.98110482e-01 7.13203819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.014391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:188.53, Y:30.24, Z:7.12 [[ 9.61193529e-01 -2.74975664e-01 -2.22572342e-02 1.88527783e+02] [ 2.75248709e-01 9.61318425e-01 1.02486206e-02 3.02402020e+01] [ 1.85781680e-02 -1.59771828e-02 9.99699746e-01 7.11569772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.044391418 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:188.55, Y:30.24, Z:7.12 [[ 9.60365646e-01 -2.76215622e-01 -3.74533813e-02 1.88553410e+02] [ 2.77543530e-01 9.60013995e-01 3.66431179e-02 3.02374920e+01] [ 2.58343686e-02 -4.55857353e-02 9.98626320e-01 7.12123749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.074391418 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:188.58, Y:30.27, Z:7.13 [[ 9.60528852e-01 -2.76905257e-01 -2.66045728e-02 1.88578999e+02] [ 2.76826313e-01 9.60896757e-01 -6.67942511e-03 3.02667706e+01] [ 2.74138157e-02 -9.49065280e-04 9.99623720e-01 7.13382907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.104391418 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:188.61, Y:30.30, Z:7.14 [[ 9.62095284e-01 -2.72705050e-01 -2.14932389e-03 1.88613562e+02] [ 2.72019572e-01 9.60179207e-01 -6.37278815e-02 3.03002632e+01] [ 1.94426513e-02 6.07276361e-02 9.97964998e-01 7.13834292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.134391418 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:188.65, Y:30.25, Z:7.12 [[ 9.60544782e-01 -2.74953679e-01 -4.18831297e-02 1.88648124e+02] [ 2.76957935e-01 9.59388286e-01 5.35576186e-02 3.02538439e+01] [ 2.54563198e-02 -6.30443562e-02 9.97686015e-01 7.11920931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.164391418 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:188.67, Y:30.31, Z:7.14 [[ 9.61744305e-01 -2.73849159e-01 -7.38446389e-03 1.88673622e+02] [ 2.73129547e-01 9.60603088e-01 -5.13999728e-02 3.03111100e+01] [ 2.11693781e-02 4.74167158e-02 9.98650846e-01 7.13729417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.194391418 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:188.71, Y:30.30, Z:7.13 [[ 9.62030662e-01 -2.72454913e-01 -1.62888209e-02 1.88712759e+02] [ 2.72214062e-01 9.62110814e-01 -1.55655513e-02 3.03018192e+01] [ 1.99125616e-02 1.05404915e-02 9.99746162e-01 7.12647015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.224391418 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:188.74, Y:30.28, Z:7.12 [[ 9.60472932e-01 -2.74907847e-01 -4.37883825e-02 1.88739075e+02] [ 2.76966770e-01 9.59516146e-01 5.11680927e-02 3.02798735e+01] [ 2.79491498e-02 -6.12734949e-02 9.97729625e-01 7.12357946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.254391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:188.76, Y:30.32, Z:7.14 [[ 9.60735247e-01 -2.75959867e-01 -2.88779774e-02 1.88763900e+02] [ 2.75866652e-01 9.61168630e-01 -7.24259104e-03 3.03166061e+01] [ 2.97552704e-02 -1.00825843e-03 9.99556705e-01 7.14036338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:188.80, Y:30.32, Z:7.14 [[ 9.61030372e-01 -2.74960283e-01 -2.85913866e-02 1.88795379e+02] [ 2.74868578e-01 9.61455095e-01 -7.16698201e-03 3.03249142e+01] [ 2.94599697e-02 -9.71186392e-04 9.99565489e-01 7.14134225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.314391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:188.83, Y:30.33, Z:7.14 [[ 9.61429688e-01 -2.73625996e-01 -2.79601327e-02 1.88826034e+02] [ 2.73537867e-01 9.61835734e-01 -7.00403439e-03 3.03330802e+01] [ 2.88095406e-02 -9.14268475e-04 9.99584501e-01 7.14209535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34439141800001 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:188.86, Y:30.34, Z:7.14 [[ 9.61747899e-01 -2.72537465e-01 -2.76461295e-02 1.88857580e+02] [ 2.72451079e-01 9.62144769e-01 -6.91754591e-03 3.03418746e+01] [ 2.84848693e-02 -8.79282557e-04 9.99593837e-01 7.14293788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37439141800002 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:188.89, Y:30.35, Z:7.15 [[ 9.62699137e-01 -2.69197357e-01 -2.72608709e-02 1.88887164e+02] [ 2.68878156e-01 9.63059942e-01 -1.48352700e-02 3.03549298e+01] [ 3.02474682e-02 6.95204892e-03 9.99518264e-01 7.14662313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40439141800002 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:188.92, Y:30.36, Z:7.14 [[ 9.63149611e-01 -2.67375157e-01 -2.92122087e-02 1.88920760e+02] [ 2.67502730e-01 9.63556984e-01 4.77538873e-04 3.03568724e+01] [ 2.80199457e-02 -8.27428694e-03 9.99573118e-01 7.14309399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43439141800002 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:188.95, Y:30.37, Z:7.15 [[ 9.64242333e-01 -2.63553750e-01 -2.78593693e-02 1.88950341e+02] [ 2.63462827e-01 9.64644502e-01 -6.95153121e-03 3.03703096e+01] [ 2.87064896e-02 -6.36947519e-04 9.99587681e-01 7.14584753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.464391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:188.98, Y:30.38, Z:7.15 [[ 9.64906922e-01 -2.61130678e-01 -2.76658834e-02 1.88981414e+02] [ 2.61040273e-01 9.65303292e-01 -6.89427251e-03 3.03788082e+01] [ 2.85062743e-02 -5.69578495e-04 9.99593451e-01 7.14667674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.494391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:189.01, Y:30.39, Z:7.15 [[ 9.65547157e-01 -2.58759110e-01 -2.76117737e-02 1.89013542e+02] [ 2.58668314e-01 9.65941751e-01 -6.87290339e-03 3.03876288e+01] [ 2.84497914e-02 -5.06178604e-04 9.99595095e-01 7.14756525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.524391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:189.04, Y:30.40, Z:7.15 [[ 9.66701732e-01 -2.54452975e-01 -2.72294807e-02 1.89043726e+02] [ 2.54363088e-01 9.67085074e-01 -6.77341556e-03 3.03975421e+01] [ 2.80567401e-02 -3.78302259e-04 9.99606261e-01 7.14863052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.554391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:189.08, Y:30.41, Z:7.15 [[ 9.67233984e-01 -2.52449769e-01 -2.69728505e-02 1.89075779e+02] [ 2.52361000e-01 9.67609947e-01 -6.70199178e-03 3.04064139e+01] [ 2.77911147e-02 -3.24501323e-04 9.99613700e-01 7.14951876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.584391418 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:189.11, Y:30.41, Z:7.15 [[ 9.67617642e-01 -2.50951046e-01 -2.71969147e-02 1.89107197e+02] [ 2.50860314e-01 9.67999736e-01 -6.75376072e-03 3.04146125e+01] [ 2.80214696e-02 -2.87568542e-04 9.99607280e-01 7.15024698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.614391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:189.14, Y:30.42, Z:7.15 [[ 9.67864204e-01 -2.49842873e-01 -2.85905716e-02 1.89138459e+02] [ 2.49742322e-01 9.68286354e-01 -7.09294705e-03 3.04228563e+01] [ 2.94559826e-02 -2.75266179e-04 9.99566040e-01 7.15062261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.644391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:189.17, Y:30.43, Z:7.15 [[ 9.67756648e-01 -2.50174117e-01 -2.93254289e-02 1.89170877e+02] [ 2.50068725e-01 9.68200816e-01 -7.26719989e-03 3.04310823e+01] [ 3.02109695e-02 -3.00491589e-04 9.99543499e-01 7.15142855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.674391418 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:189.20, Y:30.44, Z:7.15 [[ 9.67624463e-01 -2.50609593e-01 -2.99621509e-02 1.89202972e+02] [ 2.50499899e-01 9.68088181e-01 -7.42121423e-03 3.04386663e+01] [ 3.08658316e-02 -3.24567333e-04 9.99523484e-01 7.15183845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.704391418 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:189.24, Y:30.45, Z:7.15 [[ 9.67658974e-01 -2.50476198e-01 -2.99630648e-02 1.89235556e+02] [ 2.50366553e-01 9.68122704e-01 -7.41752292e-03 3.04466090e+01] [ 3.08658362e-02 -3.24116637e-04 9.99523484e-01 7.15261457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.734391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:189.27, Y:30.45, Z:7.15 [[ 9.67072603e-01 -2.52647954e-01 -3.06527679e-02 1.89266611e+02] [ 2.52534479e-01 9.67558187e-01 -7.58236951e-03 3.04535911e+01] [ 3.15740067e-02 -4.08178962e-04 9.99501333e-01 7.15329628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.764391418 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:189.30, Y:30.46, Z:7.15 [[ 9.66744343e-01 -2.53901901e-01 -3.06463822e-02 1.89297629e+02] [ 2.53789401e-01 9.67229867e-01 -7.57132758e-03 3.04609290e+01] [ 3.15644706e-02 -4.58188882e-04 9.99501613e-01 7.15395383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.794391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:189.33, Y:30.47, Z:7.16 [[ 9.66359878e-01 -2.55363586e-01 -3.06271887e-02 1.89330074e+02] [ 2.55252209e-01 9.66844960e-01 -7.55870803e-03 3.04686408e+01] [ 3.15419618e-02 -5.13225407e-04 9.99502297e-01 7.15515681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.824391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:189.36, Y:30.48, Z:7.16 [[ 9.65986927e-01 -2.56750246e-01 -3.07988424e-02 1.89362148e+02] [ 2.56638442e-01 9.66477621e-01 -7.59727381e-03 3.04761380e+01] [ 3.17169938e-02 -5.65299746e-04 9.99496730e-01 7.15615704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.854391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:189.39, Y:30.48, Z:7.16 [[ 9.65175407e-01 -2.59737019e-01 -3.11947921e-02 1.89393999e+02] [ 2.59624007e-01 9.65679152e-01 -7.69094187e-03 3.04833513e+01] [ 3.21217827e-02 -6.75808991e-04 9.99483734e-01 7.15712567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.884391418 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:189.43, Y:30.49, Z:7.16 [[ 9.64862167e-01 -2.60891492e-01 -3.12510543e-02 1.89426384e+02] [ 2.60778805e-01 9.65367863e-01 -7.70084208e-03 3.04911443e+01] [ 3.21778477e-02 -7.19361425e-04 9.99481900e-01 7.15781043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.914391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:189.46, Y:30.50, Z:7.16 [[ 9.64534441e-01 -2.62062114e-01 -3.15715112e-02 1.89458770e+02] [ 2.61947863e-01 9.65050701e-01 -7.77570848e-03 3.04991652e+01] [ 3.25058277e-02 -7.70151279e-04 9.99471249e-01 7.15878978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.944391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:189.49, Y:30.51, Z:7.16 [[ 9.64138806e-01 -2.63466810e-01 -3.19625342e-02 1.89490275e+02] [ 2.63350646e-01 9.64668102e-01 -7.86702502e-03 3.05069524e+01] [ 3.29059372e-02 -8.32449923e-04 9.99458106e-01 7.15984278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.974391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:189.52, Y:30.51, Z:7.16 [[ 9.64201865e-01 -2.63091795e-01 -3.31281019e-02 1.89522570e+02] [ 2.62967008e-01 9.64770426e-01 -8.14724635e-03 3.05148804e+01] [ 3.41044866e-02 -8.56007725e-04 9.99417906e-01 7.16399497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.004391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:189.55, Y:30.52, Z:7.16 [[ 9.63954013e-01 -2.64118468e-01 -3.21573653e-02 1.89553996e+02] [ 2.64001682e-01 9.64489851e-01 -7.90182687e-03 3.05227632e+01] [ 3.31024709e-02 -8.72600800e-04 9.99451582e-01 7.16160069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.034391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:189.59, Y:30.53, Z:7.16 [[ 9.63892694e-01 -2.64365775e-01 -3.19626489e-02 1.89586144e+02] [ 2.64250821e-01 9.64422084e-01 -7.84527661e-03 3.05309438e+01] [ 3.28995071e-02 -8.84151389e-04 9.99458274e-01 7.16242499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064391418 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:189.62, Y:30.54, Z:7.16 [[ 9.63973345e-01 -2.64065347e-01 -3.20137854e-02 1.89617959e+02] [ 2.63949992e-01 9.64504391e-01 -7.85378977e-03 3.05391903e+01] [ 3.29513503e-02 -8.79194409e-04 9.99456570e-01 7.16341806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09439141800001 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:189.65, Y:30.55, Z:7.16 [[ 9.64136428e-01 -2.63496763e-01 -3.17868539e-02 1.89649589e+02] [ 2.63382860e-01 9.64659899e-01 -7.79410511e-03 3.05473019e+01] [ 3.27172247e-02 -8.57531846e-04 9.99464280e-01 7.16441944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12439141800002 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:189.68, Y:30.56, Z:7.17 [[ 9.64683067e-01 -2.61537669e-01 -3.13787809e-02 1.89680590e+02] [ 2.61425788e-01 9.65192950e-01 -7.68936724e-03 3.05558952e+01] [ 3.22976373e-02 -7.85420147e-04 9.99477987e-01 7.16567745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15439141800002 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:189.71, Y:30.56, Z:7.17 [[ 9.65120223e-01 -2.59961462e-01 -3.10321242e-02 1.89712448e+02] [ 2.59851409e-01 9.65618716e-01 -7.59869661e-03 3.05640606e+01] [ 3.19405682e-02 -7.30085430e-04 9.99489503e-01 7.16641342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18439141800002 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:189.74, Y:30.57, Z:7.17 [[ 9.65654745e-01 -2.57942119e-01 -3.12534298e-02 1.89744902e+02] [ 2.57829559e-01 9.66160138e-01 -7.64894417e-03 3.05724473e+01] [ 3.21688029e-02 -6.71818794e-04 9.99482224e-01 7.16748758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.214391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:189.78, Y:30.58, Z:7.17 [[ 9.66956734e-01 -2.52897723e-01 -3.22089418e-02 1.89776457e+02] [ 2.52775511e-01 9.67492877e-01 -7.87864030e-03 3.05813146e+01] [ 3.31544119e-02 -5.23327433e-04 9.99450104e-01 7.16819814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.244391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:189.81, Y:30.59, Z:7.17 [[ 9.67695651e-01 -2.50021486e-01 -3.24712840e-02 1.89808348e+02] [ 2.49895796e-01 9.68240192e-01 -7.93863028e-03 3.05897681e+01] [ 3.34248304e-02 -4.32259361e-04 9.99441141e-01 7.16890920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.274391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:189.84, Y:30.60, Z:7.17 [[ 9.68495882e-01 -2.46862261e-01 -3.27833960e-02 1.89840755e+02] [ 2.46732474e-01 9.69050522e-01 -8.01068631e-03 3.05981765e+01] [ 3.37463031e-02 -3.30411711e-04 9.99430377e-01 7.16960840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.304391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:189.87, Y:30.61, Z:7.17 [[ 9.70023166e-01 -2.40719895e-01 -3.33014851e-02 1.89872220e+02] [ 2.40582498e-01 9.70594620e-01 -8.13293302e-03 3.06068139e+01] [ 3.42800011e-02 -1.22621017e-04 9.99412261e-01 7.17096778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.334391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:189.90, Y:30.61, Z:7.17 [[ 9.70728171e-01 -2.37801163e-01 -3.37257465e-02 1.89904558e+02] [ 2.37658632e-01 9.71313856e-01 -8.23214098e-03 3.06147785e+01] [ 3.47158976e-02 -2.40436415e-05 9.99397221e-01 7.17205312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.364391418 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:189.94, Y:30.62, Z:7.17 [[ 9.71375137e-01 -2.35114689e-01 -3.39326681e-02 1.89935315e+02] [ 2.34968953e-01 9.71967632e-01 -8.27722988e-03 3.06224332e+01] [ 3.49275534e-02 6.71718103e-05 9.99389845e-01 7.17261331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.394391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:189.97, Y:30.63, Z:7.17 [[ 9.71934939e-01 -2.32663153e-01 -3.47898144e-02 1.89966069e+02] [ 2.32508707e-01 9.72557368e-01 -8.47743861e-03 3.06297050e+01] [ 3.58074779e-02 1.50584029e-04 9.99358695e-01 7.17367651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.424391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:190.00, Y:30.64, Z:7.17 [[ 9.72614813e-01 -2.29554516e-01 -3.64026026e-02 1.89998299e+02] [ 2.29383583e-01 9.73295768e-01 -8.86113262e-03 3.06375678e+01] [ 3.74646121e-02 2.68309438e-04 9.99297919e-01 7.17449582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.454391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:190.03, Y:30.65, Z:7.18 [[ 9.72909805e-01 -2.28292710e-01 -3.64547589e-02 1.90029502e+02] [ 2.28120679e-01 9.73592493e-01 -8.86642522e-03 3.06450642e+01] [ 3.75162198e-02 3.10147694e-04 9.99295971e-01 7.17545915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.484391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:190.06, Y:30.65, Z:7.18 [[ 9.73035109e-01 -2.27685765e-01 -3.69035064e-02 1.90061566e+02] [ 2.27509380e-01 9.73734607e-01 -8.96646802e-03 3.06526032e+01] [ 3.79757584e-02 3.28794324e-04 9.99278607e-01 7.17680481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.514391418 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:190.09, Y:30.66, Z:7.18 [[ 9.73126565e-01 -2.27387088e-01 -3.63290538e-02 1.90094077e+02] [ 2.27216116e-01 9.73804397e-01 -8.82234927e-03 3.06598800e+01] [ 3.73834807e-02 3.30715944e-04 9.99300939e-01 7.17748769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.544391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:190.13, Y:30.67, Z:7.18 [[ 9.72896503e-01 -2.28442110e-01 -3.58691538e-02 1.90125131e+02] [ 2.28276419e-01 9.73557458e-01 -8.70359443e-03 3.06660288e+01] [ 3.69089497e-02 2.79614610e-04 9.99318593e-01 7.17892541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.574391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:190.16, Y:30.67, Z:7.18 [[ 9.72681133e-01 -2.29464310e-01 -3.51787555e-02 1.90157461e+02] [ 2.29305918e-01 9.73317049e-01 -8.52744721e-03 3.06730993e+01] [ 3.61968273e-02 2.27790200e-04 9.99344654e-01 7.17998717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.604391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:190.19, Y:30.68, Z:7.18 [[ 9.72345077e-01 -2.30941293e-01 -3.48018828e-02 1.90190147e+02] [ 2.30787384e-01 9.72967672e-01 -8.43159932e-03 3.06803804e+01] [ 3.58083114e-02 1.66588595e-04 9.99358663e-01 7.18125421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.634391418 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:190.22, Y:30.69, Z:7.18 [[ 9.71556104e-01 -2.34333073e-01 -3.41576895e-02 1.90222595e+02] [ 2.34187059e-01 9.72156371e-01 -8.27115820e-03 3.06861126e+01] [ 3.51448213e-02 3.66054056e-05 9.99382229e-01 7.18279650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.664391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:190.25, Y:30.69, Z:7.18 [[ 9.71027365e-01 -2.36572099e-01 -3.37564487e-02 1.90253684e+02] [ 2.36431072e-01 9.71613935e-01 -8.16752983e-03 3.06922440e+01] [ 3.47304457e-02 -5.01783963e-05 9.99396715e-01 7.18347793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.694391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:190.29, Y:30.70, Z:7.18 [[ 9.69655551e-01 -2.42111670e-01 -3.39124142e-02 1.90286884e+02] [ 2.41973021e-01 9.70248356e-01 -8.19658601e-03 3.06962586e+01] [ 3.48879533e-02 -2.58024211e-04 9.99391197e-01 7.18388319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.724391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:190.32, Y:30.70, Z:7.18 [[ 9.68788605e-01 -2.45497013e-01 -3.43490218e-02 1.90319897e+02] [ 2.45357053e-01 9.69397269e-01 -8.29766377e-03 3.07023151e+01] [ 3.53348996e-02 -3.89092658e-04 9.99375452e-01 7.18436758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.754391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:190.35, Y:30.71, Z:7.19 [[ 9.66882323e-01 -2.52859111e-01 -3.46531849e-02 1.90352412e+02] [ 2.52721621e-01 9.67502879e-01 -8.36428350e-03 3.07062038e+01] [ 3.56420414e-02 -6.70331198e-04 9.99364396e-01 7.18511992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:190.38, Y:30.71, Z:7.19 [[ 9.65921082e-01 -2.56425500e-01 -3.52480672e-02 1.90383857e+02] [ 2.56286033e-01 9.66563645e-01 -8.49646719e-03 3.07117333e+01] [ 3.62482112e-02 -8.26670539e-04 9.99342476e-01 7.18625838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.814391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:190.42, Y:30.72, Z:7.19 [[ 9.64950207e-01 -2.60046138e-01 -3.53143677e-02 1.90416555e+02] [ 2.59908885e-01 9.65595702e-01 -8.50365048e-03 3.07172281e+01] [ 3.63107431e-02 -9.72918644e-04 9.99340074e-01 7.18702443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84439141800001 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:190.45, Y:30.72, Z:7.19 [[ 9.63990863e-01 -2.63553551e-01 -3.55125674e-02 1.90449369e+02] [ 2.63417292e-01 9.64644122e-01 -8.54684813e-03 3.07230266e+01] [ 3.65095416e-02 -1.11554087e-03 9.99332682e-01 7.18768450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87439141800002 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:190.48, Y:30.73, Z:7.19 [[ 9.62357807e-01 -2.69401018e-01 -3.59241266e-02 1.90482601e+02] [ 2.69265813e-01 9.63027128e-01 -8.64130742e-03 3.07274197e+01] [ 3.69238855e-02 -1.35710952e-03 9.99317159e-01 7.18863377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90439141800002 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:190.51, Y:30.73, Z:7.19 [[ 9.61678104e-01 -2.71761200e-01 -3.63465776e-02 1.90514150e+02] [ 2.71624638e-01 9.62363597e-01 -8.73860470e-03 3.07336823e+01] [ 3.73534368e-02 -1.46890118e-03 9.99301037e-01 7.18973681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93439141800002 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:190.55, Y:30.74, Z:7.19 [[ 9.60734384e-01 -2.74985579e-01 -3.70455737e-02 1.90546493e+02] [ 2.74846265e-01 9.61446971e-01 -8.90239331e-03 3.07393388e+01] [ 3.80653844e-02 -1.62900222e-03 9.99273923e-01 7.19081944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.964391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:190.58, Y:30.75, Z:7.19 [[ 9.60416037e-01 -2.76101301e-01 -3.70014448e-02 1.90577458e+02] [ 2.75963313e-01 9.61127080e-01 -8.88736225e-03 3.07459667e+01] [ 3.80169029e-02 -1.67547608e-03 9.99275692e-01 7.19196327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.994391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:190.61, Y:30.75, Z:7.19 [[ 9.60243894e-01 -2.76688170e-01 -3.70853034e-02 1.90609737e+02] [ 2.76550154e-01 9.60958243e-01 -8.90328991e-03 3.07529388e+01] [ 3.81008630e-02 -1.70661659e-03 9.99272441e-01 7.19285171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.024391418 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:190.64, Y:30.76, Z:7.19 [[ 9.60059143e-01 -2.77253031e-01 -3.76456958e-02 1.90641329e+02] [ 2.77111403e-01 9.60795328e-01 -9.03372624e-03 3.07596234e+01] [ 3.86744366e-02 -1.75914012e-03 9.99250316e-01 7.19439992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.054391418 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:190.67, Y:30.75, Z:7.20 [[ 9.58562534e-01 -2.79344034e-01 -5.58997259e-02 1.90670574e+02] [ 2.81354467e-01 9.59072698e-01 3.19252746e-02 3.07509086e+01] [ 4.46937660e-02 -4.63300097e-02 9.97925848e-01 7.19889304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.084391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:190.70, Y:30.78, Z:7.21 [[ 9.58634719e-01 -2.80892363e-01 -4.60321163e-02 1.90695372e+02] [ 2.80835701e-01 9.59723947e-01 -7.82657594e-03 3.07770610e+01] [ 4.63765497e-02 -5.42463421e-03 9.98909300e-01 7.21051645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.114391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:190.73, Y:30.80, Z:7.21 [[ 9.60529547e-01 -2.77091122e-01 -2.45662158e-02 1.90728777e+02] [ 2.75343245e-01 9.59602031e-01 -5.78795184e-02 3.08029035e+01] [ 3.96116912e-02 4.88308461e-02 9.98021274e-01 7.20995812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.144391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:190.76, Y:30.77, Z:7.20 [[ 9.58641489e-01 -2.79696746e-01 -5.26899041e-02 1.90763178e+02] [ 2.81477096e-01 9.59100228e-01 2.99565736e-02 3.07740257e+01] [ 4.21561428e-02 -4.35486155e-02 9.98161499e-01 7.19951661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.174391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:190.79, Y:30.81, Z:7.21 [[ 9.60638209e-01 -2.76609240e-01 -2.57207915e-02 1.90791011e+02] [ 2.75211308e-01 9.60206323e-01 -4.75662992e-02 3.08127801e+01] [ 3.78545445e-02 3.86153518e-02 9.98536874e-01 7.20826299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.204391418 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:190.83, Y:30.80, Z:7.20 [[ 9.60586834e-01 -2.75763778e-01 -3.50324443e-02 1.90827048e+02] [ 2.75642836e-01 9.61224015e-01 -8.33190713e-03 3.08025145e+01] [ 3.59716649e-02 -1.65292198e-03 9.99351443e-01 7.19807945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.234391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:190.85, Y:30.80, Z:7.20 [[ 9.58651625e-01 -2.79378505e-01 -5.41729963e-02 1.90853923e+02] [ 2.81430853e-01 9.58951242e-01 3.47734120e-02 3.07955446e+01] [ 4.22343182e-02 -4.85815405e-02 9.97925897e-01 7.20061087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.264391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:190.88, Y:30.82, Z:7.21 [[ 9.59409870e-01 -2.78594304e-01 -4.37940197e-02 1.90881682e+02] [ 2.78438320e-01 9.60404668e-01 -9.74555674e-03 3.08233420e+01] [ 4.47750375e-02 -2.84394997e-03 9.98993047e-01 7.21288625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.294391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:190.91, Y:30.83, Z:7.21 [[ 9.59822336e-01 -2.77462544e-01 -4.19001133e-02 1.90912825e+02] [ 2.77406356e-01 9.60725205e-01 -7.26591693e-03 3.08303925e+01] [ 4.22705147e-02 -4.64936839e-03 9.99095384e-01 7.21341635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.324391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:190.94, Y:30.84, Z:7.21 [[ 9.60311472e-01 -2.75922707e-01 -4.08477139e-02 1.90942387e+02] [ 2.76030717e-01 9.61143868e-01 -3.08348250e-03 3.08364204e+01] [ 4.01113326e-02 -8.31412015e-03 9.99160626e-01 7.21241239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.354391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:190.97, Y:30.85, Z:7.22 [[ 9.60912670e-01 -2.74057877e-01 -3.92316308e-02 1.90972506e+02] [ 2.73836131e-01 9.61713189e-01 -1.10234301e-02 3.08492085e+01] [ 4.07506346e-02 -1.50484308e-04 9.99169337e-01 7.21514672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.384391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:191.00, Y:30.86, Z:7.22 [[ 9.61787677e-01 -2.71434069e-01 -3.58888534e-02 1.91004603e+02] [ 2.70997183e-01 9.62436703e-01 -1.66168202e-02 3.08587406e+01] [ 3.90511209e-02 6.25607469e-03 9.99217630e-01 7.21505793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.414391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:191.04, Y:30.86, Z:7.21 [[ 9.62248441e-01 -2.69657862e-01 -3.69130742e-02 1.91036581e+02] [ 2.69536312e-01 9.62954245e-01 -8.32460328e-03 3.08631431e+01] [ 3.77903962e-02 -1.93907733e-03 9.99283807e-01 7.21299800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.444391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:191.07, Y:30.89, Z:7.21 [[ 9.64773722e-01 -2.62654273e-01 -1.49799361e-02 1.91068072e+02] [ 2.61385410e-01 9.63454592e-01 -5.85910982e-02 3.08914718e+01] [ 2.98216906e-02 5.26116151e-02 9.98169667e-01 7.21356543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.474391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:191.10, Y:30.88, Z:7.20 [[ 9.64954110e-01 -2.60930039e-01 -2.79120109e-02 1.91104973e+02] [ 2.60850383e-01 9.65357208e-01 -6.52212988e-03 3.08757432e+01] [ 2.86468805e-02 -9.87302677e-04 9.99589106e-01 7.19876956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.504391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:191.14, Y:30.88, Z:7.20 [[ 9.65458778e-01 -2.59076373e-01 -2.77269102e-02 1.91137006e+02] [ 2.58997099e-01 9.65856392e-01 -6.47560346e-03 3.08838921e+01] [ 2.84578893e-02 -9.29261101e-04 9.99594560e-01 7.19932017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.534391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:191.17, Y:30.89, Z:7.20 [[ 9.66661040e-01 -2.54562597e-01 -2.76463144e-02 1.91167276e+02] [ 2.54482116e-01 9.67055968e-01 -6.45046110e-03 3.08932840e+01] [ 2.83775794e-02 -8.00083154e-04 9.99596955e-01 7.20014655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:191.20, Y:30.90, Z:7.20 [[ 9.67399523e-01 -2.51772187e-01 -2.73665540e-02 1.91198837e+02] [ 2.51692375e-01 9.67786264e-01 -6.37934052e-03 3.09012552e+01] [ 2.80911156e-02 -7.16581997e-04 9.99605110e-01 7.20048680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59439141800001 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:191.23, Y:30.91, Z:7.20 [[ 9.68574503e-01 -2.47212683e-01 -2.73737289e-02 1.91225999e+02] [ 2.46935240e-01 9.68942846e-01 -1.31433756e-02 3.09111085e+01] [ 2.97727879e-02 5.97080015e-03 9.99538859e-01 7.20282296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62439141800002 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:191.26, Y:30.92, Z:7.20 [[ 9.68617633e-01 -2.46864573e-01 -2.89441508e-02 1.91259514e+02] [ 2.46766066e-01 9.69049916e-01 -6.98349297e-03 3.09156395e+01] [ 2.97723039e-02 -3.78099804e-04 9.99556635e-01 7.20157411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65439141800002 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:191.29, Y:30.92, Z:7.20 [[ 9.69973489e-01 -2.41498046e-01 -2.88118751e-02 1.91294434e+02] [ 2.41594805e-01 9.70377212e-01 -1.26510903e-04 3.09228228e+01] [ 2.79889392e-02 -6.83808711e-03 9.99584844e-01 7.19966881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68439141800002 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:191.32, Y:30.93, Z:7.20 [[ 9.71093748e-01 -2.37067870e-01 -2.78524292e-02 1.91324663e+02] [ 2.36936909e-01 9.71492433e-01 -7.95947764e-03 3.09340776e+01] [ 2.89453607e-02 1.13013048e-03 9.99580356e-01 7.20267878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.714391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:191.36, Y:30.94, Z:7.20 [[ 9.71735189e-01 -2.34430189e-01 -2.78066304e-02 1.91358271e+02] [ 2.34381549e-01 9.72131611e-01 -5.04193330e-03 3.09411245e+01] [ 2.82136858e-02 -1.61793709e-03 9.99600605e-01 7.20211570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.744391418 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:191.39, Y:30.95, Z:7.20 [[ 9.73082249e-01 -2.28831508e-01 -2.73327260e-02 1.91389009e+02] [ 2.28744013e-01 9.73466041e-01 -6.32807271e-03 3.09494404e+01] [ 2.80555430e-02 -9.44622098e-05 9.99606361e-01 7.20291758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.774391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:191.42, Y:30.96, Z:7.20 [[ 9.73589912e-01 -2.26714447e-01 -2.68931661e-02 1.91420707e+02] [ 2.26629095e-01 9.73961271e-01 -6.22056460e-03 3.09570990e+01] [ 2.76031941e-02 -3.84949364e-05 9.99618959e-01 7.20343422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.804391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:191.45, Y:30.96, Z:7.20 [[ 9.74024056e-01 -2.24834502e-01 -2.69552554e-02 1.91453175e+02] [ 2.24748213e-01 9.74396966e-01 -6.22849742e-03 3.09645422e+01] [ 2.76655002e-02 8.56083216e-06 9.99617237e-01 7.20435271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.834391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:191.49, Y:30.97, Z:7.21 [[ 9.74525659e-01 -2.22763926e-01 -2.59994699e-02 1.91485022e+02] [ 2.22683138e-01 9.74872417e-01 -5.99916713e-03 3.09708230e+01] [ 2.66825641e-02 5.66987568e-05 9.99643955e-01 7.20522302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.864391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:191.52, Y:30.98, Z:7.21 [[ 9.74647218e-01 -2.22307952e-01 -2.53372089e-02 1.91517784e+02] [ 2.22231219e-01 9.74976497e-01 -5.84079075e-03 3.09776531e+01] [ 2.60016374e-02 6.19916398e-05 9.99661898e-01 7.20570585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.894391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:191.55, Y:30.98, Z:7.21 [[ 9.73936158e-01 -2.24487869e-01 -3.24585481e-02 1.91545615e+02] [ 2.24924361e-01 9.74320291e-01 1.04404479e-02 3.09788098e+01] [ 2.92812681e-02 -1.74690479e-02 9.99418551e-01 7.20694432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.924391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:191.57, Y:31.00, Z:7.21 [[ 9.75051574e-01 -2.21034952e-01 -2.04445111e-02 1.91574769e+02] [ 2.20355891e-01 9.74925926e-01 -3.10277326e-02 3.10003256e+01] [ 2.67900972e-02 2.57485710e-02 9.99309412e-01 7.21458861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.954391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:191.61, Y:30.99, Z:7.21 [[ 9.74520072e-01 -2.22787276e-01 -2.60088120e-02 1.91613638e+02] [ 2.22891619e-01 9.74842556e-01 1.14725354e-03 3.09912229e+01] [ 2.50989033e-02 -6.91516782e-03 9.99661055e-01 7.20517586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.984391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:191.64, Y:30.99, Z:7.21 [[ 9.73151718e-01 -2.26806316e-01 -3.91743388e-02 1.91641632e+02] [ 2.27889101e-01 9.73345917e-01 2.57737157e-02 3.09881942e+01] [ 3.22845412e-02 -3.40091406e-02 9.98899938e-01 7.20764241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.014391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:191.67, Y:31.02, Z:7.22 [[ 9.74433790e-01 -2.24074631e-01 -1.64118181e-02 1.91672085e+02] [ 2.23305373e-01 9.73959863e-01 -3.92032560e-02 3.10208951e+01] [ 2.47689073e-02 3.45361302e-02 9.99096470e-01 7.21731169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.044391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:191.71, Y:31.01, Z:7.21 [[ 9.73924307e-01 -2.25577716e-01 -2.42103077e-02 1.91707709e+02] [ 2.25509216e-01 9.74225175e-01 -5.55889324e-03 3.10092730e+01] [ 2.48402537e-02 -4.57062904e-05 9.99691432e-01 7.20755519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.074391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:191.74, Y:31.01, Z:7.21 [[ 9.73711730e-01 -2.26524994e-01 -2.39142960e-02 1.91740822e+02] [ 2.26458545e-01 9.74005350e-01 -5.48685161e-03 3.10148132e+01] [ 2.45355613e-02 -7.29848938e-05 9.99698955e-01 7.20744829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.104391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:191.77, Y:31.02, Z:7.21 [[ 9.73431982e-01 -2.27732197e-01 -2.38374265e-02 1.91773914e+02] [ 2.27666611e-01 9.73723798e-01 -5.46617223e-03 3.10202460e+01] [ 2.44558929e-02 -1.06039233e-04 9.99700904e-01 7.20784456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.134391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:191.80, Y:31.03, Z:7.21 [[ 9.73131114e-01 -2.29047451e-01 -2.35180943e-02 1.91804729e+02] [ 2.28838322e-01 9.73399263e-01 -1.12648882e-02 3.10260096e+01] [ 2.54726896e-02 5.58037192e-03 9.99659943e-01 7.20976987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.164391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:191.84, Y:31.03, Z:7.21 [[ 9.72514714e-01 -2.31540033e-01 -2.45834034e-02 1.91838937e+02] [ 2.31615272e-01 9.72807441e-01 2.19392827e-04 3.10269646e+01] [ 2.38641195e-02 -5.90725442e-03 9.99697758e-01 7.20698058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.194391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:191.87, Y:31.04, Z:7.21 [[ 9.72159354e-01 -2.33219845e-01 -2.26868556e-02 1.91871419e+02] [ 2.33162295e-01 9.72424003e-01 -5.18668957e-03 3.10352485e+01] [ 2.32708819e-02 -2.47430530e-04 9.99729166e-01 7.20866748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.224391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:191.90, Y:31.04, Z:7.21 [[ 9.71572200e-01 -2.35704326e-01 -2.21569576e-02 1.91903125e+02] [ 2.35650180e-01 9.71824767e-01 -5.06106474e-03 3.10386668e+01] [ 2.27255950e-02 -3.04101249e-04 9.99741694e-01 7.20876213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.254391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:191.93, Y:31.04, Z:7.21 [[ 9.71292619e-01 -2.36840147e-01 -2.23023057e-02 1.91934683e+02] [ 2.36785702e-01 9.71548574e-01 -5.08926529e-03 3.10441381e+01] [ 2.28731156e-02 -3.37701290e-04 9.99738319e-01 7.20921201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:191.97, Y:31.05, Z:7.21 [[ 9.70901080e-01 -2.38490566e-01 -2.17564204e-02 1.91966388e+02] [ 2.38439237e-01 9.71144743e-01 -4.96161238e-03 3.10486609e+01] [ 2.23119311e-02 -3.70349468e-04 9.99750989e-01 7.20958172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.314391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:192.00, Y:31.05, Z:7.21 [[ 9.70887904e-01 -2.38581033e-01 -2.13487431e-02 1.91998499e+02] [ 2.38531711e-01 9.71122523e-01 -4.86502780e-03 3.10543952e+01] [ 2.18929486e-02 -3.68955565e-04 9.99760253e-01 7.20972409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34439141800001 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:192.03, Y:31.06, Z:7.21 [[ 9.70836328e-01 -2.38791109e-01 -2.13455037e-02 1.92031371e+02] [ 2.38741912e-01 9.71070885e-01 -4.86157356e-03 3.10605105e+01] [ 2.18888977e-02 -3.76274149e-04 9.99760339e-01 7.21019073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37439141800002 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:192.06, Y:31.07, Z:7.21 [[ 9.70893824e-01 -2.38591852e-01 -2.09549582e-02 1.92063529e+02] [ 2.38544449e-01 9.71119865e-01 -4.76996346e-03 3.10664824e+01] [ 2.14878506e-02 -3.67560909e-04 9.99769042e-01 7.21003367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40439141800002 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:192.10, Y:31.07, Z:7.21 [[ 9.71164847e-01 -2.37545292e-01 -2.02749777e-02 1.92095915e+02] [ 2.37500742e-01 9.71376406e-01 -4.61260039e-03 3.10714457e+01] [ 2.07903365e-02 -3.35726886e-04 9.99783801e-01 7.20979044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43439141800002 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:192.13, Y:31.08, Z:7.21 [[ 9.71448805e-01 -2.36379499e-01 -2.02966062e-02 1.92127838e+02] [ 2.36334684e-01 9.71660760e-01 -4.61342009e-03 3.10778603e+01] [ 2.08119337e-02 -3.15090591e-04 9.99783359e-01 7.21020619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.464391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:192.16, Y:31.08, Z:7.21 [[ 9.71746586e-01 -2.35189564e-01 -1.98605620e-02 1.92159754e+02] [ 2.35146507e-01 9.71949477e-01 -4.50933485e-03 3.10846039e+01] [ 2.03640114e-02 -2.88211052e-04 9.99792590e-01 7.21065784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.494391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:192.19, Y:31.09, Z:7.21 [[ 9.72419117e-01 -2.32376041e-01 -2.00608028e-02 1.92189931e+02] [ 2.32219449e-01 9.72613609e-01 -9.84349090e-03 3.10925536e+01] [ 2.17988012e-02 4.91349017e-03 9.99750304e-01 7.21260360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.524391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:192.22, Y:31.09, Z:7.21 [[ 9.72645340e-01 -2.31329710e-01 -2.11567251e-02 1.92223189e+02] [ 2.31391429e-01 9.72860613e-01 4.83597541e-04 3.10944055e+01] [ 2.04706741e-02 -5.36585374e-03 9.99776054e-01 7.20969377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.554391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:192.25, Y:31.10, Z:7.21 [[ 9.72779939e-01 -2.30882331e-01 -1.98126045e-02 1.92254559e+02] [ 2.30838727e-01 9.72981658e-01 -4.49165091e-03 3.11034842e+01] [ 2.03143436e-02 -2.04128498e-04 9.99793622e-01 7.21073558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.584391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:192.29, Y:31.11, Z:7.21 [[ 9.73091065e-01 -2.29572909e-01 -1.97498957e-02 1.92287082e+02] [ 2.29529360e-01 9.73291451e-01 -4.47496782e-03 3.11093449e+01] [ 2.02497360e-02 -1.78629711e-04 9.99794937e-01 7.21064454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.614391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:192.32, Y:31.12, Z:7.21 [[ 9.73168709e-01 -2.29266371e-01 -1.94831962e-02 1.92319190e+02] [ 2.29223977e-01 9.73363705e-01 -4.41211444e-03 3.11159019e+01] [ 1.99757855e-02 -1.72284023e-04 9.99800449e-01 7.21108973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.644391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:192.35, Y:31.12, Z:7.21 [[ 9.73175925e-01 -2.29300381e-01 -1.87070790e-02 1.92351638e+02] [ 2.29261348e-01 9.73355694e-01 -4.23408320e-03 3.11226365e+01] [ 1.91795187e-02 -1.68302302e-04 9.99816042e-01 7.21143855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.674391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:192.38, Y:31.13, Z:7.21 [[ 9.72889044e-01 -2.30621175e-01 -1.73430424e-02 1.92383542e+02] [ 2.30587871e-01 9.73043596e-01 -3.92340624e-03 3.11287412e+01] [ 1.77803569e-02 -1.82056285e-04 9.99841900e-01 7.21161147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.704391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:192.42, Y:31.14, Z:7.21 [[ 9.72679727e-01 -2.31526548e-01 -1.70177918e-02 1.92416331e+02] [ 2.31494652e-01 9.72828566e-01 -3.84801836e-03 3.11352692e+01] [ 1.74463124e-02 -1.96638339e-04 9.99847782e-01 7.21210412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.734391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:192.45, Y:31.14, Z:7.21 [[ 9.72328055e-01 -2.33045506e-01 -1.63690449e-02 1.92448611e+02] [ 2.33016243e-01 9.72465807e-01 -3.69938700e-03 3.11416188e+01] [ 1.67804619e-02 -2.17235568e-04 9.99859175e-01 7.21225595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.764391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:192.48, Y:31.15, Z:7.21 [[ 9.71453311e-01 -2.36705983e-01 -1.57715874e-02 1.92481066e+02] [ 2.36679330e-01 9.71581290e-01 -3.56249683e-03 3.11467406e+01] [ 1.61666436e-02 -2.72009401e-04 9.99869274e-01 7.21246727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.794391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:192.51, Y:31.15, Z:7.21 [[ 9.70861202e-01 -2.39179051e-01 -1.48965922e-02 1.92513835e+02] [ 2.39155590e-01 9.70975434e-01 -3.36312924e-03 3.11531702e+01] [ 1.52686152e-02 -2.97471611e-04 9.99883384e-01 7.21265643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.824391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:192.55, Y:31.16, Z:7.21 [[ 9.70230154e-01 -2.41749405e-01 -1.45145825e-02 1.92545909e+02] [ 2.41727445e-01 9.70338660e-01 -3.27515598e-03 3.11593896e+01] [ 1.48758276e-02 -3.30917852e-04 9.99889294e-01 7.21309042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.854391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:192.58, Y:31.16, Z:7.21 [[ 9.68739913e-01 -2.47711333e-01 -1.34935958e-02 1.92577234e+02] [ 2.47692952e-01 9.68833804e-01 -3.04324942e-03 3.11647969e+01] [ 1.38268991e-02 -3.94151400e-04 9.99904326e-01 7.21307457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.884391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:192.61, Y:31.17, Z:7.21 [[ 9.67930790e-01 -2.50878719e-01 -1.30328356e-02 1.92609479e+02] [ 2.50861875e-01 9.68018433e-01 -2.93805450e-03 3.11709272e+01] [ 1.33531205e-02 -4.25608172e-04 9.99910753e-01 7.21348957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.914391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:192.64, Y:31.18, Z:7.21 [[ 9.67038395e-01 -2.54335516e-01 -1.22550941e-02 1.92641929e+02] [ 2.54320918e-01 9.67115942e-01 -2.76133496e-03 3.11772442e+01] [ 1.25544025e-02 -4.46409859e-04 9.99921091e-01 7.21373905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.944391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:192.67, Y:31.18, Z:7.21 [[ 9.65152577e-01 -2.61430469e-01 -1.16022426e-02 1.92673192e+02] [ 2.61417913e-01 9.65222176e-01 -2.61278850e-03 3.11828588e+01] [ 1.18818044e-02 -5.11294495e-04 9.99929278e-01 7.21367460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.974391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:192.70, Y:31.18, Z:7.21 [[ 9.63481292e-01 -2.66794907e-01 -2.28971047e-02 1.92703326e+02] [ 2.67335751e-01 9.63274820e-01 2.51638244e-02 3.11784184e+01] [ 1.53426242e-02 -3.03660887e-02 9.99421085e-01 7.21328682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.004391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:192.73, Y:31.20, Z:7.22 [[ 9.62687823e-01 -2.70168082e-01 -1.55358639e-02 1.92731869e+02] [ 2.70092408e-01 9.62810262e-01 -6.81840501e-03 3.12003906e+01] [ 1.68002046e-02 2.36787657e-03 9.99856063e-01 7.22044348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.034391418 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:192.76, Y:31.22, Z:7.22 [[ 9.62258453e-01 -2.72085482e-01 -5.30662328e-03 1.92763973e+02] [ 2.71808259e-01 9.61871015e-01 -3.04043007e-02 3.12164970e+01] [ 1.33768559e-02 2.78144113e-02 9.99523596e-01 7.21979308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:192.80, Y:31.21, Z:7.21 [[ 9.61860415e-01 -2.73289079e-01 -1.17311760e-02 1.92799480e+02] [ 2.73277265e-01 9.61931714e-01 -2.62964327e-03 3.12114812e+01] [ 1.20032430e-02 -6.76513920e-04 9.99927730e-01 7.21372799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09439141800001 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:192.83, Y:31.22, Z:7.21 [[ 9.61599861e-01 -2.74213475e-01 -1.15185452e-02 1.92830732e+02] [ 2.74202168e-01 9.61668608e-01 -2.58052032e-03 3.12193573e+01] [ 1.17846368e-02 -6.76982082e-04 9.99930330e-01 7.21417201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12439141800002 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:192.86, Y:31.23, Z:7.21 [[ 9.61566170e-01 -2.74341015e-01 -1.12919660e-02 1.92862680e+02] [ 2.74330171e-01 9.61632239e-01 -2.52861937e-03 3.12273957e+01] [ 1.15524226e-02 -6.66292124e-04 9.99933047e-01 7.21412518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15439141800002 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:192.89, Y:31.23, Z:7.22 [[ 9.61540861e-01 -2.74271322e-01 -1.46428790e-02 1.92894196e+02] [ 2.74372888e-01 9.61608165e-01 5.40879608e-03 3.12349688e+01] [ 1.25972343e-02 -9.21838744e-03 9.99878158e-01 7.21534929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18439141800002 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:192.92, Y:31.25, Z:7.22 [[ 9.62155218e-01 -2.72322254e-01 -9.89580192e-03 1.92924007e+02] [ 2.72213144e-01 9.62172983e-01 -1.10974944e-02 3.12508599e+01] [ 1.25435679e-02 7.98374478e-03 9.99889453e-01 7.21738468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.214391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:192.95, Y:31.24, Z:7.22 [[ 9.62066713e-01 -2.71548625e-01 -2.62485237e-02 1.92954075e+02] [ 2.72331527e-01 9.61630144e-01 3.32115248e-02 3.12436284e+01] [ 1.62228277e-02 -3.91000030e-02 9.99103603e-01 7.21625588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.244391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:192.98, Y:31.28, Z:7.23 [[ 9.63801942e-01 -2.66600893e-01 -3.12748991e-03 1.92981408e+02] [ 2.66258776e-01 9.63042447e-01 -4.06879512e-02 3.12840309e+01] [ 1.38593497e-02 3.83824048e-02 9.99167008e-01 7.22586323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.274391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:193.02, Y:31.28, Z:7.22 [[ 9.64453355e-01 -2.64001348e-01 -1.15331625e-02 1.93017171e+02] [ 2.63989448e-01 9.64522145e-01 -2.56980037e-03 3.12754661e+01] [ 1.18024214e-02 -5.66180626e-04 9.99930189e-01 7.21631279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.304391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:193.05, Y:31.28, Z:7.22 [[ 9.65159058e-01 -2.61420510e-01 -1.12831170e-02 1.93049064e+02] [ 2.61408960e-01 9.65224866e-01 -2.51274178e-03 3.12845254e+01] [ 1.15476274e-02 -5.24312396e-04 9.99933186e-01 7.21641892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.334391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:193.08, Y:31.30, Z:7.22 [[ 9.66526864e-01 -2.56301700e-01 -1.16301072e-02 1.93079302e+02] [ 2.56289075e-01 9.66596715e-01 -2.58855619e-03 3.12955810e+01] [ 1.19050748e-02 -4.78760329e-04 9.99929017e-01 7.21735917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.364391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:193.11, Y:31.31, Z:7.22 [[ 9.67315608e-01 -2.53335763e-01 -1.10229541e-02 1.93111059e+02] [ 2.53324241e-01 9.67378320e-01 -2.45239429e-03 3.13050934e+01] [ 1.12846460e-02 -4.20142209e-04 9.99936238e-01 7.21757262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.394391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:193.14, Y:31.31, Z:7.22 [[ 9.68264873e-01 -2.49667473e-01 -1.13704986e-02 1.93142837e+02] [ 2.49654977e-01 9.68331555e-01 -2.52831758e-03 3.13145881e+01] [ 1.16416513e-02 -3.90620473e-04 9.99932157e-01 7.21846123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.424391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:193.17, Y:31.33, Z:7.22 [[ 9.69914939e-01 -2.43175916e-01 -1.14230234e-02 1.93172811e+02] [ 2.43162899e-01 9.69982151e-01 -2.53609302e-03 3.13261568e+01] [ 1.16968455e-02 -3.17860975e-04 9.99931539e-01 7.21828367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.454391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:193.20, Y:31.34, Z:7.22 [[ 9.70649503e-01 -2.40192993e-01 -1.21189362e-02 1.93204439e+02] [ 2.40178159e-01 9.70725108e-01 -2.68654196e-03 3.13350129e+01] [ 1.24094442e-02 -3.03013177e-04 9.99922954e-01 7.21854487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.484391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:193.24, Y:31.34, Z:7.22 [[ 9.71735333e-01 -2.35781903e-01 -1.17190654e-02 1.93235544e+02] [ 2.35767757e-01 9.71805966e-01 -2.59403972e-03 3.13448560e+01] [ 1.20002853e-02 -2.42257712e-04 9.99927965e-01 7.21808021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.514391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:193.27, Y:31.35, Z:7.22 [[ 9.71767777e-01 -2.35648111e-01 -1.17198535e-02 1.93268322e+02] [ 2.35633998e-01 9.71838417e-01 -2.59047431e-03 3.13519756e+01] [ 1.20002442e-02 -2.44256461e-04 9.99927965e-01 7.21848477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.544391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:193.30, Y:31.36, Z:7.22 [[ 9.72210102e-01 -2.33834462e-01 -1.13561243e-02 1.93300051e+02] [ 2.33821105e-01 9.72276400e-01 -2.50857977e-03 3.13603638e+01] [ 1.16278840e-02 -2.16434941e-04 9.99932370e-01 7.21859214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.574391418 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:193.33, Y:31.37, Z:7.22 [[ 9.72569313e-01 -2.32340279e-01 -1.12661660e-02 1.93332260e+02] [ 2.32327077e-01 9.72634543e-01 -2.48490357e-03 3.13687702e+01] [ 1.15352055e-02 -2.00694476e-04 9.99933447e-01 7.21926269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.604391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:193.36, Y:31.38, Z:7.22 [[ 9.72907124e-01 -2.30903761e-01 -1.16267416e-02 1.93364385e+02] [ 2.30889646e-01 9.72976575e-01 -2.56034457e-03 3.13776411e+01] [ 1.19037404e-02 -1.93516789e-04 9.99929129e-01 7.21962272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.634391418 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:193.39, Y:31.39, Z:7.22 [[ 9.73581276e-01 -2.28012507e-01 -1.22391445e-02 1.93394603e+02] [ 2.27996692e-01 9.73658188e-01 -2.69087057e-03 3.13873539e+01] [ 1.25302954e-02 -1.70703264e-04 9.99921478e-01 7.22031204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.664391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:193.43, Y:31.40, Z:7.22 [[ 9.74017341e-01 -2.26115475e-01 -1.27283627e-02 1.93426231e+02] [ 2.26098262e-01 9.74100492e-01 -2.79427166e-03 3.13954778e+01] [ 1.30305324e-02 -1.56191638e-04 9.99915087e-01 7.22030258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.694391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:193.46, Y:31.40, Z:7.22 [[ 9.74329068e-01 -2.24749603e-01 -1.30568896e-02 1.93458807e+02] [ 2.24731427e-01 9.74416541e-01 -2.86197377e-03 3.14033983e+01] [ 1.33660766e-02 -1.45789189e-04 9.99910659e-01 7.22064184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.724391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:193.49, Y:31.41, Z:7.22 [[ 9.74824207e-01 -2.22630093e-01 -1.23938539e-02 1.93490480e+02] [ 2.22613593e-01 9.74902984e-01 -2.71281180e-03 3.14108243e+01] [ 1.26867587e-02 -1.14525743e-04 9.99919513e-01 7.22025447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.754391418 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:193.52, Y:31.42, Z:7.22 [[ 9.74934092e-01 -2.22166759e-01 -1.20601418e-02 1.93523095e+02] [ 2.22151131e-01 9.75008677e-01 -2.63732246e-03 3.14178506e+01] [ 1.23446682e-02 -1.07958556e-04 9.99923796e-01 7.22059103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.784391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:193.55, Y:31.42, Z:7.22 [[ 9.74862527e-01 -2.22489266e-01 -1.18987205e-02 1.93554341e+02] [ 2.22474126e-01 9.74935133e-01 -2.59805302e-03 3.14245373e+01] [ 1.21785196e-02 -1.14412908e-04 9.99925833e-01 7.22075484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.814391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:193.59, Y:31.43, Z:7.22 [[ 9.74212142e-01 -2.25317843e-01 -1.19403548e-02 1.93586773e+02] [ 2.25302855e-01 9.74285300e-01 -2.60336696e-03 3.14310727e+01] [ 1.22198972e-02 -1.53964338e-04 9.99925322e-01 7.22103506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84439141800001 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:193.62, Y:31.44, Z:7.22 [[ 9.73976339e-01 -2.26321336e-01 -1.21960959e-02 1.93617390e+02] [ 2.26316182e-01 9.74052194e-01 -1.81916344e-03 3.14363559e+01] [ 1.22913494e-02 -9.88351710e-04 9.99923970e-01 7.22021667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87439141800002 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:193.65, Y:31.44, Z:7.22 [[ 9.73069784e-01 -2.30163153e-01 -1.26538190e-02 1.93650913e+02] [ 2.30135450e-01 9.73151862e-01 -3.62328813e-03 3.14437658e+01] [ 1.31480349e-02 6.13619866e-04 9.99913373e-01 7.22107309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90439141800002 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:193.68, Y:31.45, Z:7.22 [[ 9.71438172e-01 -2.36920999e-01 -1.32785006e-02 1.93683668e+02] [ 2.36903733e-01 9.71528857e-01 -2.88125998e-03 3.14481032e+01] [ 1.35830775e-02 -3.46760424e-04 9.99907686e-01 7.22082793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93439141800002 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:193.72, Y:31.45, Z:7.22 [[ 9.70581663e-01 -2.40392324e-01 -1.35191074e-02 1.93715827e+02] [ 2.40374827e-01 9.70675726e-01 -2.92881611e-03 3.14540224e+01] [ 1.38267343e-02 -4.06997891e-04 9.99904323e-01 7.22108946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.964391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:193.75, Y:31.46, Z:7.22 [[ 9.69678942e-01 -2.44002572e-01 -1.36196517e-02 1.93746918e+02] [ 2.43985233e-01 9.69774472e-01 -2.94596083e-03 3.14598838e+01] [ 1.39268125e-02 -4.66357706e-04 9.99902908e-01 7.22158373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.994391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:193.78, Y:31.47, Z:7.22 [[ 9.67759232e-01 -2.51472012e-01 -1.42792274e-02 1.93778563e+02] [ 2.51453832e-01 9.67864381e-01 -3.08392951e-03 3.14651488e+01] [ 1.45958776e-02 -6.06065201e-04 9.99893291e-01 7.22248941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.024391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:193.81, Y:31.47, Z:7.22 [[ 9.66865037e-01 -2.54886790e-01 -1.43082061e-02 1.93810804e+02] [ 2.54868975e-01 9.66970674e-01 -3.08567580e-03 3.14714119e+01] [ 1.46221137e-02 -6.63285785e-04 9.99892871e-01 7.22272262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.054391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:193.84, Y:31.48, Z:7.22 [[ 9.66291139e-01 -2.57149633e-01 -1.24699999e-02 1.93843541e+02] [ 2.57068599e-01 9.66362135e-01 -7.74328858e-03 3.14790145e+01] [ 1.40417196e-02 4.27662573e-03 9.99892264e-01 7.22253619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.084391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:193.87, Y:31.48, Z:7.22 [[ 9.64640875e-01 -2.63016970e-01 -1.70310275e-02 1.93874322e+02] [ 2.63081849e-01 9.64772110e-01 1.64807552e-03 3.14804667e+01] [ 1.59975885e-02 -6.07035522e-03 9.99853603e-01 7.22213634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.114391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:193.91, Y:31.49, Z:7.22 [[ 9.64216782e-01 -2.64599647e-01 -1.65234776e-02 1.93906258e+02] [ 2.64577528e-01 9.64357883e-01 -3.55028336e-03 3.14894725e+01] [ 1.68739496e-02 -9.48498061e-04 9.99857175e-01 7.22372239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.144391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:193.94, Y:31.50, Z:7.22 [[ 9.63874536e-01 -2.65800057e-01 -1.72107314e-02 1.93937460e+02] [ 2.65776345e-01 9.64027645e-01 -3.69257066e-03 3.14963875e+01] [ 1.75731063e-02 -1.01503044e-03 9.99845066e-01 7.22412897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.174391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:193.97, Y:31.50, Z:7.22 [[ 9.63772781e-01 -2.66148285e-01 -1.75247672e-02 1.93969676e+02] [ 2.66123838e-01 9.63931533e-01 -3.75542601e-03 3.15037342e+01] [ 1.78921759e-02 -1.04438092e-03 9.99839377e-01 7.22471596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.204391418 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:194.00, Y:31.52, Z:7.23 [[ 9.64481828e-01 -2.64081437e-01 -5.98308168e-03 1.94001621e+02] [ 2.63799716e-01 9.64123400e-01 -2.95935637e-02 3.15232559e+01] [ 1.35835399e-02 2.69641191e-02 9.99544108e-01 7.22505674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.234391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:194.03, Y:31.51, Z:7.22 [[ 9.63923387e-01 -2.65087380e-01 -2.40911716e-02 1.94033273e+02] [ 2.65645853e-01 9.63771485e-01 2.40167852e-02 3.15063914e+01] [ 1.68518376e-02 -2.95500608e-02 9.99421237e-01 7.21944868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.264391418 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:194.06, Y:31.53, Z:7.23 [[ 9.64467398e-01 -2.63612113e-01 -1.76434853e-02 1.94061440e+02] [ 2.63644916e-01 9.64619679e-01 -4.82078479e-04 3.15258319e+01] [ 1.71463349e-02 -4.18666624e-03 9.99844225e-01 7.22634803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.294391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:194.09, Y:31.54, Z:7.23 [[ 9.65407420e-01 -2.60179377e-01 -1.71815438e-02 1.94091072e+02] [ 2.60094340e-01 9.65557470e-01 -7.05029646e-03 3.15377234e+01] [ 1.84241097e-02 2.33758621e-03 9.99827529e-01 7.22906765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.324391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:194.12, Y:31.54, Z:7.23 [[ 9.65723132e-01 -2.58945814e-01 -1.80526265e-02 1.94124933e+02] [ 2.58917447e-01 9.65891451e-01 -3.93190527e-03 3.15447839e+01] [ 1.84550280e-02 -8.77008079e-04 9.99829307e-01 7.22873315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.354391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:194.16, Y:31.55, Z:7.23 [[ 9.66318476e-01 -2.56682133e-01 -1.85171676e-02 1.94156153e+02] [ 2.56653524e-01 9.66495421e-01 -3.94578531e-03 3.15529548e+01] [ 1.89095703e-02 -9.39611065e-04 9.99820757e-01 7.22947139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.384391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:194.19, Y:31.56, Z:7.23 [[ 9.67339844e-01 -2.52744982e-01 -1.93287482e-02 1.94187612e+02] [ 2.52713150e-01 9.67532507e-01 -4.11235871e-03 3.15630570e+01] [ 1.97405703e-02 -9.06580428e-04 9.99804725e-01 7.23003319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.414391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:194.22, Y:31.57, Z:7.23 [[ 9.67968298e-01 -2.50294031e-01 -1.97552955e-02 1.94220006e+02] [ 2.50260403e-01 9.68169469e-01 -4.19648373e-03 3.15712800e+01] [ 2.01768288e-02 -8.81905016e-04 9.99796038e-01 7.23063162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.444391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:194.25, Y:31.58, Z:7.23 [[ 9.68954832e-01 -2.46426221e-01 -2.00162977e-02 1.94249227e+02] [ 2.46419376e-01 9.69159115e-01 -2.84632892e-03 3.15781441e+01] [ 2.01003874e-02 -2.17443943e-03 9.99795602e-01 7.23046528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.474391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:194.28, Y:31.59, Z:7.23 [[ 9.70114655e-01 -2.41867540e-01 -1.94332097e-02 1.94281567e+02] [ 2.41804412e-01 9.70309021e-01 -5.57045608e-03 3.15901933e+01] [ 2.02035312e-02 7.04945229e-04 9.99795639e-01 7.23218039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.504391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:194.31, Y:31.59, Z:7.23 [[ 9.71008951e-01 -2.38190577e-01 -2.01709260e-02 1.94312659e+02] [ 2.38284744e-01 9.71192454e-01 2.36621784e-03 3.15949323e+01] [ 1.90262403e-02 -7.10404264e-03 9.99793746e-01 7.23070365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.534391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:194.34, Y:31.61, Z:7.24 [[ 9.71853062e-01 -2.34815081e-01 -1.90657956e-02 1.94343098e+02] [ 2.34584659e-01 9.72001008e-01 -1.35675616e-02 3.16105935e+01] [ 2.17178406e-02 8.71313314e-03 9.99726171e-01 7.23630627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:194.38, Y:31.61, Z:7.23 [[ 9.72598028e-01 -2.31542122e-01 -2.10076789e-02 1.94375756e+02] [ 2.31564184e-01 9.72818607e-01 -1.40977390e-03 3.16134745e+01] [ 2.07630830e-02 -3.49348270e-03 9.99778320e-01 7.23322972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59439141800001 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:194.40, Y:31.63, Z:7.24 [[ 9.74335136e-01 -2.24104408e-01 -2.11721022e-02 1.94404647e+02] [ 2.24007712e-01 9.74563200e-01 -6.86396869e-03 3.16254444e+01] [ 2.21717973e-02 1.94509170e-03 9.99752283e-01 7.23605945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62439141800002 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:194.44, Y:31.63, Z:7.24 [[ 9.74647017e-01 -2.22755129e-01 -2.10557328e-02 1.94439449e+02] [ 2.22759494e-01 9.74871022e-01 -2.16777577e-03 3.16320478e+01] [ 2.10095069e-02 -2.57754818e-03 9.99775953e-01 7.23510730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65439141800002 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:194.47, Y:31.64, Z:7.24 [[ 9.75160359e-01 -2.20581389e-01 -2.01525220e-02 1.94471341e+02] [ 2.20541005e-01 9.75368520e-01 -4.23261802e-03 3.16408648e+01] [ 2.05897723e-02 -3.16976143e-04 9.99787958e-01 7.23640151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68439141800002 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:194.50, Y:31.65, Z:7.24 [[ 9.75762060e-01 -2.17991057e-01 -1.91911764e-02 1.94502283e+02] [ 2.17954052e-01 9.75950733e-01 -4.02462000e-03 3.16482648e+01] [ 1.96069739e-02 -2.55723160e-04 9.99807732e-01 7.23728827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.714391418 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:194.53, Y:31.65, Z:7.24 [[ 9.75989909e-01 -2.17023801e-01 -1.85571436e-02 1.94534647e+02] [ 2.16989135e-01 9.76166285e-01 -3.88590412e-03 3.16549915e+01] [ 1.89581916e-02 -2.34095321e-04 9.99820250e-01 7.23810779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.744391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:194.56, Y:31.67, Z:7.24 [[ 9.76318549e-01 -2.16045925e-01 -1.12360620e-02 1.94564839e+02] [ 2.15804880e-01 9.76242229e-01 -1.94772619e-02 3.16687388e+01] [ 1.51771012e-02 1.65912151e-02 9.99747162e-01 7.23954795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.774391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:194.60, Y:31.66, Z:7.23 [[ 9.75898972e-01 -2.17167088e-01 -2.14394879e-02 1.94598620e+02] [ 2.17465102e-01 9.75985635e-01 1.26873998e-02 3.16596506e+01] [ 1.81693465e-02 -1.70439609e-02 9.99689641e-01 7.23328215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.804391418 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:194.63, Y:31.68, Z:7.24 [[ 9.75881916e-01 -2.18111952e-01 -9.03675151e-03 1.94627587e+02] [ 2.17824380e-01 9.75653626e-01 -2.55449070e-02 3.16831122e+01] [ 1.43883889e-02 2.29603880e-02 9.99632830e-01 7.24026493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.834391418 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:194.66, Y:31.67, Z:7.23 [[ 9.75093704e-01 -2.20545223e-01 -2.34962258e-02 1.94661842e+02] [ 2.21000322e-01 9.75090207e-01 1.89194579e-02 3.16683110e+01] [ 1.87383436e-02 -2.36409177e-02 9.99544887e-01 7.23211044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.864391418 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:194.69, Y:31.68, Z:7.24 [[ 9.74681243e-01 -2.22843260e-01 -1.83672387e-02 1.94692040e+02] [ 2.22810728e-01 9.74854219e-01 -3.82498569e-03 3.16847490e+01] [ 1.87577524e-02 -3.64276028e-04 9.99823992e-01 7.23853943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.894391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:194.72, Y:31.69, Z:7.24 [[ 9.73502183e-01 -2.27940204e-01 -1.83510934e-02 1.94724426e+02] [ 2.27908733e-01 9.73675020e-01 -3.81631880e-03 3.16886195e+01] [ 1.87378938e-02 -4.67179769e-04 9.99824321e-01 7.23856849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.924391418 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:194.76, Y:31.69, Z:7.24 [[ 9.73022890e-01 -2.30023474e-01 -1.77667464e-02 1.94757154e+02] [ 2.29994400e-01 9.73184955e-01 -3.69049041e-03 3.16938452e+01] [ 1.81392298e-02 -4.95320552e-04 9.99835348e-01 7.23902134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.954391418 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:194.79, Y:31.70, Z:7.24 [[ 9.72494629e-01 -2.32274107e-01 -1.74050757e-02 1.94788583e+02] [ 2.32246663e-01 9.72650223e-01 -3.60984396e-03 3.16991822e+01] [ 1.77675241e-02 -5.31716885e-04 9.99842004e-01 7.23960975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.984391418 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:194.82, Y:31.70, Z:7.24 [[ 9.71724982e-01 -2.35552316e-01 -1.62992523e-02 1.94821410e+02] [ 2.35528790e-01 9.71861510e-01 -3.37565403e-03 3.17042051e+01] [ 1.66357591e-02 -5.58735821e-04 9.99861460e-01 7.24028356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.014391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:194.85, Y:31.71, Z:7.24 [[ 9.71524886e-01 -2.36386390e-01 -1.61514753e-02 1.94852865e+02] [ 2.36277366e-01 9.71649501e-01 -8.38168589e-03 3.17123535e+01] [ 1.76748893e-02 4.32678840e-03 9.99834425e-01 7.24238011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.044391418 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:194.89, Y:31.71, Z:7.24 [[ 9.71301586e-01 -2.37281479e-01 -1.64538281e-02 1.94886158e+02] [ 2.37339134e-01 9.71425511e-01 1.61635070e-03 3.17138562e+01] [ 1.56001383e-02 -5.47510130e-03 9.99863320e-01 7.23967064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.074391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:194.92, Y:31.72, Z:7.24 [[ 9.71290217e-01 -2.37424129e-01 -1.50032731e-02 1.94916971e+02] [ 2.37404541e-01 9.71405929e-01 -3.09922339e-03 3.17214972e+01] [ 1.53100988e-02 -5.51599789e-04 9.99882641e-01 7.24146512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.104391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:194.95, Y:31.73, Z:7.24 [[ 9.71436873e-01 -2.36820481e-01 -1.50486249e-02 1.94949310e+02] [ 2.36800773e-01 9.71553271e-01 -3.10400890e-03 3.17277718e+01] [ 1.53556336e-02 -5.48177306e-04 9.99881945e-01 7.24194057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.134391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:194.98, Y:31.73, Z:7.24 [[ 9.71619884e-01 -2.36060924e-01 -1.51670957e-02 1.94981360e+02] [ 2.36040888e-01 9.71738104e-01 -3.12345989e-03 3.17342450e+01] [ 1.54757716e-02 -5.45239000e-04 9.99880094e-01 7.24229435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.164391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:195.01, Y:31.74, Z:7.24 [[ 9.71893282e-01 -2.34917763e-01 -1.53978239e-02 1.95012785e+02] [ 2.34897049e-01 9.72015099e-01 -3.16597415e-03 3.17407047e+01] [ 1.57106609e-02 -5.39914373e-04 9.99876434e-01 7.24299544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.194391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:195.04, Y:31.75, Z:7.24 [[ 9.72428459e-01 -2.32708688e-01 -1.51511923e-02 1.95043699e+02] [ 2.32688434e-01 9.72546357e-01 -3.11073902e-03 3.17473619e+01] [ 1.54591328e-02 -5.00536040e-04 9.99880375e-01 7.24315787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.224391418 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:195.08, Y:31.75, Z:7.24 [[ 9.72694014e-01 -2.31585526e-01 -1.53133739e-02 1.95076051e+02] [ 2.31564771e-01 9.72814423e-01 -3.13934883e-03 3.17540883e+01] [ 1.56240987e-02 -4.92412093e-04 9.99877815e-01 7.24391768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.254391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:195.11, Y:31.76, Z:7.24 [[ 9.72840654e-01 -2.30957548e-01 -1.54814102e-02 1.95108149e+02] [ 2.30936334e-01 9.72963704e-01 -3.16878377e-03 3.17610206e+01] [ 1.57947047e-02 -4.92498436e-04 9.99875135e-01 7.24379638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.284391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:195.14, Y:31.77, Z:7.24 [[ 9.72973232e-01 -2.30346511e-01 -1.62349687e-02 1.95139503e+02] [ 2.30323188e-01 9.73108536e-01 -3.31749492e-03 3.17676627e+01] [ 1.65625600e-02 -5.11455988e-04 9.99862701e-01 7.24359146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.314391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:195.17, Y:31.77, Z:7.24 [[ 9.72926016e-01 -2.30534684e-01 -1.63928738e-02 1.95172131e+02] [ 2.30511018e-01 9.73063967e-01 -3.34458510e-03 3.17742727e+01] [ 1.67223577e-02 -5.24704176e-04 9.99860034e-01 7.24365655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34439141800001 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:195.20, Y:31.78, Z:7.24 [[ 9.72823056e-01 -2.30959280e-01 -1.65261293e-02 1.95204705e+02] [ 2.30935380e-01 9.72963266e-01 -3.36641738e-03 3.17811833e+01] [ 1.68568221e-02 -5.41539503e-04 9.99857767e-01 7.24362121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37439141800002 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:195.24, Y:31.79, Z:7.24 [[ 9.72719115e-01 -2.31391377e-01 -1.65998501e-02 1.95236023e+02] [ 2.31367416e-01 9.72860587e-01 -3.37608573e-03 3.17877673e+01] [ 1.69305370e-02 -5.56681295e-04 9.99856513e-01 7.24371819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40439141800002 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:195.27, Y:31.80, Z:7.24 [[ 9.72334151e-01 -2.32986932e-01 -1.68341725e-02 1.95268655e+02] [ 2.32962620e-01 9.72479682e-01 -3.41837974e-03 3.17955721e+01] [ 1.71673285e-02 -5.97925564e-04 9.99852452e-01 7.24405566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43439141800002 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:195.30, Y:31.80, Z:7.24 [[ 9.72367841e-01 -2.32846215e-01 -1.68351149e-02 1.95301557e+02] [ 2.32821963e-01 9.72513383e-01 -3.41373284e-03 3.18021253e+01] [ 1.71672493e-02 -6.00180470e-04 9.99852452e-01 7.24446478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.464391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:195.33, Y:31.81, Z:7.25 [[ 9.72201679e-01 -2.33523176e-01 -1.70534909e-02 1.95333054e+02] [ 2.33498455e-01 9.72351036e-01 -3.45457024e-03 3.18089415e+01] [ 1.73887018e-02 -6.23424792e-04 9.99848611e-01 7.24517614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.494391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:195.36, Y:31.82, Z:7.25 [[ 9.71992155e-01 -2.34427371e-01 -1.65848758e-02 1.95364967e+02] [ 2.34404209e-01 9.72133435e-01 -3.35439674e-03 3.18158952e+01] [ 1.69090747e-02 -6.27117380e-04 9.99856835e-01 7.24542035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.524391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:195.40, Y:31.82, Z:7.25 [[ 9.71416526e-01 -2.36844418e-01 -1.59579294e-02 1.95396630e+02] [ 2.36823383e-01 9.71547374e-01 -3.22252699e-03 3.18233408e+01] [ 1.62671219e-02 -6.48794839e-04 9.99867471e-01 7.24572436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.554391418 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:195.43, Y:31.83, Z:7.25 [[ 9.71166408e-01 -2.37905176e-01 -1.53926774e-02 1.95427662e+02] [ 2.37885810e-01 9.71288169e-01 -3.10378725e-03 3.18302289e+01] [ 1.56891325e-02 -6.47405600e-04 9.99876708e-01 7.24570494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.584391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:195.46, Y:31.84, Z:7.25 [[ 9.70997191e-01 -2.38586034e-01 -1.55293332e-02 1.95460492e+02] [ 2.38566485e-01 9.71121134e-01 -3.12656346e-03 3.18374374e+01] [ 1.58268181e-02 -6.68894104e-04 9.99874524e-01 7.24642813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.614391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:195.49, Y:31.85, Z:7.25 [[ 9.70587850e-01 -2.40280157e-01 -1.49890316e-02 1.95491619e+02] [ 2.40262214e-01 9.70703347e-01 -3.01333113e-03 3.18456569e+01] [ 1.52739469e-02 -6.76595335e-04 9.99883118e-01 7.24668051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.644391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:195.52, Y:31.86, Z:7.25 [[ 9.70632454e-01 -2.40067721e-01 -1.54960541e-02 1.95522410e+02] [ 2.39896754e-01 9.70722876e-01 -1.21097486e-02 3.18567754e+01] [ 1.79495339e-02 8.03666195e-03 9.99806594e-01 7.25037085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.674391418 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:195.56, Y:31.86, Z:7.25 [[ 9.70456894e-01 -2.40704501e-01 -1.65759017e-02 1.95555441e+02] [ 2.40825098e-01 9.70551906e-01 5.68076146e-03 3.18558557e+01] [ 1.47203881e-02 -9.50482727e-03 9.99846472e-01 7.24556117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.704391418 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:195.59, Y:31.87, Z:7.25 [[ 9.70488494e-01 -2.40678540e-01 -1.50307223e-02 1.95586705e+02] [ 2.40660680e-01 9.70604636e-01 -3.01290856e-03 3.18673624e+01] [ 1.53140312e-02 -6.93310757e-04 9.99882493e-01 7.24858308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.734391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:195.62, Y:31.88, Z:7.25 [[ 9.70706910e-01 -2.39792748e-01 -1.50841759e-02 1.95617931e+02] [ 2.39774732e-01 9.70823860e-01 -3.01853231e-03 3.18760039e+01] [ 1.53679000e-02 -6.86694068e-04 9.99881671e-01 7.24903638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.764391418 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:195.65, Y:31.88, Z:7.25 [[ 9.70877097e-01 -2.39084696e-01 -1.53678454e-02 1.95648874e+02] [ 2.39065985e-01 9.70998470e-01 -3.07037090e-03 3.18833136e+01] [ 1.56562330e-02 -6.92976302e-04 9.99877194e-01 7.24961803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.794391418 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:195.68, Y:31.89, Z:7.25 [[ 9.71195417e-01 -2.37756456e-01 -1.58533678e-02 1.95680052e+02] [ 2.37736448e-01 9.71324550e-01 -3.16235227e-03 3.18916076e+01] [ 1.61506350e-02 -6.97661320e-04 9.99869327e-01 7.24977414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.824391418 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:195.71, Y:31.90, Z:7.25 [[ 9.71399595e-01 -2.36901043e-01 -1.61468957e-02 1.95712335e+02] [ 2.36880252e-01 9.71533532e-01 -3.21583517e-03 3.18990468e+01] [ 1.64490853e-02 -7.01019737e-04 9.99864459e-01 7.24982067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.854391418 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:195.74, Y:31.91, Z:7.25 [[ 9.71659432e-01 -2.35798278e-01 -1.66469163e-02 1.95744862e+02] [ 2.35776116e-01 9.71801764e-01 -3.30968587e-03 3.19064324e+01] [ 1.69579208e-02 -7.09057765e-04 9.99855953e-01 7.25012189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.884391418 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:195.78, Y:31.93, Z:7.25 [[ 9.73111328e-01 -2.30329582e-01 -1.62052954e-03 1.95776072e+02] [ 2.30011760e-01 9.72093232e-01 -4.61447562e-02 3.19308575e+01] [ 1.22038082e-02 4.45312441e-02 9.98933449e-01 7.25315047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.914391418 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:195.81, Y:31.90, Z:7.24 [[ 9.72273686e-01 -2.32206815e-01 -2.76382807e-02 1.95811554e+02] [ 2.33203978e-01 9.71559942e-01 4.10753319e-02 3.19016092e+01] [ 1.73142744e-02 -4.63818213e-02 9.98773719e-01 7.23749765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.944391418 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:195.84, Y:31.93, Z:7.25 [[ 9.72676744e-01 -2.31414578e-01 -1.86345024e-02 1.95838580e+02] [ 2.31386088e-01 9.72854966e-01 -3.70039345e-03 3.19303941e+01] [ 1.89849932e-02 -7.12477953e-04 9.99819515e-01 7.25221145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.974391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:195.87, Y:31.94, Z:7.25 [[ 9.73082754e-01 -2.29734353e-01 -1.82230992e-02 1.95869910e+02] [ 2.29706892e-01 9.73253143e-01 -3.61443159e-03 3.19380685e+01] [ 1.85660477e-02 -6.68830442e-04 9.99827412e-01 7.25229146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.004391418 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:195.90, Y:31.95, Z:7.25 [[ 9.73936263e-01 -2.26102641e-01 -1.80485791e-02 1.95902205e+02] [ 2.26075183e-01 9.74103299e-01 -3.57421677e-03 3.19477112e+01] [ 1.83893203e-02 -5.99276490e-04 9.99830723e-01 7.25389071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.034391418 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:195.93, Y:31.96, Z:7.25 [[ 9.74430185e-01 -2.24001840e-01 -1.75781030e-02 1.95933620e+02] [ 2.23975554e-01 9.74588566e-01 -3.47543157e-03 3.19551471e+01] [ 1.79099213e-02 -5.50499930e-04 9.99839453e-01 7.25479208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:195.96, Y:31.97, Z:7.26 [[ 9.74854326e-01 -2.22145006e-01 -1.76249472e-02 1.95964285e+02] [ 2.21894920e-01 9.74953859e-01 -1.50869929e-02 3.19678495e+01] [ 2.05350104e-02 1.07967340e-02 9.99730836e-01 7.25930491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09439141800001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:196.00, Y:31.97, Z:7.25 [[ 9.75557133e-01 -2.18987595e-01 -1.82404243e-02 1.95998656e+02] [ 2.19157193e-01 9.75657897e-01 7.86089612e-03 3.19658461e+01] [ 1.60749753e-02 -1.16662735e-02 9.99802727e-01 7.25252528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12439141800002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:196.03, Y:31.98, Z:7.26 [[ 9.75931223e-01 -2.17545884e-01 -1.52327583e-02 1.96028932e+02] [ 2.17525528e-01 9.76050019e-01 -3.00073607e-03 3.19781891e+01] [ 1.55207318e-02 -3.85001764e-04 9.99879472e-01 7.25647734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15439141800002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:196.06, Y:31.99, Z:7.26 [[ 9.76322151e-01 -2.15816692e-01 -1.47720425e-02 1.96060508e+02] [ 2.15797417e-01 9.76433834e-01 -2.90563109e-03 3.19852209e+01] [ 1.50510058e-02 -3.50936627e-04 9.99886666e-01 7.25696447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18439141800002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:196.09, Y:31.99, Z:7.26 [[ 9.76754531e-01 -2.13865836e-01 -1.45598779e-02 1.96092625e+02] [ 2.13846940e-01 9.76862991e-01 -2.86080455e-03 3.19926933e+01] [ 1.48348342e-02 -3.19281525e-04 9.99889907e-01 7.25757268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.214391418 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:196.12, Y:32.00, Z:7.26 [[ 9.77697703e-01 -2.09516395e-01 -1.44942276e-02 1.96124640e+02] [ 2.09497261e-01 9.77805100e-01 -2.84316211e-03 3.20012975e+01] [ 1.47682188e-02 -2.56747917e-04 9.99890911e-01 7.25826958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.244391418 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:196.16, Y:32.01, Z:7.26 [[ 9.78192775e-01 -2.07227590e-01 -1.39864257e-02 1.96156443e+02] [ 2.07209601e-01 9.78292736e-01 -2.73914059e-03 3.20083518e+01] [ 1.42504442e-02 -2.18714154e-04 9.99898433e-01 7.25871131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.274391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:196.19, Y:32.02, Z:7.26 [[ 9.78684418e-01 -2.04904565e-01 -1.38176898e-02 1.96188844e+02] [ 2.04886817e-01 9.78781939e-01 -2.70320094e-03 3.20151995e+01] [ 1.40784034e-02 -1.85481835e-04 9.99900877e-01 7.25910057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.304391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:196.22, Y:32.03, Z:7.26 [[ 9.79718177e-01 -1.99904961e-01 -1.37949505e-02 1.96219704e+02] [ 1.99736810e-01 9.79767782e-01 -1.26609326e-02 3.20267841e+01] [ 1.60468313e-02 9.64878638e-03 9.99824685e-01 7.26349601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.334391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:196.25, Y:32.02, Z:7.26 [[ 9.80015884e-01 -1.98350006e-01 -1.50380553e-02 1.96252993e+02] [ 1.98471173e-01 9.80081508e-01 7.03078087e-03 3.20245333e+01] [ 1.33439645e-02 -9.87489740e-03 9.99862203e-01 7.25755372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.364391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:196.28, Y:32.04, Z:7.26 [[ 9.80412929e-01 -1.96497763e-01 -1.33835027e-02 1.96284002e+02] [ 1.96480464e-01 9.80504270e-01 -2.60834716e-03 3.20353296e+01] [ 1.36351159e-02 -7.23395319e-05 9.99907035e-01 7.26164379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.394391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:196.32, Y:32.04, Z:7.26 [[ 9.80734402e-01 -1.94872020e-01 -1.35988513e-02 1.96316886e+02] [ 1.94854062e-01 9.80828677e-01 -2.64607429e-03 3.20417582e+01] [ 1.38537892e-02 -5.46953252e-05 9.99904030e-01 7.26256231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.424391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:196.35, Y:32.05, Z:7.26 [[ 9.81036278e-01 -1.93330501e-01 -1.38252743e-02 1.96348870e+02] [ 1.93311852e-01 9.81133689e-01 -2.68555415e-03 3.20476528e+01] [ 1.40836419e-02 -3.79633235e-05 9.99900820e-01 7.26347458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.454391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:196.38, Y:32.05, Z:7.26 [[ 9.81097146e-01 -1.93018537e-01 -1.38648321e-02 1.96381086e+02] [ 1.92999809e-01 9.81195110e-01 -2.68899889e-03 3.20533841e+01] [ 1.41231321e-02 -3.77408189e-05 9.99900263e-01 7.26373922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.484391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:196.41, Y:32.06, Z:7.26 [[ 9.81130877e-01 -1.92812091e-01 -1.43422054e-02 1.96414273e+02] [ 1.92792101e-01 9.81235698e-01 -2.77664592e-03 3.20587705e+01] [ 1.46084548e-02 -4.08108707e-05 9.99893290e-01 7.26420739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.514391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:196.45, Y:32.06, Z:7.27 [[ 9.81001188e-01 -1.93434486e-01 -1.48245838e-02 1.96445983e+02] [ 1.93413277e-01 9.81113193e-01 -2.86489288e-03 3.20630661e+01] [ 1.50987638e-02 -5.68080190e-05 9.99886006e-01 7.26511977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.544391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:196.48, Y:32.07, Z:7.27 [[ 9.80889583e-01 -1.93993952e-01 -1.48987625e-02 1.96477355e+02] [ 1.93972667e-01 9.81002722e-01 -2.87451849e-03 3.20682604e+01] [ 1.51733657e-02 -7.03674518e-05 9.99884875e-01 7.26594691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.574391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:196.51, Y:32.07, Z:7.27 [[ 9.80765215e-01 -1.94632460e-01 -1.47579970e-02 1.96508876e+02] [ 1.94611716e-01 9.80876240e-01 -2.84281135e-03 3.20733689e+01] [ 1.50290719e-02 -8.39486292e-05 9.99887054e-01 7.26638341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.604391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:196.54, Y:32.08, Z:7.27 [[ 9.80616968e-01 -1.95363231e-01 -1.49522877e-02 1.96541714e+02] [ 1.95342092e-01 9.80730951e-01 -2.87565826e-03 3.20785210e+01] [ 1.52259692e-02 -1.00891869e-04 9.99884073e-01 7.26752231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.634391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:196.58, Y:32.08, Z:7.27 [[ 9.80040667e-01 -1.98170867e-01 -1.57669820e-02 1.96575031e+02] [ 1.98147812e-01 9.80167477e-01 -3.02692967e-03 3.20824717e+01] [ 1.60541322e-02 -1.57678802e-04 9.99871112e-01 7.26843610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.664391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:196.61, Y:32.09, Z:7.27 [[ 9.79696250e-01 -1.99812121e-01 -1.64430710e-02 1.96606531e+02] [ 1.99787372e-01 9.79834209e-01 -3.15103710e-03 3.20870089e+01] [ 1.67410988e-02 -1.98058698e-04 9.99859838e-01 7.26881702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.694391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:196.64, Y:32.10, Z:7.27 [[ 9.79483060e-01 -2.00799447e-01 -1.71031323e-02 1.96638050e+02] [ 2.00624701e-01 9.79601820e-01 -1.14018817e-02 3.20950601e+01] [ 1.90437511e-02 7.73663920e-03 9.99788718e-01 7.27188844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.724391418 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:196.67, Y:32.10, Z:7.27 [[ 9.78963928e-01 -2.03091871e-01 -1.95785776e-02 1.96670022e+02] [ 2.02986772e-01 9.79154753e-01 -7.23460958e-03 3.20953662e+01] [ 2.06397477e-02 3.10822954e-03 9.99782146e-01 7.27094032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.754391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:196.70, Y:32.09, Z:7.27 [[ 9.78401544e-01 -2.05799762e-01 -1.94133202e-02 1.96704937e+02] [ 2.05987180e-01 9.78520459e-01 8.18492597e-03 3.20932201e+01] [ 1.73118752e-02 -1.20070393e-02 9.99778040e-01 7.26594472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.784391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:196.74, Y:32.10, Z:7.27 [[ 9.78093396e-01 -2.07429348e-01 -1.75035734e-02 1.96736608e+02] [ 2.07402847e-01 9.78249933e-01 -3.33592343e-03 3.21029931e+01] [ 1.78148379e-02 -3.67446273e-04 9.99841236e-01 7.27036579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.814391418 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:196.77, Y:32.11, Z:7.27 [[ 9.77469238e-01 -2.10352484e-01 -1.74848927e-02 1.96768868e+02] [ 2.10326607e-01 9.77625517e-01 -3.32672216e-03 3.21051053e+01] [ 1.77934615e-02 -4.25769585e-04 9.99841593e-01 7.27005229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84439141800001 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:196.80, Y:32.11, Z:7.27 [[ 9.77143610e-01 -2.11875882e-01 -1.72908931e-02 1.96802023e+02] [ 2.11850908e-01 9.77296477e-01 -3.28449920e-03 3.21092524e+01] [ 1.75942351e-02 -4.53664013e-04 9.99845107e-01 7.26986124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87439141800002 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:196.84, Y:32.11, Z:7.27 [[ 9.76817333e-01 -2.13329984e-01 -1.78386232e-02 1.96835324e+02] [ 2.13303752e-01 9.76980075e-01 -3.38264219e-03 3.21131910e+01] [ 1.81495985e-02 -5.00821743e-04 9.99835157e-01 7.27012223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90439141800002 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:196.87, Y:32.11, Z:7.27 [[ 9.75887493e-01 -2.17501916e-01 -1.83443966e-02 1.96868017e+02] [ 2.17475022e-01 9.76059709e-01 -3.47261254e-03 3.21145811e+01] [ 1.86605263e-02 -6.00568922e-04 9.99825697e-01 7.26912220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93439141800002 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:196.90, Y:32.12, Z:7.27 [[ 9.75361111e-01 -2.19831715e-01 -1.85666220e-02 1.96900982e+02] [ 2.19804695e-01 9.75537587e-01 -3.50895262e-03 3.21181563e+01] [ 1.88838167e-02 -6.58534756e-04 9.99821468e-01 7.26888483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.964391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:196.93, Y:32.12, Z:7.27 [[ 9.74927980e-01 -2.21745157e-01 -1.85612458e-02 1.96934003e+02] [ 2.21718611e-01 9.75104401e-01 -3.50200996e-03 3.21215937e+01] [ 1.88757063e-02 -7.01166148e-04 9.99821592e-01 7.26855567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.994391418 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:196.97, Y:32.12, Z:7.27 [[ 9.74007382e-01 -2.25697768e-01 -1.92389718e-02 1.96967788e+02] [ 2.25670141e-01 9.74197032e-01 -3.62349355e-03 3.21231103e+01] [ 1.95603636e-02 -8.12352015e-04 9.99808348e-01 7.26784296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.024391418 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:197.00, Y:32.13, Z:7.27 [[ 9.73544344e-01 -2.27657890e-01 -1.95779424e-02 1.96999835e+02] [ 2.27629793e-01 9.73740789e-01 -3.68147664e-03 3.21267068e+01] [ 1.99019582e-02 -8.72442204e-04 9.99801556e-01 7.26798169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.054391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:197.03, Y:32.13, Z:7.27 [[ 9.73093362e-01 -2.29521242e-01 -2.02313861e-02 1.97033221e+02] [ 2.29491716e-01 9.73303194e-01 -3.80066696e-03 3.21304205e+01] [ 2.05636065e-02 -9.44531710e-04 9.99788101e-01 7.26784597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.084391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:197.06, Y:32.14, Z:7.27 [[ 9.72937847e-01 -2.30040690e-01 -2.17537626e-02 1.97063210e+02] [ 2.29783186e-01 9.73145269e-01 -1.37102965e-02 3.21379075e+01] [ 2.43234972e-02 8.34061744e-03 9.99669346e-01 7.27087949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.114391418 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:197.10, Y:32.13, Z:7.26 [[ 9.71816887e-01 -2.34447752e-01 -2.46209036e-02 1.97098326e+02] [ 2.34634064e-01 9.72071260e-01 4.93174650e-03 3.21306913e+01] [ 2.27770359e-02 -1.05696572e-02 9.99684695e-01 7.26397998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.144391418 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:197.13, Y:32.14, Z:7.27 [[ 9.71505537e-01 -2.35817003e-01 -2.38187314e-02 1.97129211e+02] [ 2.35778266e-01 9.71796635e-01 -4.46198516e-03 3.21384751e+01] [ 2.41991750e-02 -1.28109589e-03 9.99706336e-01 7.26665361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.174391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:197.16, Y:32.14, Z:7.27 [[ 9.71226817e-01 -2.36903669e-01 -2.43950953e-02 1.97162071e+02] [ 2.36863442e-01 9.71532217e-01 -4.56732755e-03 3.21424252e+01] [ 2.47826377e-02 -1.34239524e-03 9.99691962e-01 7.26653654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.204391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:197.20, Y:32.15, Z:7.27 [[ 9.71066879e-01 -2.37485031e-01 -2.50993414e-02 1.97195379e+02] [ 2.37442720e-01 9.71390190e-01 -4.69607955e-03 3.21451100e+01] [ 2.54965026e-02 -1.39944856e-03 9.99673932e-01 7.26677097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.234391418 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:197.23, Y:32.15, Z:7.27 [[ 9.71279104e-01 -2.36662828e-01 -2.46496957e-02 1.97227163e+02] [ 2.36621881e-01 9.71590892e-01 -4.60694990e-03 3.21494673e+01] [ 2.50397136e-02 -1.35802319e-03 9.99685535e-01 7.26690717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.264391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:197.26, Y:32.18, Z:7.27 [[ 9.72701208e-01 -2.32014298e-01 -4.66096078e-03 1.97264617e+02] [ 2.31413533e-01 9.71290610e-01 -5.51572965e-02 3.21764117e+01] [ 1.73244289e-02 5.25729596e-02 9.98466799e-01 7.26882783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.294391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:197.29, Y:32.13, Z:7.25 [[ 9.72452518e-01 -2.30632286e-01 -3.38356104e-02 1.97294776e+02] [ 2.32112824e-01 9.71426092e-01 4.95478105e-02 3.21314853e+01] [ 2.14414700e-02 -5.60365722e-02 9.98198460e-01 7.25412330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.324391418 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:197.32, Y:32.16, Z:7.27 [[ 9.73258918e-01 -2.28555319e-01 -2.30118462e-02 1.97321225e+02] [ 2.28517325e-01 9.73530338e-01 -4.30263953e-03 3.21622937e+01] [ 2.33861215e-02 -1.07102325e-03 9.99725934e-01 7.26892145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.354391418 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:197.35, Y:32.17, Z:7.27 [[ 9.73289266e-01 -2.28425975e-01 -2.30125809e-02 1.97354218e+02] [ 2.28388038e-01 9.73560694e-01 -4.29870698e-03 3.21683273e+01] [ 2.33860806e-02 -1.07191284e-03 9.99725934e-01 7.26940223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.384391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:197.39, Y:32.17, Z:7.27 [[ 9.74059596e-01 -2.25122187e-01 -2.29761856e-02 1.97387313e+02] [ 2.25041077e-01 9.74330242e-01 -6.09041531e-03 3.21741497e+01] [ 2.37574801e-02 7.61841933e-04 9.99717461e-01 7.27032484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.414391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:197.42, Y:32.18, Z:7.27 [[ 9.75094390e-01 -2.20633264e-01 -2.26250664e-02 1.97418346e+02] [ 2.20611937e-01 9.75355506e-01 -3.46547035e-03 3.21775546e+01] [ 2.28320811e-02 -1.61219904e-03 9.99738014e-01 7.27012743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.444391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:197.45, Y:32.18, Z:7.27 [[ 9.76044138e-01 -2.16478962e-01 -2.17876133e-02 1.97451433e+02] [ 2.16464775e-01 9.76285709e-01 -3.03575337e-03 3.21828863e+01] [ 2.19281123e-02 -1.75322154e-03 9.99758013e-01 7.27027513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.474391418 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:197.48, Y:32.19, Z:7.27 [[ 9.77874635e-01 -2.08016675e-01 -2.21418599e-02 1.97484007e+02] [ 2.07976615e-01 9.78125111e-01 -4.12237670e-03 3.21884803e+01] [ 2.25150322e-02 -5.73821453e-04 9.99746340e-01 7.27100919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.504391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:197.52, Y:32.19, Z:7.27 [[ 9.78841898e-01 -2.03349318e-01 -2.27506754e-02 1.97515957e+02] [ 2.03305865e-01 9.79106134e-01 -4.23132742e-03 3.21934497e+01] [ 2.31357634e-02 -4.83545173e-04 9.99732215e-01 7.27145089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.534391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:197.55, Y:32.20, Z:7.27 [[ 9.79672228e-01 -1.99238946e-01 -2.33702566e-02 1.97548882e+02] [ 1.99192057e-01 9.79950856e-01 -4.34097726e-03 3.21987692e+01] [ 2.37665947e-02 -4.02434613e-04 9.99717454e-01 7.27184396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564391418 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:197.58, Y:32.20, Z:7.27 [[ 9.81055837e-01 -1.92212077e-01 -2.41652932e-02 1.97581046e+02] [ 1.92159929e-01 9.81353381e-01 -4.48375980e-03 3.22028166e+01] [ 2.45765249e-02 -2.44782287e-04 9.99697922e-01 7.27174689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59439141800001 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:197.61, Y:32.21, Z:7.27 [[ 9.81613662e-01 -1.89266610e-01 -2.47541588e-02 1.97614005e+02] [ 1.89211098e-01 9.81925719e-01 -4.58723086e-03 3.22080005e+01] [ 2.51749548e-02 -1.80873084e-04 9.99683044e-01 7.27238752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62439141800002 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:197.65, Y:32.21, Z:7.27 [[ 9.82096522e-01 -1.86771077e-01 -2.45557982e-02 1.97645736e+02] [ 1.86715741e-01 9.82403456e-01 -4.54765826e-03 3.22127952e+01] [ 2.49730720e-02 -1.18714704e-04 9.99688117e-01 7.27272475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65439141800002 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:197.68, Y:32.22, Z:7.27 [[ 9.82797170e-01 -1.83035327e-01 -2.46534356e-02 1.97678794e+02] [ 1.82978443e-01 9.83106336e-01 -4.56299781e-03 3.22164438e+01] [ 2.50721386e-02 -2.65459459e-05 9.99685644e-01 7.27310490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68439141800002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:197.71, Y:32.22, Z:7.27 [[ 9.83050575e-01 -1.81592092e-01 -2.52166456e-02 1.97711898e+02] [ 1.81532185e-01 9.83373943e-01 -4.66407427e-03 3.22211641e+01] [ 2.56443513e-02 7.38809863e-06 9.99671130e-01 7.27420857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.714391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:197.74, Y:32.23, Z:7.27 [[ 9.83200957e-01 -1.80828095e-01 -2.48410711e-02 1.97744987e+02] [ 1.80769794e-01 9.83514717e-01 -4.59151096e-03 3.22257152e+01] [ 2.52618332e-02 2.38626533e-05 9.99680869e-01 7.27461291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.744391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:197.78, Y:32.23, Z:7.28 [[ 9.83230498e-01 -1.80775477e-01 -2.40419272e-02 1.97776792e+02] [ 1.80720919e-01 9.83524390e-01 -4.44105660e-03 3.22286495e+01] [ 2.44486559e-02 2.17031221e-05 9.99701087e-01 7.27590946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.774391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:197.81, Y:32.23, Z:7.28 [[ 9.83248559e-01 -1.80702141e-01 -2.38538799e-02 1.97807475e+02] [ 1.80584572e-01 9.83534465e-01 -7.01198947e-03 3.22339907e+01] [ 2.47281946e-02 2.58688583e-03 9.99690864e-01 7.27721508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.804391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:197.84, Y:32.24, Z:7.28 [[ 9.82984230e-01 -1.82142152e-01 -2.37957813e-02 1.97841932e+02] [ 1.82148686e-01 9.83269142e-01 -1.91092624e-03 3.22365583e+01] [ 2.37457177e-02 -2.45595993e-03 9.99715014e-01 7.27664971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.834391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:197.87, Y:32.24, Z:7.28 [[ 9.82395637e-01 -1.85393956e-01 -2.29759258e-02 1.97874414e+02] [ 1.85345694e-01 9.82664272e-01 -4.23122474e-03 3.22410104e+01] [ 2.33620649e-02 -1.01752184e-04 9.99727065e-01 7.27884469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.864391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:197.91, Y:32.25, Z:7.28 [[ 9.81998768e-01 -1.87490419e-01 -2.29295027e-02 1.97906530e+02] [ 1.87442985e-01 9.82266420e-01 -4.21999717e-03 3.22451824e+01] [ 2.33140896e-02 -1.53942399e-04 9.99728178e-01 7.27994926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.894391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:197.94, Y:32.25, Z:7.28 [[ 9.81547192e-01 -1.89914275e-01 -2.23086904e-02 1.97939144e+02] [ 1.89870055e-01 9.81800654e-01 -4.10331533e-03 3.22495693e+01] [ 2.26819650e-02 -2.08154647e-04 9.99742709e-01 7.28058302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.924391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:197.97, Y:32.24, Z:7.29 [[ 9.79437156e-01 -1.98472426e-01 -3.62153764e-02 1.97966295e+02] [ 1.99358805e-01 9.79662783e-01 2.27354139e-02 3.22428571e+01] [ 3.09665036e-02 -2.94877633e-02 9.99085355e-01 7.28565720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.954391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:198.00, Y:32.27, Z:7.29 [[ 9.80001492e-01 -1.98386134e-01 -1.54925208e-02 1.97999407e+02] [ 1.97801824e-01 9.79688126e-01 -3.29486521e-02 3.22689617e+01] [ 2.17143944e-02 2.92252793e-02 9.99336964e-01 7.28917184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.984391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:198.04, Y:32.26, Z:7.28 [[ 9.79306965e-01 -2.01350567e-01 -2.03916150e-02 1.98035177e+02] [ 2.01316282e-01 9.79519145e-01 -3.74162347e-03 3.22594739e+01] [ 2.07273553e-02 -4.40966190e-04 9.99785068e-01 7.28217657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.014391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:198.07, Y:32.26, Z:7.28 [[ 9.77995354e-01 -2.07661541e-01 -2.00442461e-02 1.98068679e+02] [ 2.07629787e-01 9.78200574e-01 -3.67545551e-03 3.22614633e+01] [ 2.03705438e-02 -5.67204123e-04 9.99792338e-01 7.28233384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.044391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:198.10, Y:32.27, Z:7.28 [[ 9.77319563e-01 -2.10772385e-01 -2.05298178e-02 1.98100089e+02] [ 2.10739811e-01 9.77534951e-01 -3.76196720e-03 3.22654993e+01] [ 2.08615332e-02 -6.49805796e-04 9.99782163e-01 7.28262648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.074391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:198.13, Y:32.27, Z:7.28 [[ 9.76692871e-01 -2.13598894e-01 -2.11316710e-02 1.98132685e+02] [ 2.13565095e-01 9.76921171e-01 -3.86984414e-03 3.22699006e+01] [ 2.14705712e-02 -7.33338129e-04 9.99769212e-01 7.28288572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.104391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:198.16, Y:32.27, Z:7.28 [[ 9.76155256e-01 -2.16020390e-01 -2.13566710e-02 1.98164886e+02] [ 2.15986500e-01 9.76388527e-01 -3.90851952e-03 3.22744047e+01] [ 2.16967284e-02 -7.97430747e-04 9.99764280e-01 7.28333231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.134391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:198.20, Y:32.28, Z:7.28 [[ 9.75263557e-01 -2.19925089e-01 -2.22249748e-02 1.98197074e+02] [ 2.19889451e-01 9.75516327e-01 -4.06508356e-03 3.22781532e+01] [ 2.25748396e-02 -9.22509652e-04 9.99744730e-01 7.28404978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.164391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:198.23, Y:32.28, Z:7.28 [[ 9.74907597e-01 -2.21482113e-01 -2.23796986e-02 1.98229909e+02] [ 2.21446443e-01 9.75163954e-01 -4.09091075e-03 3.22833355e+01] [ 2.27299389e-02 -9.67644678e-04 9.99741173e-01 7.28490791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.194391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:198.26, Y:32.26, Z:7.29 [[ 9.72987790e-01 -2.26349477e-01 -4.53946616e-02 1.98259437e+02] [ 2.28870469e-01 9.71522201e-01 6.13426542e-02 3.22617379e+01] [ 3.02170439e-02 -7.00751510e-02 9.97083950e-01 7.28640020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.224391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:198.29, Y:32.33, Z:7.30 [[ 9.74309238e-01 -2.25044071e-01 -8.75637650e-03 1.98286823e+02] [ 2.23841787e-01 9.71925069e-01 -7.25018184e-02 3.23253541e+01] [ 2.48266462e-02 6.86791485e-02 9.97329841e-01 7.30307341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.254391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:198.32, Y:32.30, Z:7.29 [[ 9.74086963e-01 -2.25179748e-01 -2.11818139e-02 1.98323177e+02] [ 2.25148899e-01 9.74316717e-01 -3.86112708e-03 3.22990884e+01] [ 2.15072430e-02 -1.00798853e-03 9.99768184e-01 7.28634002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.284391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:198.35, Y:32.28, Z:7.29 [[ 9.72228747e-01 -2.29335748e-01 -4.66516598e-02 1.98352603e+02] [ 2.32048961e-01 9.70540338e-01 6.48439102e-02 3.22765626e+01] [ 3.04062910e-02 -7.38685828e-02 9.96804339e-01 7.28918061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.314391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:198.38, Y:32.34, Z:7.31 [[ 9.74070308e-01 -2.26110329e-01 -7.82007753e-03 1.98379636e+02] [ 2.24882283e-01 9.71411211e-01 -7.60803371e-02 3.23441324e+01] [ 2.47990611e-02 7.23490005e-02 9.97071025e-01 7.30501398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34439141800001 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:198.42, Y:32.32, Z:7.29 [[ 9.73976487e-01 -2.25659257e-01 -2.11589991e-02 1.98416334e+02] [ 2.25628810e-01 9.74205750e-01 -3.84661570e-03 3.23165268e+01] [ 2.14812430e-02 -1.02756653e-03 9.99768723e-01 7.28693223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37439141800002 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:198.45, Y:32.32, Z:7.29 [[ 9.74031069e-01 -2.25401314e-01 -2.13944746e-02 1.98447730e+02] [ 2.25370174e-01 9.74265454e-01 -3.88708624e-03 3.23224509e+01] [ 2.17200519e-02 -1.03553370e-03 9.99763556e-01 7.28735942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40439141800002 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:198.48, Y:32.33, Z:7.29 [[ 9.74121553e-01 -2.24998616e-01 -2.15133191e-02 1.98480185e+02] [ 2.24967076e-01 9.74358534e-01 -3.90660874e-03 3.23287104e+01] [ 2.18406676e-02 -1.03427671e-03 9.99760929e-01 7.28749667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.434391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:198.51, Y:32.34, Z:7.29 [[ 9.74205984e-01 -2.24591479e-01 -2.19401211e-02 1.98512451e+02] [ 2.24558633e-01 9.74452446e-01 -3.98138773e-03 3.23356149e+01] [ 2.22737904e-02 -1.04815185e-03 9.99751359e-01 7.28814673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.464391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:198.54, Y:32.34, Z:7.29 [[ 9.74614819e-01 -2.22769526e-01 -2.23538131e-02 1.98544339e+02] [ 2.22735014e-01 9.74870597e-01 -4.05368712e-03 3.23438718e+01] [ 2.26951131e-02 -1.02819335e-03 9.99741904e-01 7.28889399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.494391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:198.58, Y:32.35, Z:7.29 [[ 9.74885917e-01 -2.21573961e-01 -2.24149026e-02 1.98576541e+02] [ 2.21539008e-01 9.75143050e-01 -4.06200364e-03 3.23511029e+01] [ 2.27577707e-02 -1.00578513e-03 9.99740502e-01 7.28986789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.524391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:198.61, Y:32.36, Z:7.29 [[ 9.75877176e-01 -2.17225591e-01 -2.18353011e-02 1.98606066e+02] [ 2.17104466e-01 9.76117202e-01 -7.80126590e-03 3.23615910e+01] [ 2.30084476e-02 2.87253594e-03 9.99731144e-01 7.29213914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.554391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:198.64, Y:32.37, Z:7.29 [[ 9.76414648e-01 -2.14790093e-01 -2.19009402e-02 1.98638228e+02] [ 2.14839280e-01 9.76649411e-01 -1.09464382e-04 3.23657987e+01] [ 2.14130522e-02 -4.59829961e-03 9.99760140e-01 7.29135890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.584391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:198.67, Y:32.37, Z:7.29 [[ 9.77101844e-01 -2.11790553e-01 -2.04144283e-02 1.98670370e+02] [ 2.11759627e-01 9.77314814e-01 -3.68970390e-03 3.23749834e+01] [ 2.07327676e-02 -7.17735231e-04 9.99784795e-01 7.29305544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.614391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:198.70, Y:32.38, Z:7.29 [[ 9.77755310e-01 -2.08795504e-01 -1.99747486e-02 1.98702762e+02] [ 2.08765318e-01 9.77959112e-01 -3.60790244e-03 3.23826019e+01] [ 2.02878012e-02 -6.42388971e-04 9.99793975e-01 7.29367683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.644391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:198.73, Y:32.39, Z:7.29 [[ 9.78931013e-01 -2.03225712e-01 -1.98338811e-02 1.98734027e+02] [ 2.03194851e-01 9.79131776e-01 -3.58027248e-03 3.23921746e+01] [ 2.01475866e-02 -5.25302743e-04 9.99796879e-01 7.29493347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.674391418 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:198.77, Y:32.40, Z:7.30 [[ 9.79444714e-01 -2.00753413e-01 -1.96499353e-02 1.98765854e+02] [ 2.00722666e-01 9.79641692e-01 -3.54503612e-03 3.23997389e+01] [ 1.99615739e-02 -4.72020498e-04 9.99800637e-01 7.29521571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.704391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:198.80, Y:32.41, Z:7.30 [[ 9.79882464e-01 -1.98585097e-01 -1.98573874e-02 1.98796769e+02] [ 1.98553309e-01 9.80083552e-01 -3.57961582e-03 3.24070380e+01] [ 2.01727572e-02 -4.35147218e-04 9.99796415e-01 7.29576919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.734391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:198.83, Y:32.42, Z:7.30 [[ 9.80408789e-01 -1.95955668e-01 -1.99995734e-02 1.98827526e+02] [ 1.95922939e-01 9.80612679e-01 -3.60212851e-03 3.24157021e+01] [ 2.03176927e-02 -3.86816753e-04 9.99793500e-01 7.29593166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.764391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:198.86, Y:32.42, Z:7.30 [[ 9.80566558e-01 -1.95096809e-01 -2.06509150e-02 1.98860259e+02] [ 1.95061770e-01 9.80783915e-01 -3.71722762e-03 3.24230699e+01] [ 2.09793046e-02 -3.83214946e-04 9.99779837e-01 7.29646089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.794391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:198.89, Y:32.43, Z:7.30 [[ 9.80567176e-01 -1.95044610e-01 -2.11095420e-02 1.98891583e+02] [ 1.95008037e-01 9.80794293e-01 -3.79734287e-03 3.24300528e+01] [ 2.14447696e-02 -3.92980580e-04 9.99769957e-01 7.29712420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.824391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:198.92, Y:32.42, Z:7.30 [[ 9.79268395e-01 -1.98607008e-01 -3.98580984e-02 1.98920300e+02] [ 2.00180254e-01 9.78927867e-01 4.03496801e-02 3.24201978e+01] [ 3.10044740e-02 -4.74919707e-02 9.98390322e-01 7.30047304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.854391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:198.95, Y:32.45, Z:7.31 [[ 9.79365671e-01 -1.99806423e-01 -3.03360506e-02 1.98948337e+02] [ 1.99776720e-01 9.79833128e-01 -4.03781330e-03 3.24465156e+01] [ 3.05310484e-02 -2.10594095e-03 9.99531600e-01 7.31147182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.884391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:198.98, Y:32.47, Z:7.31 [[ 9.80182212e-01 -1.97683250e-01 -1.28126780e-02 1.98980265e+02] [ 1.96788858e-01 9.79089270e-01 -5.15591602e-02 3.24707571e+01] [ 2.27371379e-02 4.80159794e-02 9.98587747e-01 7.31155610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.914391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:199.01, Y:32.44, Z:7.30 [[ 9.78488163e-01 -2.03195444e-01 -3.56724947e-02 1.99013571e+02] [ 2.04344089e-01 9.78370048e-01 3.21798368e-02 3.24415798e+01] [ 2.83621041e-02 -3.87770528e-02 9.98845299e-01 7.30043079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.944391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:199.04, Y:32.47, Z:7.31 [[ 9.78576618e-01 -2.04308600e-01 -2.54125532e-02 1.99044290e+02] [ 2.03950411e-01 9.78850541e-01 -1.59952375e-02 3.24693333e+01] [ 2.81430561e-02 1.04696648e-02 9.99549076e-01 7.31153939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.974391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:199.08, Y:32.48, Z:7.31 [[ 9.78546623e-01 -2.05005668e-01 -2.04739693e-02 1.99076787e+02] [ 2.04410958e-01 9.78488993e-01 -2.78469197e-02 3.24790631e+01] [ 2.57423299e-02 2.30644055e-02 9.99402504e-01 7.30883901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.004391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:199.11, Y:32.46, Z:7.30 [[ 9.77183941e-01 -2.08862216e-01 -3.85761601e-02 1.99106914e+02] [ 2.10095031e-01 9.77181705e-01 3.12408935e-02 3.24606546e+01] [ 3.11708757e-02 -3.86327590e-02 9.98767183e-01 7.30470193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.034391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:199.14, Y:32.50, Z:7.31 [[ 9.77717151e-01 -2.09147335e-01 -1.80711165e-02 1.99137538e+02] [ 2.08254570e-01 9.77172522e-01 -4.19987593e-02 3.24966423e+01] [ 2.64425271e-02 3.72995147e-02 9.98954223e-01 7.31364688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:199.17, Y:32.48, Z:7.30 [[ 9.77490297e-01 -2.09549272e-01 -2.45320412e-02 1.99172743e+02] [ 2.09505160e-01 9.77797715e-01 -4.38361070e-03 3.24849667e+01] [ 2.49059562e-02 -8.54652274e-04 9.99689433e-01 7.30382975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09439141800001 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:199.20, Y:32.49, Z:7.30 [[ 9.77295162e-01 -2.10446463e-01 -2.46262402e-02 1.99204015e+02] [ 2.10402359e-01 9.77604985e-01 -4.39788914e-03 3.24908942e+01] [ 2.50002553e-02 -8.83383245e-04 9.99687054e-01 7.30477059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12439141800002 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:199.24, Y:32.50, Z:7.31 [[ 9.76957213e-01 -2.12038080e-01 -2.43815021e-02 1.99236121e+02] [ 2.11995412e-01 9.77260974e-01 -4.35140432e-03 3.24976524e+01] [ 2.47497539e-02 -9.17630733e-04 9.99693257e-01 7.30603830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15439141800002 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:199.27, Y:32.50, Z:7.31 [[ 9.76331590e-01 -2.14107999e-01 -3.05678034e-02 1.99267299e+02] [ 2.14506454e-01 9.76667478e-01 1.03739202e-02 3.24985954e+01] [ 2.76334402e-02 -1.66853771e-02 9.99478860e-01 7.30802057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.184391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:199.30, Y:32.52, Z:7.31 [[ 9.76759230e-01 -2.13287060e-01 -2.12140904e-02 1.99298121e+02] [ 2.12880969e-01 9.76876039e-01 -1.98720228e-02 3.25172905e+01] [ 2.49619819e-02 1.48941056e-02 9.99577443e-01 7.31176173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.214391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:199.33, Y:32.52, Z:7.31 [[ 9.76763075e-01 -2.12975001e-01 -2.39905191e-02 1.99332504e+02] [ 2.12934422e-01 9.77057192e-01 -4.26315213e-03 3.25158283e+01] [ 2.43480541e-02 -9.44317747e-04 9.99703096e-01 7.30785286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.244391418 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:199.37, Y:32.52, Z:7.31 [[ 9.76570186e-01 -2.13855905e-01 -2.40067462e-02 1.99365334e+02] [ 2.13815617e-01 9.76864735e-01 -4.26276303e-03 3.25217438e+01] [ 2.43629608e-02 -9.70129946e-04 9.99702708e-01 7.30815739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.274391418 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:199.40, Y:32.53, Z:7.31 [[ 9.76255817e-01 -2.15307821e-01 -2.38143152e-02 1.99396836e+02] [ 2.15268731e-01 9.76545716e-01 -4.22349123e-03 3.25271159e+01] [ 2.41651182e-02 -1.00326953e-03 9.99707477e-01 7.30809168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.304391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:199.43, Y:32.53, Z:7.31 [[ 9.76212132e-01 -2.15533134e-01 -2.35656738e-02 1.99428518e+02] [ 2.15495093e-01 9.76496010e-01 -4.17219005e-03 3.25328815e+01] [ 2.39110317e-02 -1.00534453e-03 9.99713585e-01 7.30832053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.334391418 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:199.46, Y:32.54, Z:7.31 [[ 9.76158084e-01 -2.15777167e-01 -2.35713600e-02 1.99460861e+02] [ 2.15739303e-01 9.76442103e-01 -4.16805065e-03 3.25389354e+01] [ 2.39154385e-02 -1.01659243e-03 9.99713468e-01 7.30873141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.364391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:199.49, Y:32.55, Z:7.31 [[ 9.76158449e-01 -2.15725783e-01 -2.40222766e-02 1.99491978e+02] [ 2.15686566e-01 9.76453432e-01 -4.24262445e-03 3.25454463e+01] [ 2.43718779e-02 -1.03980864e-03 9.99702421e-01 7.30910277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.394391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:199.52, Y:32.55, Z:7.31 [[ 9.76203605e-01 -2.15482124e-01 -2.43716198e-02 1.99524535e+02] [ 2.15441812e-01 9.76507216e-01 -4.29907003e-03 3.25514920e+01] [ 2.47254354e-02 -1.05389826e-03 9.99693724e-01 7.30936315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.424391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:199.55, Y:32.54, Z:7.31 [[ 9.74908593e-01 -2.19032202e-01 -3.97256729e-02 1.99552754e+02] [ 2.20417468e-01 9.74789994e-01 3.46497711e-02 3.25428228e+01] [ 3.11347728e-02 -4.25365918e-02 9.98609666e-01 7.31038268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.454391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:199.58, Y:32.58, Z:7.32 [[ 9.76168233e-01 -2.16293718e-01 -1.76807258e-02 1.99582953e+02] [ 2.15316445e-01 9.75481307e-01 -4.55527037e-02 3.25823319e+01] [ 2.70999812e-02 4.06601513e-02 9.98805458e-01 7.32128521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.484391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:199.62, Y:32.57, Z:7.31 [[ 9.76032958e-01 -2.16208622e-01 -2.47688538e-02 1.99618793e+02] [ 2.16167469e-01 9.76346569e-01 -4.35919651e-03 3.25695000e+01] [ 2.51254813e-02 -1.09950098e-03 9.99683701e-01 7.30971795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.514391418 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:199.65, Y:32.58, Z:7.31 [[ 9.76049904e-01 -2.16127562e-01 -2.48085021e-02 1.99651121e+02] [ 2.16086327e-01 9.76364513e-01 -4.36314701e-03 3.25756112e+01] [ 2.51651374e-02 -1.10212887e-03 9.99682700e-01 7.31003980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.544391418 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:199.68, Y:32.58, Z:7.31 [[ 9.76264372e-01 -2.15107602e-01 -2.52308452e-02 1.99681256e+02] [ 2.14924718e-01 9.76581637e-01 -9.78124798e-03 3.25837025e+01] [ 2.67440009e-02 4.12635163e-03 9.99633799e-01 7.31219436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.574391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:199.71, Y:32.59, Z:7.31 [[ 9.76141866e-01 -2.15642776e-01 -2.54017701e-02 1.99714760e+02] [ 2.15731389e-01 9.76452445e-01 7.68638117e-04 3.25868570e+01] [ 2.46378692e-02 -6.23025899e-03 9.99677027e-01 7.30991996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.604391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:199.75, Y:32.60, Z:7.31 [[ 9.76255258e-01 -2.15233974e-01 -2.44950507e-02 1.99745293e+02] [ 2.15193820e-01 9.76561915e-01 -4.29487584e-03 3.25956850e+01] [ 2.48453368e-02 -1.07828841e-03 9.99690725e-01 7.31164361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.634391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:199.78, Y:32.60, Z:7.31 [[ 9.76314587e-01 -2.14968321e-01 -2.44631908e-02 1.99777810e+02] [ 2.14928318e-01 9.76620430e-01 -4.28407943e-03 3.26022096e+01] [ 2.48121932e-02 -1.07522320e-03 9.99691552e-01 7.31187456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.664391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:199.81, Y:32.61, Z:7.31 [[ 9.76402804e-01 -2.14490368e-01 -2.51285833e-02 1.99809167e+02] [ 2.14448142e-01 9.76725487e-01 -4.39508283e-03 3.26090903e+01] [ 2.54864307e-02 -1.09740681e-03 9.99674566e-01 7.31220662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.694391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:199.84, Y:32.62, Z:7.31 [[ 9.76350073e-01 -2.14681256e-01 -2.55439613e-02 1.99841727e+02] [ 2.14637828e-01 9.76683516e-01 -4.46229929e-03 3.26159073e+01] [ 2.59063380e-02 -1.12593414e-03 9.99663740e-01 7.31226468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.724391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:199.87, Y:32.62, Z:7.31 [[ 9.76352496e-01 -2.14607530e-01 -2.60655131e-02 1.99874296e+02] [ 2.14562373e-01 9.76699690e-01 -4.55007633e-03 3.26223880e+01] [ 2.64346592e-02 -1.15019995e-03 9.99649882e-01 7.31283345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.754391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:199.91, Y:32.63, Z:7.31 [[ 9.76197973e-01 -2.15279331e-01 -2.63121265e-02 1.99905876e+02] [ 2.15233718e-01 9.76551793e-01 -4.58714827e-03 3.26303887e+01] [ 2.66826725e-02 -1.18529198e-03 9.99643251e-01 7.31347584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.784391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:199.94, Y:32.64, Z:7.31 [[ 9.76106428e-01 -2.15703681e-01 -2.62328640e-02 1.99938148e+02] [ 2.15658641e-01 9.76458133e-01 -4.56786070e-03 3.26370012e+01] [ 2.66005977e-02 -1.19862559e-03 9.99645423e-01 7.31426598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.814391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:199.97, Y:32.64, Z:7.32 [[ 9.76111437e-01 -2.15707930e-01 -2.60105923e-02 1.99969204e+02] [ 2.15663764e-01 9.76457202e-01 -4.52485391e-03 3.26432017e+01] [ 2.63742770e-02 -1.19278060e-03 9.99651427e-01 7.31524556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84439141800001 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:200.00, Y:32.64, Z:7.32 [[ 9.74921151e-01 -2.18848457e-01 -4.04240392e-02 1.99995905e+02] [ 2.20381894e-01 9.74657020e-01 3.84124106e-02 3.26350852e+01] [ 3.09930768e-02 -4.63577978e-02 9.98443981e-01 7.31767633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87439141800002 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:200.03, Y:32.68, Z:7.33 [[ 9.76354263e-01 -2.15607145e-01 -1.56816006e-02 2.00026910e+02] [ 2.14618295e-01 9.75456697e-01 -4.92262172e-02 3.26778050e+01] [ 2.59102465e-02 4.46966687e-02 9.98664542e-01 7.33022413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90439141800002 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:200.06, Y:32.66, Z:7.32 [[ 9.76485936e-01 -2.14348481e-01 -2.30205569e-02 2.00062068e+02] [ 2.14313876e-01 9.76756700e-01 -3.98898997e-03 3.26639563e+01] [ 2.33405171e-02 -1.03843218e-03 9.99727034e-01 7.31722415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.934391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:200.09, Y:32.67, Z:7.32 [[ 9.77088346e-01 -2.11682417e-01 -2.21114831e-02 2.00092724e+02] [ 2.11649931e-01 9.77338052e-01 -3.82607985e-03 3.26722058e+01] [ 2.24203077e-02 -9.41475848e-04 9.99748190e-01 7.31815443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.964391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:200.12, Y:32.68, Z:7.32 [[ 9.77445516e-01 -2.10085639e-01 -2.15473331e-02 2.00124942e+02] [ 2.10054476e-01 9.77682587e-01 -3.72507627e-03 3.26794426e+01] [ 2.18490374e-02 -8.85054674e-04 9.99760890e-01 7.31844853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.994391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:200.16, Y:32.69, Z:7.32 [[ 9.77874989e-01 -2.08065623e-01 -2.16610832e-02 2.00157745e+02] [ 2.08033738e-01 9.78114500e-01 -3.74005626e-03 3.26865941e+01] [ 2.19651967e-02 -8.48928624e-04 9.99758376e-01 7.31926184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.024391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:200.19, Y:32.69, Z:7.32 [[ 9.78234419e-01 -2.06360669e-01 -2.17415706e-02 2.00189186e+02] [ 2.06328255e-01 9.78475653e-01 -3.74808770e-03 3.26934984e+01] [ 2.20470553e-02 -8.19391925e-04 9.99756598e-01 7.31948976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.054391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:200.22, Y:32.70, Z:7.32 [[ 9.78816193e-01 -2.03523282e-01 -2.22964794e-02 2.00220294e+02] [ 2.03488585e-01 9.79069796e-01 -3.83811457e-03 3.27014638e+01] [ 2.26109553e-02 -7.80270353e-04 9.99744035e-01 7.31956608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.084391418 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:200.25, Y:32.71, Z:7.32 [[ 9.79451224e-01 -2.00351010e-01 -2.31251687e-02 2.00249640e+02] [ 1.99986225e-01 9.79648448e-01 -1.71589211e-02 3.27133447e+01] [ 2.60923428e-02 1.21816110e-02 9.99585313e-01 7.32466589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.114391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:200.28, Y:32.71, Z:7.32 [[ 9.78324923e-01 -2.04467613e-01 -3.27618818e-02 2.00281953e+02] [ 2.05285222e-01 9.78410840e-01 2.38789703e-02 3.27059775e+01] [ 2.71721042e-02 -3.00869220e-02 9.99177889e-01 7.31808769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.144391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:200.32, Y:32.73, Z:7.33 [[ 9.79538338e-01 -2.00160751e-01 -2.09837555e-02 2.00315399e+02] [ 1.99744704e-01 9.79636476e-01 -2.03575090e-02 3.27286461e+01] [ 2.46312266e-02 1.57495665e-02 9.99572536e-01 7.32608528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.174391418 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:200.35, Y:32.73, Z:7.32 [[ 9.80042229e-01 -1.97082198e-01 -2.59968556e-02 2.00346450e+02] [ 1.96944433e-01 9.80383762e-01 -7.78271761e-03 3.27283884e+01] [ 2.70207302e-02 2.50745595e-03 9.99631729e-01 7.32268922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.204391418 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:200.38, Y:32.73, Z:7.32 [[ 9.80011506e-01 -1.97263791e-01 -2.57768295e-02 2.00379590e+02] [ 1.97299952e-01 9.80342485e-01 -1.15808229e-03 3.27323821e+01] [ 2.54985688e-02 -3.95083325e-03 9.99667052e-01 7.32009737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.234391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:200.41, Y:32.74, Z:7.32 [[ 9.80738685e-01 -1.93602146e-01 -2.58812888e-02 2.00411770e+02] [ 1.93553326e-01 9.81079880e-01 -4.40225532e-03 3.27410499e+01] [ 2.62438978e-02 -6.91947433e-04 9.99655330e-01 7.32108575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.264391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:200.44, Y:32.75, Z:7.32 [[ 9.81132740e-01 -1.91565607e-01 -2.60991197e-02 2.00444299e+02] [ 1.91515326e-01 9.81479598e-01 -4.43610990e-03 3.27477033e+01] [ 2.64655596e-02 -6.45968735e-04 9.99649517e-01 7.32130835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.294391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:200.47, Y:32.75, Z:7.32 [[ 9.80930453e-01 -1.92052696e-01 -2.98531072e-02 2.00471215e+02] [ 1.92217285e-01 9.81348627e-01 2.71794221e-03 3.27545348e+01] [ 2.87743176e-02 -8.40439549e-03 9.99550601e-01 7.32306692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.324391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:200.51, Y:32.76, Z:7.33 [[ 9.82329104e-01 -1.85549662e-01 -2.45123495e-02 2.00506145e+02] [ 1.85292205e-01 9.82605141e-01 -1.24070380e-02 3.27638931e+01] [ 2.63880823e-02 7.64584720e-03 9.99622534e-01 7.32514322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.354391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:200.54, Y:32.77, Z:7.32 [[ 9.83481890e-01 -1.79299872e-01 -2.47977233e-02 2.00537945e+02] [ 1.79250990e-01 9.83794418e-01 -4.19838896e-03 3.27673896e+01] [ 2.51486323e-02 -3.15976929e-04 9.99683673e-01 7.32391526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.384391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:200.57, Y:32.77, Z:7.32 [[ 9.84010810e-01 -1.76402376e-01 -2.45952823e-02 2.00570448e+02] [ 1.76353579e-01 9.84318109e-01 -4.15628762e-03 3.27735021e+01] [ 2.49427607e-02 -2.47634112e-04 9.99688850e-01 7.32472285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.414391418 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:200.60, Y:32.78, Z:7.33 [[ 9.84567862e-01 -1.73289320e-01 -2.44323045e-02 2.00600629e+02] [ 1.73185491e-01 9.84868950e-01 -6.31957021e-03 3.27799672e+01] [ 2.51577321e-02 1.99072508e-03 9.99681512e-01 7.32565669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.444391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:200.63, Y:32.78, Z:7.32 [[ 9.84888290e-01 -1.71448478e-01 -2.45046043e-02 2.00634020e+02] [ 1.71452433e-01 9.85190459e-01 -1.95521494e-03 3.27837670e+01] [ 2.44769209e-02 -2.27570572e-03 9.99697805e-01 7.32444962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.474391418 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:200.66, Y:32.78, Z:7.32 [[ 9.84041833e-01 -1.74562324e-01 -3.44915273e-02 2.00657038e+02] [ 1.75404917e-01 9.84225054e-01 2.31118512e-02 3.27835183e+01] [ 2.99129668e-02 -2.87930119e-02 9.99137717e-01 7.32426109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.504391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:200.69, Y:32.82, Z:7.34 [[ 9.85364979e-01 -1.69857752e-01 -1.42899539e-02 2.00691737e+02] [ 1.69022673e-01 9.84485012e-01 -4.71232036e-02 3.28153555e+01] [ 2.20724868e-02 4.40182283e-02 9.98786865e-01 7.33638386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.534391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:200.73, Y:32.79, Z:7.32 [[ 9.85349273e-01 -1.68629799e-01 -2.55107942e-02 2.00729372e+02] [ 1.68909355e-01 9.85588497e-01 9.21648820e-03 3.27928772e+01] [ 2.35889707e-02 -1.33904717e-02 9.99632060e-01 7.32061335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564391418 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:200.76, Y:32.80, Z:7.32 [[ 9.85107658e-01 -1.70430594e-01 -2.27225680e-02 2.00760536e+02] [ 1.70387986e-01 9.85369676e-01 -3.81249199e-03 3.28026962e+01] [ 2.30398948e-02 -1.15937559e-04 9.99734540e-01 7.32484053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59439141800001 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:200.79, Y:32.81, Z:7.33 [[ 9.84929954e-01 -1.71466580e-01 -2.26317953e-02 2.00793541e+02] [ 1.71424669e-01 9.85189927e-01 -3.79361346e-03 3.28071786e+01] [ 2.29470947e-02 -1.43204478e-04 9.99736671e-01 7.32526688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62439141800002 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:200.83, Y:32.81, Z:7.33 [[ 9.84725244e-01 -1.72670022e-01 -2.23887814e-02 2.00826790e+02] [ 1.72629426e-01 9.84979712e-01 -3.74806933e-03 3.28118948e+01] [ 2.26996747e-02 -1.74144006e-04 9.99742314e-01 7.32589633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65439141800002 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:200.86, Y:32.82, Z:7.33 [[ 9.84505871e-01 -1.73957262e-01 -2.20694545e-02 2.00858849e+02] [ 1.73918295e-01 9.84753181e-01 -3.68765912e-03 3.28161871e+01] [ 2.23744606e-02 -2.07759847e-04 9.99749639e-01 7.32620758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.684391418 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:200.89, Y:32.82, Z:7.33 [[ 9.83927286e-01 -1.77182178e-01 -2.22164630e-02 2.00892063e+02] [ 1.77143623e-01 9.84178029e-01 -3.70729263e-03 3.28195560e+01] [ 2.25218209e-02 -2.87798359e-04 9.99746310e-01 7.32647563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.714391418 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:200.92, Y:32.82, Z:7.33 [[ 9.83639626e-01 -1.78766050e-01 -2.22662458e-02 2.00924871e+02] [ 1.78727788e-01 9.83891555e-01 -3.71289676e-03 3.28238073e+01] [ 2.25713111e-02 -3.27444481e-04 9.99745182e-01 7.32673623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.744391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:200.96, Y:32.83, Z:7.33 [[ 9.83111007e-01 -1.81682673e-01 -2.20035004e-02 2.00958187e+02] [ 1.81646098e-01 9.83357134e-01 -3.66643087e-03 3.28268332e+01] [ 2.23034260e-02 -3.92341444e-04 9.99751171e-01 7.32708212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.774391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:200.99, Y:32.83, Z:7.33 [[ 9.82945196e-01 -1.82618994e-01 -2.16574313e-02 2.00990959e+02] [ 1.82583888e-01 9.83183672e-01 -3.60417495e-03 3.28308312e+01] [ 2.19514236e-02 -4.11591561e-04 9.99758954e-01 7.32741222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.804391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:201.02, Y:32.83, Z:7.33 [[ 9.82871055e-01 -1.83076714e-01 -2.11520011e-02 2.01024359e+02] [ 1.83043481e-01 9.83098541e-01 -3.51318697e-03 3.28346735e+01] [ 2.14376841e-02 -4.18726128e-04 9.99770099e-01 7.32761090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.834391418 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:201.06, Y:32.84, Z:7.33 [[ 9.82792005e-01 -1.83528956e-01 -2.09044752e-02 2.01056905e+02] [ 1.83496744e-01 9.83014210e-01 -3.46520066e-03 3.28386745e+01] [ 2.11853608e-02 -4.30331628e-04 9.99775472e-01 7.32802535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.864391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:201.09, Y:32.84, Z:7.33 [[ 9.82793965e-01 -1.83651150e-01 -1.97047546e-02 2.01090199e+02] [ 1.83622681e-01 9.82991395e-01 -3.25999565e-03 3.28415247e+01] [ 1.99683062e-02 -4.14335810e-04 9.99800528e-01 7.32848334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.894391418 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:201.12, Y:32.85, Z:7.33 [[ 9.82881680e-01 -1.83233430e-01 -1.92122934e-02 2.01121618e+02] [ 1.83206408e-01 9.83069351e-01 -3.17229482e-03 3.28454991e+01] [ 1.94682873e-02 -4.01824811e-04 9.99810394e-01 7.32859444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.924391418 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:201.15, Y:32.85, Z:7.33 [[ 9.83008742e-01 -1.82619030e-01 -1.85500224e-02 2.01154841e+02] [ 1.82593838e-01 9.83183678e-01 -3.05711943e-03 3.28495966e+01] [ 1.87963674e-02 -3.81944676e-04 9.99823260e-01 7.32883403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.954391418 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:201.19, Y:32.85, Z:7.33 [[ 9.83219654e-01 -1.81473223e-01 -1.86167244e-02 2.01187756e+02] [ 1.81447762e-01 9.83395818e-01 -3.06190356e-03 3.28532665e+01] [ 1.88632624e-02 -3.67439220e-04 9.99822005e-01 7.32900295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.984391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:201.22, Y:32.86, Z:7.33 [[ 9.83400764e-01 -1.80496738e-01 -1.85435918e-02 2.01220700e+02] [ 1.80471418e-01 9.83575520e-01 -3.04377133e-03 3.28573533e+01] [ 1.87884137e-02 -3.53341262e-04 9.99823420e-01 7.32909526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.014391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:201.25, Y:32.86, Z:7.33 [[ 9.82845644e-01 -1.82949729e-01 -2.33203170e-02 2.01245363e+02] [ 1.83114125e-01 9.83078422e-01 5.10238138e-03 3.28619040e+01] [ 2.19922211e-02 -9.28513275e-03 9.99715024e-01 7.33022672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.044391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:201.28, Y:32.87, Z:7.33 [[ 9.83557677e-01 -1.79844073e-01 -1.64440282e-02 2.01283447e+02] [ 1.79658712e-01 9.83654075e-01 -1.21411959e-02 3.28686706e+01] [ 1.83587575e-02 8.98725352e-03 9.99791071e-01 7.33187987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.074391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:201.32, Y:32.87, Z:7.33 [[ 9.83540621e-01 -1.79790262e-01 -1.79807868e-02 2.01317387e+02] [ 1.79766581e-01 9.83704907e-01 -2.93807740e-03 3.28685524e+01] [ 1.82160259e-02 -3.42626091e-04 9.99834016e-01 7.32960637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.104391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:201.34, Y:32.87, Z:7.33 [[ 9.82826860e-01 -1.83049729e-01 -2.33272519e-02 2.01341179e+02] [ 1.83250638e-01 9.83042919e-01 6.76928003e-03 3.28721689e+01] [ 2.16925749e-02 -1.09277640e-02 9.99704965e-01 7.33135251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.134391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:201.38, Y:32.88, Z:7.33 [[ 9.83238707e-01 -1.81589431e-01 -1.63378189e-02 2.01379808e+02] [ 1.81374631e-01 9.83317245e-01 -1.37999858e-02 3.28803487e+01] [ 1.85711907e-02 1.06054143e-02 9.99771292e-01 7.33351718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.164391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:201.41, Y:32.88, Z:7.33 [[ 9.83270513e-01 -1.81249184e-01 -1.81061104e-02 2.01413825e+02] [ 1.81225619e-01 9.83437129e-01 -2.94757483e-03 3.28805717e+01] [ 1.83404668e-02 -3.83027654e-04 9.99831726e-01 7.33073339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.194391418 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:201.45, Y:32.88, Z:7.33 [[ 9.83185795e-01 -1.81685624e-01 -1.83310442e-02 2.01445194e+02] [ 1.81661622e-01 9.83356585e-01 -2.98013270e-03 3.28844407e+01] [ 1.85674003e-02 -4.00023087e-04 9.99827531e-01 7.33107662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.224391418 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:201.48, Y:32.89, Z:7.33 [[ 9.83081942e-01 -1.82189089e-01 -1.88952481e-02 2.01476987e+02] [ 1.82163767e-01 9.83263420e-01 -3.06724448e-03 3.28883319e+01] [ 1.91378248e-02 -4.26676922e-04 9.99816764e-01 7.33146934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.254391418 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:201.51, Y:32.89, Z:7.33 [[ 9.82929078e-01 -1.82987585e-01 -1.91303919e-02 2.01509843e+02] [ 1.82961869e-01 9.83115120e-01 -3.10088451e-03 3.28925362e+01] [ 1.93748009e-02 -4.52182695e-04 9.99812189e-01 7.33154475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.284391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:201.54, Y:32.90, Z:7.33 [[ 9.82599227e-01 -1.84722701e-01 -1.93980106e-02 2.01542873e+02] [ 1.84696645e-01 9.82790557e-01 -3.14185857e-03 3.28964660e+01] [ 1.96445543e-02 -4.95559678e-04 9.99806904e-01 7.33163751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.314391418 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:201.57, Y:32.90, Z:7.33 [[ 9.82509191e-01 -1.85178989e-01 -1.96069101e-02 2.01574272e+02] [ 1.85152536e-01 9.82704675e-01 -3.17184018e-03 3.29006267e+01] [ 1.98551603e-02 -5.13906982e-04 9.99802735e-01 7.33214161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34439141800001 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:201.61, Y:32.91, Z:7.33 [[ 9.82323333e-01 -1.86120219e-01 -2.00033601e-02 2.01605830e+02] [ 1.86092989e-01 9.82526825e-01 -3.23058403e-03 3.29051455e+01] [ 2.02551149e-02 -5.49007010e-04 9.99794693e-01 7.33290378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37439141800002 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:201.64, Y:32.91, Z:7.33 [[ 9.82114986e-01 -1.87282495e-01 -1.93757829e-02 2.01638852e+02] [ 1.87257237e-01 9.82305938e-01 -3.12595991e-03 3.29097709e+01] [ 1.96183842e-02 -5.58203498e-04 9.99807385e-01 7.33339779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40439141800002 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:201.67, Y:32.91, Z:7.33 [[ 9.81550676e-01 -1.90270291e-01 -1.88543656e-02 2.01671256e+02] [ 1.90246968e-01 9.81731558e-01 -3.03954583e-03 3.29134496e+01] [ 1.90882610e-02 -6.03517627e-04 9.99817620e-01 7.33452294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.434391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:201.70, Y:32.92, Z:7.34 [[ 9.81238072e-01 -1.91881779e-01 -1.87943809e-02 2.01704476e+02] [ 1.91858944e-01 9.81417842e-01 -3.02752508e-03 3.29178340e+01] [ 1.90260677e-02 -6.35147206e-04 9.99818786e-01 7.33548887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.464391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:201.74, Y:32.92, Z:7.34 [[ 9.80886782e-01 -1.93700547e-01 -1.84721266e-02 2.01737589e+02] [ 1.93678854e-01 9.81060478e-01 -2.97332402e-03 3.29221973e+01] [ 1.86982078e-02 -6.61166077e-04 9.99824955e-01 7.33618906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.494391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:201.77, Y:32.93, Z:7.34 [[ 9.80137793e-01 -1.97462906e-01 -1.83931290e-02 2.01769505e+02] [ 1.97442124e-01 9.80310085e-01 -2.95710354e-03 3.29252645e+01] [ 1.86148881e-02 -7.33209511e-04 9.99826459e-01 7.33714679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.524391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:201.80, Y:32.92, Z:7.34 [[ 9.79842428e-01 -1.98229082e-01 -2.47799961e-02 2.01801783e+02] [ 1.98565339e-01 9.80015239e-01 1.19137502e-02 3.29221227e+01] [ 2.19231220e-02 -1.65940463e-02 9.99621936e-01 7.33798379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.554391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:201.83, Y:32.94, Z:7.34 [[ 9.79140890e-01 -2.02068506e-01 -2.12470366e-02 2.01831833e+02] [ 2.01955976e-01 9.79367116e-01 -7.33730907e-03 3.29358382e+01] [ 2.22912881e-02 2.89329331e-03 9.99747332e-01 7.34326669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.584391418 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:201.87, Y:32.94, Z:7.34 [[ 9.78491498e-01 -2.05383991e-01 -1.92822460e-02 2.01865002e+02] [ 2.05118938e-01 9.78624185e-01 -1.48635839e-02 3.29428897e+01] [ 2.19228144e-02 1.05887366e-02 9.99703591e-01 7.34340903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.614391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:201.90, Y:32.94, Z:7.34 [[ 9.77386061e-01 -2.10333380e-01 -2.18255865e-02 2.01899291e+02] [ 2.10307505e-01 9.77629021e-01 -3.50013970e-03 3.29404142e+01] [ 2.20735229e-02 -1.16909688e-03 9.99755667e-01 7.34080564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.644391418 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:201.93, Y:32.94, Z:7.34 [[ 9.76877324e-01 -2.12637186e-01 -2.22737856e-02 2.01930720e+02] [ 2.12610935e-01 9.77130423e-01 -3.56750950e-03 3.29443090e+01] [ 2.25229787e-02 -1.25063125e-03 9.99745543e-01 7.34136481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.674391418 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:201.96, Y:32.95, Z:7.34 [[ 9.76407740e-01 -2.14778377e-01 -2.23197985e-02 2.01963076e+02] [ 2.14752691e-01 9.76661937e-01 -3.56972393e-03 3.29486114e+01] [ 2.25655972e-02 -1.30773073e-03 9.99744509e-01 7.34188893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.704391418 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:202.00, Y:32.95, Z:7.34 [[ 9.76040732e-01 -2.16404642e-01 -2.26609948e-02 2.01995675e+02] [ 2.16378666e-01 9.76302800e-01 -3.62149351e-03 3.29531463e+01] [ 2.29077007e-02 -1.36863065e-03 9.99736647e-01 7.34262399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.734391418 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:202.03, Y:32.96, Z:7.34 [[ 9.75598988e-01 -2.18275254e-01 -2.37176893e-02 2.02028081e+02] [ 2.18247421e-01 9.75886120e-01 -3.78740613e-03 3.29579966e+01] [ 2.39724608e-02 -1.48133492e-03 9.99711522e-01 7.34358910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.764391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:202.06, Y:32.96, Z:7.34 [[ 9.74964149e-01 -2.20234291e-01 -3.06881879e-02 2.02059322e+02] [ 2.20802868e-01 9.75178441e-01 1.65258097e-02 3.29555263e+01] [ 2.62869092e-02 -2.28881118e-02 9.99392382e-01 7.34490456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.794391418 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:202.09, Y:32.98, Z:7.35 [[ 9.75788208e-01 -2.17673161e-01 -2.13487195e-02 2.02089666e+02] [ 2.17127394e-01 9.75816947e-01 -2.52384876e-02 3.29777807e+01] [ 2.63261837e-02 1.99920268e-02 9.99453476e-01 7.35038934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.824391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:202.12, Y:32.97, Z:7.35 [[ 9.76003543e-01 -2.16288995e-01 -2.52220908e-02 2.02124326e+02] [ 2.16257193e-01 9.76328178e-01 -4.01448365e-03 3.29734649e+01] [ 2.54933266e-02 -1.53630830e-03 9.99673812e-01 7.34502748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.854391418 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:202.16, Y:32.97, Z:7.35 [[ 9.76463708e-01 -2.13841717e-01 -2.81130955e-02 2.02155620e+02] [ 2.14157076e-01 9.76760529e-01 8.69570273e-03 3.29727252e+01] [ 2.56002580e-02 -1.45116564e-02 9.99566926e-01 7.34605708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.884391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:202.19, Y:32.99, Z:7.35 [[ 9.76914600e-01 -2.12359423e-01 -2.32666931e-02 2.02187249e+02] [ 2.11996087e-01 9.77120316e-01 -1.71332170e-02 3.29914335e+01] [ 2.63727586e-02 1.18052419e-02 9.99582470e-01 7.34962222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.914391418 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:202.22, Y:32.99, Z:7.35 [[ 9.77347592e-01 -2.10155139e-01 -2.50300101e-02 2.02221007e+02] [ 2.10122166e-01 9.77667078e-01 -3.96993950e-03 3.29915626e+01] [ 2.53053201e-02 -1.37934912e-03 9.99678818e-01 7.34668274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.944391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:202.25, Y:33.00, Z:7.35 [[ 9.77872445e-01 -2.07720286e-01 -2.48548718e-02 2.02252843e+02] [ 2.07687123e-01 9.78187385e-01 -3.93680250e-03 3.29976766e+01] [ 2.51304758e-02 -1.31234612e-03 9.99683318e-01 7.34755247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.974391418 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:202.28, Y:33.01, Z:7.35 [[ 9.79084213e-01 -2.02296249e-01 -2.16871252e-02 2.02284974e+02] [ 2.02259658e-01 9.79324203e-01 -3.89057490e-03 3.30050582e+01] [ 2.20257753e-02 -5.77230048e-04 9.99757237e-01 7.34825955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.004391418 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:202.32, Y:33.01, Z:7.35 [[ 9.79488223e-01 -2.00115958e-01 -2.35886463e-02 2.02315427e+02] [ 2.00095442e-01 9.79771017e-01 -3.25099839e-03 3.30114215e+01] [ 2.37620486e-02 -1.53566597e-03 9.99716463e-01 7.34891315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.034391418 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:202.35, Y:33.02, Z:7.35 [[ 9.80205845e-01 -1.96951309e-01 -2.01663973e-02 2.02348094e+02] [ 1.96870283e-01 9.80411509e-01 -5.94688452e-03 3.30193257e+01] [ 2.09426147e-02 1.85900661e-03 9.99778951e-01 7.34914530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064391418 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:202.37, Y:33.02, Z:7.35 [[ 9.81940940e-01 -1.87860578e-01 -2.23694758e-02 2.02374351e+02] [ 1.88019225e-01 9.82151610e-01 5.19480747e-03 3.30197423e+01] [ 2.09943172e-02 -9.30688565e-03 9.99736275e-01 7.34648836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09439141800001 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:202.41, Y:33.04, Z:7.35 [[ 9.81959632e-01 -1.87958586e-01 -2.06603793e-02 2.02410272e+02] [ 1.87786890e-01 9.82159139e-01 -9.97546826e-03 3.30355459e+01] [ 2.21667553e-02 5.91575875e-03 9.99736785e-01 7.35192489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12439141800002 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:202.44, Y:33.04, Z:7.35 [[ 9.82592546e-01 -1.84532634e-01 -2.14381607e-02 2.02443427e+02] [ 1.84503015e-01 9.82826175e-01 -3.36854528e-03 3.30390256e+01] [ 2.16915920e-02 -6.45497798e-04 9.99764501e-01 7.35035768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15439141800002 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:202.48, Y:33.05, Z:7.35 [[ 9.83169417e-01 -1.81448532e-01 -2.13149579e-02 2.02476002e+02] [ 1.81418585e-01 9.83400273e-01 -3.34655082e-03 3.30457802e+01] [ 2.15683622e-02 -5.76703082e-04 9.99767209e-01 7.35088593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.184391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:202.51, Y:33.05, Z:7.35 [[ 9.84126491e-01 -1.76191071e-01 -2.12545614e-02 2.02506849e+02] [ 1.76160158e-01 9.84355876e-01 -3.33281828e-03 3.30535981e+01] [ 2.15092652e-02 -4.64292139e-04 9.99768541e-01 7.35114794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.214391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:202.54, Y:33.06, Z:7.35 [[ 9.84553015e-01 -1.73785322e-01 -2.13077810e-02 2.02539217e+02] [ 1.73753796e-01 9.84783472e-01 -3.33629567e-03 3.30602525e+01] [ 2.15633498e-02 -4.17547882e-04 9.99767397e-01 7.35135634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.244391418 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:202.57, Y:33.07, Z:7.35 [[ 9.84969444e-01 -1.71418393e-01 -2.12350898e-02 2.02571960e+02] [ 1.71386588e-01 9.85198254e-01 -3.32231258e-03 3.30668129e+01] [ 2.14902789e-02 -3.67033200e-04 9.99768990e-01 7.35130792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.274391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:202.60, Y:33.07, Z:7.35 [[ 9.85594699e-01 -1.67765528e-01 -2.13966409e-02 2.02604096e+02] [ 1.67732434e-01 9.85826882e-01 -3.34492467e-03 3.30741821e+01] [ 2.16545468e-02 -2.92170621e-04 9.99765470e-01 7.35118002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.304391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:202.64, Y:33.08, Z:7.35 [[ 9.85866024e-01 -1.66197910e-01 -2.11290843e-02 2.02636115e+02] [ 1.66165367e-01 9.86092383e-01 -3.29890657e-03 3.30802529e+01] [ 2.13835005e-02 -2.58642153e-04 9.99771313e-01 7.35101765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.334391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:202.67, Y:33.09, Z:7.35 [[ 9.86125605e-01 -1.64686591e-01 -2.08475090e-02 2.02668641e+02] [ 1.64654673e-01 9.86345921e-01 -3.25019303e-03 3.30861786e+01] [ 2.10981187e-02 -2.27541207e-04 9.99777384e-01 7.35088866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.364391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:202.70, Y:33.09, Z:7.35 [[ 9.86312301e-01 -1.63622404e-01 -2.03900476e-02 2.02700930e+02] [ 1.63591694e-01 9.86523019e-01 -3.17642355e-03 3.30920536e+01] [ 2.06349853e-02 -2.02696802e-04 9.99787055e-01 7.35093214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.394391418 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:202.73, Y:33.10, Z:7.35 [[ 9.86473288e-01 -1.62790267e-01 -1.92296754e-02 2.02732345e+02] [ 1.62762863e-01 9.86660680e-01 -2.99218190e-03 3.30983595e+01] [ 1.94602627e-02 -1.78169505e-04 9.99810615e-01 7.35055113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.424391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:202.76, Y:33.10, Z:7.35 [[ 9.86495362e-01 -1.62763851e-01 -1.82983515e-02 2.02764607e+02] [ 1.62739111e-01 9.86665039e-01 -2.84304825e-03 3.31035241e+01] [ 1.85170892e-02 -1.73203555e-04 9.99828529e-01 7.35047031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.454391418 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:202.80, Y:33.11, Z:7.35 [[ 9.86421641e-01 -1.63313447e-01 -1.73512289e-02 2.02796381e+02] [ 1.63291329e-01 9.86574218e-01 -2.69352843e-03 3.31083615e+01] [ 1.75581645e-02 -1.76350494e-04 9.99845828e-01 7.35042385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.484391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:202.83, Y:33.11, Z:7.35 [[ 9.86307306e-01 -1.64091302e-01 -1.64907143e-02 2.02829422e+02] [ 1.64071478e-01 9.86445138e-01 -2.55715339e-03 3.31131298e+01] [ 1.66867915e-02 -1.83516798e-04 9.99860749e-01 7.35034692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.514391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:202.86, Y:33.12, Z:7.35 [[ 9.85930254e-01 -1.66459690e-01 -1.52546959e-02 2.02861788e+02] [ 1.66443047e-01 9.86048238e-01 -2.36314682e-03 3.31175340e+01] [ 1.54352347e-02 -2.09140123e-04 9.99880848e-01 7.35019268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.544391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:202.89, Y:33.12, Z:7.35 [[ 9.85703126e-01 -1.67820507e-01 -1.50208427e-02 2.02894775e+02] [ 1.67804602e-01 9.85817541e-01 -2.32205838e-03 3.31221842e+01] [ 1.51974992e-02 -2.31706323e-04 9.99884484e-01 7.35049463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.574391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:202.93, Y:33.13, Z:7.35 [[ 9.85041704e-01 -1.71670935e-01 -1.48973669e-02 2.02926935e+02] [ 1.71655801e-01 9.85154305e-01 -2.29820622e-03 3.31261364e+01] [ 1.50707403e-02 -2.93390481e-04 9.99886387e-01 7.34997162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.604391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:202.96, Y:33.13, Z:7.35 [[ 9.84727826e-01 -1.73412734e-01 -1.54638896e-02 2.02959024e+02] [ 1.73396718e-01 9.84849181e-01 -2.38078717e-03 3.31301659e+01] [ 1.56424578e-02 -3.36960318e-04 9.99877592e-01 7.35079299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.634391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:202.99, Y:33.13, Z:7.35 [[ 9.84454255e-01 -1.74998214e-01 -1.50148071e-02 2.02992377e+02] [ 1.74983366e-01 9.84568686e-01 -2.30721028e-03 3.31341301e+01] [ 1.51868666e-02 -3.55998513e-04 9.99884610e-01 7.35054845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.664391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:203.03, Y:33.14, Z:7.35 [[ 9.84218644e-01 -1.76351441e-01 -1.46229249e-02 2.03025549e+02] [ 1.76337574e-01 9.84327197e-01 -2.24245893e-03 3.31379250e+01] [ 1.47892036e-02 -3.71501227e-04 9.99890565e-01 7.35048416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.694391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:203.06, Y:33.14, Z:7.35 [[ 9.83806965e-01 -1.78667416e-01 -1.42059939e-02 2.03057963e+02] [ 1.78654632e-01 9.83909445e-01 -2.17419492e-03 3.31405167e+01] [ 1.43658694e-02 -3.98978512e-04 9.99896726e-01 7.35007522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.724391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:203.09, Y:33.14, Z:7.35 [[ 9.83796462e-01 -1.78733609e-01 -1.41002739e-02 2.03091210e+02] [ 1.78721075e-01 9.83897422e-01 -2.15421484e-03 3.31447110e+01] [ 1.42582538e-02 -4.00707181e-04 9.99898266e-01 7.35012596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.754391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:203.12, Y:33.15, Z:7.35 [[ 9.83751163e-01 -1.79012490e-01 -1.37177959e-02 2.03124261e+02] [ 1.79000676e-01 9.83846722e-01 -2.09422772e-03 3.31494681e+01] [ 1.38711014e-02 -3.95295783e-04 9.99903714e-01 7.35049758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.784391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:203.16, Y:33.15, Z:7.35 [[ 9.83867716e-01 -1.78384837e-01 -1.35339015e-02 2.03156695e+02] [ 1.78373303e-01 9.83960722e-01 -2.06435761e-03 3.31539201e+01] [ 1.36850776e-02 -3.83031906e-04 9.99906282e-01 7.35088508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.814391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:203.19, Y:33.15, Z:7.35 [[ 9.84033682e-01 -1.77260853e-01 -1.60094478e-02 2.03189134e+02] [ 1.77384989e-01 9.84118815e-01 6.68752250e-03 3.31543965e+01] [ 1.45697628e-02 -9.42058310e-03 9.99849476e-01 7.35081349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84439141800001 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:203.22, Y:33.16, Z:7.35 [[ 9.84453383e-01 -1.74815857e-01 -1.70573519e-02 2.03218337e+02] [ 1.74888269e-01 9.84584194e-01 2.83856016e-03 3.31600682e+01] [ 1.62981738e-02 -5.77756091e-03 9.99850483e-01 7.35401931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87439141800002 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:203.25, Y:33.18, Z:7.36 [[ 9.84817956e-01 -1.73275900e-01 -1.04429981e-02 2.03249276e+02] [ 1.73000564e-01 9.84649248e-01 -2.31660079e-02 3.31760682e+01] [ 1.42968011e-02 2.10076559e-02 9.99677088e-01 7.35731989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90439141800002 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:203.28, Y:33.17, Z:7.35 [[ 9.85086300e-01 -1.71598059e-01 -1.26129722e-02 2.03283382e+02] [ 1.71683948e-01 9.85133397e-01 6.06726362e-03 3.31669154e+01] [ 1.13843294e-02 -8.14222313e-03 9.99902046e-01 7.34855462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.934391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:203.32, Y:33.18, Z:7.35 [[ 9.85363231e-01 -1.70114573e-01 -1.09697619e-02 2.03315437e+02] [ 1.70106544e-01 9.85424265e-01 -1.66770551e-03 3.31750918e+01] [ 1.10935705e-02 -2.22732592e-04 9.99938440e-01 7.35111035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.964391418 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:203.35, Y:33.18, Z:7.35 [[ 9.85759589e-01 -1.67826621e-01 -1.05952271e-02 2.03347271e+02] [ 1.67819034e-01 9.85816508e-01 -1.60742863e-03 3.31794578e+01] [ 1.07147191e-02 -1.93542586e-04 9.99942577e-01 7.35071743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.994391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:203.38, Y:33.18, Z:7.35 [[ 9.85909895e-01 -1.66946527e-01 -1.05136132e-02 2.03380408e+02] [ 1.66939040e-01 9.85965934e-01 -1.59193868e-03 3.31838624e+01] [ 1.06318331e-02 -1.85624403e-04 9.99943463e-01 7.35079693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.024391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:203.41, Y:33.19, Z:7.35 [[ 9.85932863e-01 -1.66810801e-01 -1.05141507e-02 2.03413594e+02] [ 1.66803344e-01 9.85988905e-01 -1.58838051e-03 3.31887512e+01] [ 1.06317950e-02 -1.87758957e-04 9.99943463e-01 7.35120350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.054391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:203.44, Y:33.19, Z:7.35 [[ 9.85698294e-01 -1.67671777e-01 -1.68833597e-02 2.03442589e+02] [ 1.67808027e-01 9.85794872e-01 6.99551990e-03 3.31905624e+01] [ 1.54705781e-02 -9.72863532e-03 9.99832993e-01 7.35487248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.084391418 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:203.48, Y:33.20, Z:7.35 [[ 9.85793225e-01 -1.67647685e-01 -1.02942146e-02 2.03476765e+02] [ 1.67532359e-01 9.85802934e-01 -1.12019557e-02 3.32008786e+01] [ 1.20260489e-02 9.31819802e-03 9.99884266e-01 7.35348163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.114391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:203.51, Y:33.20, Z:7.35 [[ 9.85656123e-01 -1.68301986e-01 -1.25079396e-02 2.03510513e+02] [ 1.68291663e-01 9.85735451e-01 -1.88086529e-03 3.32009722e+01] [ 1.26460728e-02 -2.51095567e-04 9.99920004e-01 7.35079010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.144391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:203.54, Y:33.21, Z:7.35 [[ 9.85501592e-01 -1.69152564e-01 -1.31917627e-02 2.03543056e+02] [ 1.69141180e-01 9.85589840e-01 -1.98204450e-03 3.32054455e+01] [ 1.33369352e-02 -2.77962294e-04 9.99911020e-01 7.35107247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.174391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:203.57, Y:33.20, Z:7.35 [[ 9.84689402e-01 -1.73037137e-01 -2.10933875e-02 2.03569495e+02] [ 1.73509108e-01 9.84561793e-01 2.30795544e-02 3.32017756e+01] [ 1.67741234e-02 -2.63860875e-02 9.99511082e-01 7.35087961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.204391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:203.60, Y:33.23, Z:7.36 [[ 9.84809966e-01 -1.73305458e-01 -1.07027447e-02 2.03603196e+02] [ 1.72948213e-01 9.84525331e-01 -2.82628343e-02 3.32270374e+01] [ 1.54352267e-02 2.59825003e-02 9.99543227e-01 7.35938482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.234391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:203.63, Y:33.21, Z:7.35 [[ 9.84043627e-01 -1.76725537e-01 -2.06452146e-02 2.03632392e+02] [ 1.77145613e-01 9.83967476e-01 2.06745652e-02 3.32122839e+01] [ 1.66604961e-02 -2.40018833e-02 9.99573078e-01 7.35186865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.264391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:203.67, Y:33.24, Z:7.36 [[ 9.84405366e-01 -1.75552181e-01 -1.12918750e-02 2.03666648e+02] [ 1.75217240e-01 9.84190243e-01 -2.58550549e-02 3.32353916e+01] [ 1.56522645e-02 2.34733236e-02 9.99601926e-01 7.36002364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.294391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:203.70, Y:33.23, Z:7.35 [[ 9.83939615e-01 -1.77934475e-01 -1.42181566e-02 2.03701082e+02] [ 1.77922363e-01 9.84042239e-01 -2.12248535e-03 3.32294723e+01] [ 1.43689300e-02 -4.41330601e-04 9.99896664e-01 7.35425235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.324391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:203.73, Y:33.23, Z:7.35 [[ 9.83752955e-01 -1.79006728e-01 -1.36643590e-02 2.03734083e+02] [ 1.78995672e-01 9.83847751e-01 -2.03783162e-03 3.32347146e+01] [ 1.38084345e-02 -4.41138254e-04 9.99904562e-01 7.35477514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.354391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:203.77, Y:33.24, Z:7.36 [[ 9.83524909e-01 -1.80272546e-01 -1.34373604e-02 2.03766371e+02] [ 1.80262031e-01 9.83616593e-01 -1.99963517e-03 3.32401435e+01] [ 1.35776900e-02 -4.55554878e-04 9.99907715e-01 7.35554907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.384391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:203.80, Y:33.25, Z:7.36 [[ 9.83365847e-01 -1.81140882e-01 -1.34012147e-02 2.03797659e+02] [ 1.81130563e-01 9.83457045e-01 -1.98983944e-03 3.32452939e+01] [ 1.35399603e-02 -4.70629433e-04 9.99908220e-01 7.35646487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.414391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:203.83, Y:33.25, Z:7.36 [[ 9.82850510e-01 -1.83895413e-01 -1.36876917e-02 2.03829101e+02] [ 1.83884975e-01 9.82945676e-01 -2.02807737e-03 3.32510096e+01] [ 1.38272115e-02 -5.23663973e-04 9.99904262e-01 7.35736148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.444391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:203.86, Y:33.26, Z:7.36 [[ 9.82784501e-01 -1.84193701e-01 -1.43981199e-02 2.03859948e+02] [ 1.84121293e-01 9.82883888e-01 -6.21389014e-03 3.32579920e+01] [ 1.52962395e-02 3.45591447e-03 9.99877033e-01 7.35904268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.474391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:203.89, Y:33.26, Z:7.36 [[ 9.82333009e-01 -1.86524925e-01 -1.51760098e-02 2.03893283e+02] [ 1.86572816e-01 9.82439503e-01 1.79103565e-03 3.32597043e+01] [ 1.45754387e-02 -4.59082432e-03 9.99883234e-01 7.35704223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.504391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:203.93, Y:33.27, Z:7.36 [[ 9.81825036e-01 -1.89117644e-01 -1.59409845e-02 2.03925514e+02] [ 1.89104371e-01 9.81954182e-01 -2.34969782e-03 3.32679620e+01] [ 1.60976858e-02 -7.07517702e-04 9.99870174e-01 7.35880346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.534391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:203.96, Y:33.27, Z:7.36 [[ 9.81689745e-01 -1.89754682e-01 -1.66855022e-02 2.03958345e+02] [ 1.89740325e-01 9.81831242e-01 -2.45385419e-03 3.32735891e+01] [ 1.68479777e-02 -7.56989122e-04 9.99857776e-01 7.35947094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564391418 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:203.99, Y:33.28, Z:7.36 [[ 9.81887516e-01 -1.88657446e-01 -1.74721030e-02 2.03988324e+02] [ 1.88612681e-01 9.82042615e-01 -4.19038987e-03 3.32797657e+01] [ 1.79488980e-02 8.19031302e-04 9.99838570e-01 7.36064005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59439141800001 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:204.02, Y:33.29, Z:7.36 [[ 9.81564276e-01 -1.90233855e-01 -1.85108612e-02 2.04023023e+02] [ 1.90243249e-01 9.81736165e-01 -1.26833548e-03 3.32852745e+01] [ 1.84140622e-02 -2.27661358e-03 9.99827855e-01 7.36067261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62439141800002 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:204.05, Y:33.29, Z:7.36 [[ 9.81709500e-01 -1.89409600e-01 -1.92473697e-02 2.04054567e+02] [ 1.89390848e-01 9.81897762e-01 -2.80908841e-03 3.32947194e+01] [ 1.94310175e-02 -8.87566891e-04 9.99810806e-01 7.36183647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65439141800002 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:204.09, Y:33.30, Z:7.36 [[ 9.81940997e-01 -1.88101576e-01 -2.02404575e-02 2.04086990e+02] [ 1.88080697e-01 9.82149156e-01 -2.94740721e-03 3.33015058e+01] [ 2.04335601e-02 -9.12659386e-04 9.99790796e-01 7.36281461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.684391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:204.12, Y:33.31, Z:7.36 [[ 9.82258224e-01 -1.86363649e-01 -2.09134513e-02 2.04119239e+02] [ 1.86341116e-01 9.82480411e-01 -3.03830793e-03 3.33085645e+01] [ 2.11132864e-02 -9.12632903e-04 9.99776673e-01 7.36300725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.714391418 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:204.15, Y:33.31, Z:7.36 [[ 9.82727157e-01 -1.83754146e-01 -2.19487861e-02 2.04149571e+02] [ 1.83799087e-01 9.82963832e-01 3.07442689e-05 3.33138382e+01] [ 2.15692135e-02 -4.06438008e-03 9.99759096e-01 7.36253102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.744391418 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:204.18, Y:33.33, Z:7.37 [[ 9.83315528e-01 -1.80558458e-01 -2.21181996e-02 2.04180243e+02] [ 1.80487704e-01 9.83563648e-01 -5.17101025e-03 3.33255534e+01] [ 2.26883267e-02 1.09267162e-03 9.99741990e-01 7.36541606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.774391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:204.21, Y:33.33, Z:7.37 [[ 9.83471601e-01 -1.79661595e-01 -2.24793395e-02 2.04214008e+02] [ 1.79601517e-01 9.83728312e-01 -4.68013214e-03 3.33329158e+01] [ 2.29544027e-02 5.65453576e-04 9.99736353e-01 7.36567624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.804391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:204.25, Y:33.34, Z:7.37 [[ 9.83792740e-01 -1.77837706e-01 -2.29258498e-02 2.04246778e+02] [ 1.77808806e-01 9.84059488e-01 -3.30933085e-03 3.33394508e+01] [ 2.31489238e-02 -8.20722315e-04 9.99731691e-01 7.36594965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.834391418 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:204.28, Y:33.34, Z:7.37 [[ 9.84120882e-01 -1.74935525e-01 -3.00608077e-02 2.04279953e+02] [ 1.75599679e-01 9.84236105e-01 2.10723282e-02 3.33371965e+01] [ 2.59006335e-02 -2.60163864e-02 9.99325925e-01 7.36703787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.864391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:204.31, Y:33.37, Z:7.38 [[ 9.84312112e-01 -1.75316471e-01 -1.98444160e-02 2.04306674e+02] [ 1.74727515e-01 9.84209781e-01 -2.83090720e-02 3.33673714e+01] [ 2.44941149e-02 2.43975969e-02 9.99402219e-01 7.37584173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.894391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:204.34, Y:33.36, Z:7.37 [[ 9.84423077e-01 -1.74239918e-01 -2.34873809e-02 2.04340520e+02] [ 1.74208934e-01 9.84702929e-01 -3.37465770e-03 3.33624768e+01] [ 2.37160929e-02 -7.69620692e-04 9.99718438e-01 7.36819670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.924391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:204.37, Y:33.37, Z:7.37 [[ 9.84484258e-01 -1.73870632e-01 -2.36590339e-02 2.04372510e+02] [ 1.73839268e-01 9.84768199e-01 -3.39176048e-03 3.33692829e+01] [ 2.38883917e-02 -7.73734335e-04 9.99714332e-01 7.36904346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.954391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:204.40, Y:33.38, Z:7.37 [[ 9.84583133e-01 -1.73306216e-01 -2.36856375e-02 2.04403309e+02] [ 1.73274764e-01 9.84867690e-01 -3.38947924e-03 3.33778712e+01] [ 2.39146369e-02 -7.66899151e-04 9.99713710e-01 7.37003344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.984391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:204.44, Y:33.38, Z:7.37 [[ 9.84617953e-01 -1.73104867e-01 -2.37105847e-02 2.04435996e+02] [ 1.73073435e-01 9.84903099e-01 -3.38703007e-03 3.33846642e+01] [ 2.39389397e-02 -7.68741728e-04 9.99713127e-01 7.37112541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.014391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:204.47, Y:33.39, Z:7.37 [[ 9.84628039e-01 -1.73051092e-01 -2.36842769e-02 2.04468668e+02] [ 1.73019890e-01 9.84912545e-01 -3.37594899e-03 3.33912506e+01] [ 2.39111531e-02 -7.73796944e-04 9.99713788e-01 7.37175036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.044391418 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:204.50, Y:33.40, Z:7.37 [[ 9.84643951e-01 -1.73025283e-01 -2.32064778e-02 2.04499585e+02] [ 1.72995480e-01 9.84917086e-01 -3.30100163e-03 3.33994183e+01] [ 2.34276133e-02 -7.64304493e-04 9.99725244e-01 7.37161430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.074391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:204.53, Y:33.41, Z:7.37 [[ 9.84684513e-01 -1.72772597e-01 -2.33675081e-02 2.04532507e+02] [ 1.72742470e-01 9.84961439e-01 -3.31701384e-03 3.34059086e+01] [ 2.35891835e-02 -7.70348914e-04 9.99721440e-01 7.37219611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.104391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:204.57, Y:33.41, Z:7.37 [[ 9.84790776e-01 -1.72180242e-01 -2.32613796e-02 2.04565413e+02] [ 1.72150388e-01 9.85065169e-01 -3.29496973e-03 3.34119852e+01] [ 2.34813035e-02 -7.59599719e-04 9.99723988e-01 7.37234852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.134391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:204.60, Y:33.42, Z:7.37 [[ 9.84934233e-01 -1.71322243e-01 -2.35211764e-02 2.04597282e+02] [ 1.71291646e-01 9.85214758e-01 -3.32450738e-03 3.34200841e+01] [ 2.37429722e-02 -7.54559893e-04 9.99717811e-01 7.37269423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.164391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:204.63, Y:33.43, Z:7.37 [[ 9.84999538e-01 -1.70911500e-01 -2.37732987e-02 2.04629396e+02] [ 1.70880307e-01 9.85286091e-01 -3.35252995e-03 3.34268811e+01] [ 2.39964865e-02 -7.60148124e-04 9.99711754e-01 7.37338439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.194391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:204.66, Y:33.43, Z:7.37 [[ 9.85145242e-01 -1.70050904e-01 -2.39069377e-02 2.04662093e+02] [ 1.70019294e-01 9.85434993e-01 -3.36358186e-03 3.34335286e+01] [ 2.41307132e-02 -7.51023999e-04 9.99708530e-01 7.37418726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.224391418 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:204.69, Y:33.44, Z:7.37 [[ 9.85273885e-01 -1.69241628e-01 -2.43442466e-02 2.04693684e+02] [ 1.69208794e-01 9.85574302e-01 -3.41736308e-03 3.34401030e+01] [ 2.45714240e-02 -7.52222021e-04 9.99697794e-01 7.37491851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.73, Y:33.45, Z:7.38 [[ 9.85537077e-01 -1.67682105e-01 -2.44822783e-02 2.04725554e+02] [ 1.67648608e-01 9.85840852e-01 -3.42901370e-03 3.34480614e+01] [ 2.47106143e-02 -7.24999745e-04 9.99694383e-01 7.37591477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.76, Y:33.45, Z:7.38 [[ 9.85731573e-01 -1.66605442e-01 -2.39977644e-02 2.04757908e+02] [ 1.66573126e-01 9.86023401e-01 -3.35345294e-03 3.34539825e+01] [ 2.42210608e-02 -6.91778192e-04 9.99706388e-01 7.37633571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.314391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:204.79, Y:33.46, Z:7.38 [[ 9.85884755e-01 -1.65739689e-01 -2.36982338e-02 2.04790443e+02] [ 1.65708108e-01 9.86169310e-01 -3.30393688e-03 3.34599969e+01] [ 2.39180644e-02 -6.69688487e-04 9.99713698e-01 7.37667590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34439141800001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:204.82, Y:33.47, Z:7.38 [[ 9.86094702e-01 -1.64515486e-01 -2.34924124e-02 2.04821825e+02] [ 1.64484279e-01 9.86374292e-01 -3.26785989e-03 3.34673547e+01] [ 2.37099252e-02 -6.41713181e-04 9.99718674e-01 7.37709024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37439141800002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:204.85, Y:33.47, Z:7.38 [[ 9.86109153e-01 -1.64361579e-01 -2.39585081e-02 2.04854218e+02] [ 1.64329259e-01 9.86399938e-01 -3.32513057e-03 3.34734312e+01] [ 2.41791946e-02 -6.58142196e-04 9.99707424e-01 7.37794606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40439141800002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:204.89, Y:33.48, Z:7.38 [[ 9.86106448e-01 -1.64389546e-01 -2.38778209e-02 2.04885553e+02] [ 1.64357629e-01 9.86395274e-01 -3.30654603e-03 3.34790179e+01] [ 2.40965313e-02 -6.63895672e-04 9.99709416e-01 7.37855606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.434391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:204.92, Y:33.49, Z:7.38 [[ 9.86012296e-01 -1.64979786e-01 -2.36943685e-02 2.04918309e+02] [ 1.64948700e-01 9.86296714e-01 -3.27393152e-03 3.34855773e+01] [ 2.39098103e-02 -6.80218558e-04 9.99713888e-01 7.37960633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.464391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:204.95, Y:33.49, Z:7.38 [[ 9.85852388e-01 -1.65990198e-01 -2.32878336e-02 2.04950967e+02] [ 1.65960621e-01 9.86127154e-01 -3.21058248e-03 3.34906108e+01] [ 2.34976903e-02 -6.99702902e-04 9.99723646e-01 7.37992018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.494391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:204.98, Y:33.49, Z:7.38 [[ 9.85667347e-01 -1.67118062e-01 -2.30528659e-02 2.04982628e+02] [ 1.67089521e-01 9.85936625e-01 -3.17240626e-03 3.34948268e+01] [ 2.32588312e-02 -7.24955053e-04 9.99729214e-01 7.38029804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.524391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:205.02, Y:33.50, Z:7.38 [[ 9.85248627e-01 -1.69549920e-01 -2.31941134e-02 2.05015079e+02] [ 1.69521837e-01 9.85521281e-01 -3.18605219e-03 3.34986315e+01] [ 2.33984872e-02 -7.92855158e-04 9.99725904e-01 7.38039613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.554391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:205.04, Y:33.51, Z:7.38 [[ 9.85032018e-01 -1.71391865e-01 -1.83508030e-02 2.05044938e+02] [ 1.71072264e-01 9.85098163e-01 -1.77732955e-02 3.35116535e+01] [ 2.11235406e-02 1.43679517e-02 9.99673626e-01 7.38149042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.584391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:205.08, Y:33.50, Z:7.38 [[ 9.85057126e-01 -1.70215662e-01 -2.62504778e-02 2.05080199e+02] [ 1.70570906e-01 9.85273185e-01 1.19296349e-02 3.35002009e+01] [ 2.38332812e-02 -1.62289396e-02 9.99584212e-01 7.37545583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.614391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:205.11, Y:33.51, Z:7.38 [[ 9.85192378e-01 -1.69616160e-01 -2.50267327e-02 2.05112064e+02] [ 1.69584018e-01 9.85509811e-01 -3.41664750e-03 3.35123066e+01] [ 2.52436093e-02 -8.78078826e-04 9.99680944e-01 7.38197161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.644391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:205.15, Y:33.52, Z:7.38 [[ 9.85394102e-01 -1.68456542e-01 -2.49169992e-02 2.05145060e+02] [ 1.68424510e-01 9.85708713e-01 -3.39376987e-03 3.35172786e+01] [ 2.51326059e-02 -8.52432543e-04 9.99683763e-01 7.38268969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.674391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:205.18, Y:33.54, Z:7.39 [[ 9.85854603e-01 -1.67020497e-01 -1.39590317e-02 2.05176765e+02] [ 1.66464833e-01 9.85447930e-01 -3.43778579e-02 3.35374786e+01] [ 1.94977058e-02 3.15678816e-02 9.99311417e-01 7.38587075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.704391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:205.21, Y:33.51, Z:7.37 [[ 9.85931868e-01 -1.64654066e-01 -2.87643730e-02 2.05210505e+02] [ 1.65482910e-01 9.85777521e-01 2.92931018e-02 3.35114942e+01] [ 2.35320440e-02 -3.36410147e-02 9.99156907e-01 7.37191500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.734391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:205.24, Y:33.53, Z:7.38 [[ 9.86817654e-01 -1.60110898e-01 -2.35673021e-02 2.05241444e+02] [ 1.60080164e-01 9.87098840e-01 -3.19717320e-03 3.35318516e+01] [ 2.37751588e-02 -6.17630629e-04 9.99717140e-01 7.38482123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.764391418 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:205.28, Y:33.54, Z:7.39 [[ 9.87160518e-01 -1.57987657e-01 -2.35374583e-02 2.05275534e+02] [ 1.57892825e-01 9.87438949e-01 -5.84615354e-03 3.35384578e+01] [ 2.41654232e-02 2.05469619e-03 9.99705862e-01 7.38629961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.794391418 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:205.30, Y:33.55, Z:7.39 [[ 9.88414386e-01 -1.49817130e-01 -2.43275495e-02 2.05304901e+02] [ 1.49669623e-01 9.88705412e-01 -7.78536744e-03 3.35451095e+01] [ 2.52191613e-02 4.05407401e-03 9.99673726e-01 7.38820271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.824391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:205.34, Y:33.55, Z:7.38 [[ 9.89017338e-01 -1.45864669e-01 -2.38369973e-02 2.05336917e+02] [ 1.46004909e-01 9.89274765e-01 4.24341016e-03 3.35450681e+01] [ 2.29623763e-02 -7.67712485e-03 9.99706853e-01 7.38410407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.854391418 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:205.37, Y:33.55, Z:7.39 [[ 9.89529630e-01 -1.42424132e-01 -2.33768582e-02 2.05369169e+02] [ 1.42389312e-01 9.89805700e-01 -3.15587296e-03 3.35536202e+01] [ 2.35880199e-02 -2.05784952e-04 9.99721743e-01 7.38785395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.884391418 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:205.40, Y:33.56, Z:7.39 [[ 9.89976188e-01 -1.39335762e-01 -2.30801418e-02 2.05401676e+02] [ 1.39301149e-01 9.90245185e-01 -3.10861609e-03 3.35585655e+01] [ 2.32881407e-02 -1.37634356e-04 9.99728785e-01 7.38833821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.914391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:205.43, Y:33.56, Z:7.39 [[ 9.90383136e-01 -1.36373419e-01 -2.33138150e-02 2.05433068e+02] [ 1.36337448e-01 9.90657501e-01 -3.13296996e-03 3.35626087e+01] [ 2.35232595e-02 -7.57054194e-05 9.99723287e-01 7.38887024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.944391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:205.47, Y:33.57, Z:7.39 [[ 9.90931977e-01 -1.32331045e-01 -2.32875893e-02 2.05466440e+02] [ 1.32294204e-01 9.91205576e-01 -3.12239698e-03 3.35664779e+01] [ 2.34959785e-02 1.32699196e-05 9.99723931e-01 7.38884745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.974391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:205.50, Y:33.57, Z:7.39 [[ 9.90950047e-01 -1.32195531e-01 -2.32883184e-02 2.05499716e+02] [ 1.32158781e-01 9.91223659e-01 -3.11695134e-03 3.35708112e+01] [ 2.34959792e-02 1.09873139e-05 9.99723931e-01 7.38928370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.004391418 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:205.53, Y:33.57, Z:7.39 [[ 9.91182903e-01 -1.30451367e-01 -2.32140990e-02 2.05531679e+02] [ 1.30414484e-01 9.91454708e-01 -3.10219439e-03 3.35745788e+01] [ 2.34204132e-02 4.73872853e-05 9.99725703e-01 7.38924156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.034391418 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:205.56, Y:33.58, Z:7.39 [[ 9.91380175e-01 -1.28823436e-01 -2.38719675e-02 2.05564322e+02] [ 1.28728469e-01 9.91664740e-01 -5.47955160e-03 3.35793289e+01] [ 2.43788831e-02 2.35931701e-03 9.99700007e-01 7.39065401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:205.60, Y:33.58, Z:7.39 [[ 9.91528301e-01 -1.27626603e-01 -2.41470353e-02 2.05596660e+02] [ 1.27642633e-01 9.91819832e-01 -8.82629462e-04 3.35812390e+01] [ 2.40621555e-02 -2.20703908e-03 9.99708028e-01 7.38932163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09439141800001 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:205.63, Y:33.59, Z:7.39 [[ 9.91554957e-01 -1.27469259e-01 -2.38821017e-02 2.05629295e+02] [ 1.27429837e-01 9.91842517e-01 -3.17156681e-03 3.35865736e+01] [ 2.40915612e-02 1.01490467e-04 9.99709751e-01 7.39069564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12439141800002 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:205.66, Y:33.59, Z:7.39 [[ 9.91573190e-01 -1.27288881e-01 -2.40862816e-02 2.05661846e+02] [ 1.27248916e-01 9.91865682e-01 -3.19097310e-03 3.35900924e+01] [ 2.42965315e-02 9.91301448e-05 9.99704791e-01 7.39140915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15439141800002 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:205.69, Y:33.59, Z:7.39 [[ 9.91396508e-01 -1.28707649e-01 -2.38181621e-02 2.05694404e+02] [ 1.28669157e-01 9.91682579e-01 -3.14804046e-03 3.35921559e+01] [ 2.40252333e-02 5.62934723e-05 9.99711351e-01 7.39115489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.184391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:205.73, Y:33.60, Z:7.39 [[ 9.91283185e-01 -1.29646125e-01 -2.34420301e-02 2.05727463e+02] [ 1.29609271e-01 9.91560327e-01 -3.09118063e-03 3.35951723e+01] [ 2.36449466e-02 2.59309569e-05 9.99720419e-01 7.39116561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.214391418 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:205.76, Y:33.60, Z:7.39 [[ 9.91146834e-01 -1.30685127e-01 -2.34382312e-02 2.05760865e+02] [ 1.30648751e-01 9.91423924e-01 -3.08321786e-03 3.35979271e+01] [ 2.36401538e-02 -6.25401587e-06 9.99720532e-01 7.39171240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.244391418 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:205.79, Y:33.60, Z:7.39 [[ 9.90958346e-01 -1.32133092e-01 -2.32895327e-02 2.05793374e+02] [ 1.32097747e-01 9.91231983e-01 -3.05642953e-03 3.36005770e+01] [ 2.34891852e-02 -4.77004350e-05 9.99724090e-01 7.39197654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.274391418 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:205.83, Y:33.60, Z:7.39 [[ 9.90681787e-01 -1.34216636e-01 -2.31407000e-02 2.05825099e+02] [ 1.34182469e-01 9.90952009e-01 -3.03005236e-03 3.36033303e+01] [ 2.33380066e-02 -1.03258569e-04 9.99727626e-01 7.39238721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.304391418 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:205.86, Y:33.60, Z:7.39 [[ 9.90009207e-01 -1.39204676e-01 -2.24460987e-02 2.05857928e+02] [ 1.39173963e-01 9.90263606e-01 -2.93237251e-03 3.36048874e+01] [ 2.26357546e-02 -2.20836722e-04 9.99743754e-01 7.39275456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.334391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:205.89, Y:33.60, Z:7.39 [[ 9.89049964e-01 -1.44036669e-01 -3.21497667e-02 2.05885689e+02] [ 1.44912976e-01 9.89080838e-01 2.68202441e-02 3.35976322e+01] [ 2.79356196e-02 -3.11854798e-02 9.99123149e-01 7.39083778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.364391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:205.92, Y:33.62, Z:7.40 [[ 9.89280943e-01 -1.44900423e-01 -1.80854394e-02 2.05920317e+02] [ 1.44227174e-01 9.88953349e-01 -3.42022698e-02 3.36237792e+01] [ 2.28415792e-02 3.12272419e-02 9.99251281e-01 7.40481203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.394391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:205.96, Y:33.61, Z:7.39 [[ 9.88308371e-01 -1.50762689e-01 -2.27414959e-02 2.05955528e+02] [ 1.50734709e-01 9.88569850e-01 -2.94938813e-03 3.36095086e+01] [ 2.29262149e-02 -5.13027797e-04 9.99737028e-01 7.39250009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.424391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:205.99, Y:33.61, Z:7.39 [[ 9.87818055e-01 -1.53877273e-01 -2.31791836e-02 2.05987489e+02] [ 1.53849211e-01 9.88089784e-01 -2.99982783e-03 3.36114504e+01] [ 2.33647198e-02 -6.02815014e-04 9.99726826e-01 7.39293384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.454391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:206.02, Y:33.62, Z:7.40 [[ 9.87481733e-01 -1.55887678e-01 -2.40594796e-02 2.06018025e+02] [ 1.55689984e-01 9.87756418e-01 -9.89381762e-03 3.36165291e+01] [ 2.53072296e-02 6.02414419e-03 9.99661570e-01 7.39591835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.484391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:206.05, Y:33.61, Z:7.39 [[ 9.86312165e-01 -1.63212389e-01 -2.34527082e-02 2.06053231e+02] [ 1.63336362e-01 9.86564378e-01 3.45851765e-03 3.36118449e+01] [ 2.25731335e-02 -7.24185806e-03 9.99718965e-01 7.39198789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.514391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:206.08, Y:33.62, Z:7.40 [[ 9.85848848e-01 -1.66153227e-01 -2.22520631e-02 2.06084952e+02] [ 1.66130922e-01 9.86099557e-01 -2.86021314e-03 3.36174964e+01] [ 2.24179832e-02 -8.77017923e-04 9.99748301e-01 7.39530056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.544391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:206.12, Y:33.62, Z:7.40 [[ 9.85475597e-01 -1.68407504e-01 -2.18348315e-02 2.06117890e+02] [ 1.68386698e-01 9.85717035e-01 -2.80120004e-03 3.36203116e+01] [ 2.19947085e-02 -9.16180905e-04 9.99757667e-01 7.39574148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.574391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:206.15, Y:33.62, Z:7.40 [[ 9.84567133e-01 -1.72884488e-01 -2.71756128e-02 2.06148105e+02] [ 1.73267012e-01 9.84796856e-01 1.23973521e-02 3.36186820e+01] [ 2.46191482e-02 -1.69146627e-02 9.99553796e-01 7.39638853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.604391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:206.18, Y:33.63, Z:7.40 [[ 9.84458076e-01 -1.74442800e-01 -2.02979558e-02 2.06180449e+02] [ 1.74070287e-01 9.84552288e-01 -1.88766416e-02 3.36322096e+01] [ 2.32772930e-02 1.50499912e-02 9.99615759e-01 7.40279876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.634391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:206.21, Y:33.63, Z:7.40 [[ 9.84237738e-01 -1.75369055e-01 -2.28422826e-02 2.06214095e+02] [ 1.75348543e-01 9.84502108e-01 -2.91351549e-03 3.36278523e+01] [ 2.29992158e-02 -1.13776908e-03 9.99734836e-01 7.39730030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.664391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:206.25, Y:33.63, Z:7.40 [[ 9.84035067e-01 -1.76409015e-01 -2.35551876e-02 2.06247264e+02] [ 1.76387682e-01 9.84316212e-01 -2.99673414e-03 3.36309337e+01] [ 2.37144040e-02 -1.20595346e-03 9.99718047e-01 7.39762361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.694391418 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:206.28, Y:33.63, Z:7.40 [[ 9.83851392e-01 -1.77336869e-01 -2.42502071e-02 2.06279964e+02] [ 1.77314735e-01 9.84149387e-01 -3.07716390e-03 3.36332068e+01] [ 2.44115211e-02 -1.27244704e-03 9.99701185e-01 7.39779387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.724391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:206.31, Y:33.64, Z:7.40 [[ 9.83902743e-01 -1.76961358e-01 -2.49012245e-02 2.06312086e+02] [ 1.76938101e-01 9.84216935e-01 -3.15175862e-03 3.36368783e+01] [ 2.50659464e-02 -1.30495144e-03 9.99684948e-01 7.39838011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.754391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:206.34, Y:33.64, Z:7.40 [[ 9.84010167e-01 -1.76305672e-01 -2.53041551e-02 2.06344678e+02] [ 1.76281643e-01 9.84334585e-01 -3.19478729e-03 3.36407626e+01] [ 2.54710141e-02 -1.31695486e-03 9.99674694e-01 7.39899662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.784391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:206.38, Y:33.64, Z:7.40 [[ 9.84244914e-01 -1.74980081e-01 -2.53755754e-02 2.06377354e+02] [ 1.74955687e-01 9.84571123e-01 -3.19558464e-03 3.36449047e+01] [ 2.55432224e-02 -1.29436328e-03 9.99672881e-01 7.39953042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.814391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:206.41, Y:33.65, Z:7.40 [[ 9.84962628e-01 -1.70767188e-01 -2.62142932e-02 2.06409297e+02] [ 1.70739887e-01 9.85310636e-01 -3.29280084e-03 3.36499811e+01] [ 2.63915242e-02 -1.23253968e-03 9.99650923e-01 7.40084411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84439141800001 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:206.44, Y:33.65, Z:7.40 [[ 9.85506011e-01 -1.67610326e-01 -2.61664095e-02 2.06441698e+02] [ 1.67582230e-01 9.85852650e-01 -3.27861355e-03 3.36547758e+01] [ 2.63457536e-02 -1.15393188e-03 9.99652224e-01 7.40148825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87439141800002 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:206.47, Y:33.66, Z:7.40 [[ 9.86094177e-01 -1.64130067e-01 -2.60690525e-02 2.06474253e+02] [ 1.64101183e-01 9.86438131e-01 -3.25809854e-03 3.36596594e+01] [ 2.62502594e-02 -1.06517036e-03 9.99654835e-01 7.40235818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90439141800002 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:206.51, Y:33.67, Z:7.40 [[ 9.87376303e-01 -1.56308195e-01 -2.56082969e-02 2.06506833e+02] [ 1.56277900e-01 9.87707966e-01 -3.19246214e-03 3.36658493e+01] [ 2.57925269e-02 -8.49849410e-04 9.99666956e-01 7.40340374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.934391418 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:206.54, Y:33.67, Z:7.40 [[ 9.88025073e-01 -1.52232541e-01 -2.51338072e-02 2.06538350e+02] [ 1.52202203e-01 9.88344430e-01 -3.12693184e-03 3.36712290e+01] [ 2.53168792e-02 -7.35933756e-04 9.99679206e-01 7.40397277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.964391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:206.57, Y:33.68, Z:7.40 [[ 9.89232300e-01 -1.44241906e-01 -2.47735517e-02 2.06569414e+02] [ 1.44210073e-01 9.89542314e-01 -3.07616661e-03 3.36781887e+01] [ 2.49581899e-02 -5.29552336e-04 9.99688356e-01 7.40499010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.994391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:206.60, Y:33.68, Z:7.41 [[ 9.89835283e-01 -1.40053819e-01 -2.47192332e-02 2.06601734e+02] [ 1.40021004e-01 9.90143799e-01 -3.06198871e-03 3.36833857e+01] [ 2.49044387e-02 -4.30347386e-04 9.99689744e-01 7.40539860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.024391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:206.63, Y:33.69, Z:7.41 [[ 9.90340735e-01 -1.36385457e-01 -2.49847068e-02 2.06633777e+02] [ 1.36350957e-01 9.90655785e-01 -3.08727823e-03 3.36886231e+01] [ 2.51723042e-02 -3.49231299e-04 9.99683066e-01 7.40591077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.054391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:206.67, Y:33.69, Z:7.41 [[ 9.91191764e-01 -1.30003240e-01 -2.52595603e-02 2.06666583e+02] [ 1.29966035e-01 9.91513550e-01 -3.11604627e-03 3.36943234e+01] [ 2.54502924e-02 -1.94285511e-04 9.99676070e-01 7.40625039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.084391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:206.70, Y:33.70, Z:7.41 [[ 9.91606009e-01 -1.26821063e-01 -2.51781815e-02 2.06699514e+02] [ 1.26783208e-01 9.91925604e-01 -3.10064009e-03 3.36988797e+01] [ 2.53681094e-02 -1.17557283e-04 9.99678171e-01 7.40649979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.114391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:206.73, Y:33.70, Z:7.41 [[ 9.91956773e-01 -1.23968509e-01 -2.55649897e-02 2.06731462e+02] [ 1.23928736e-01 9.92286151e-01 -3.14047409e-03 3.37032570e+01] [ 2.57571052e-02 -5.30223109e-05 9.99668229e-01 7.40715992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.144391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:206.76, Y:33.71, Z:7.41 [[ 9.92291078e-01 -1.21284698e-01 -2.54644697e-02 2.06763238e+02] [ 1.21244540e-01 9.92617762e-01 -3.12082637e-03 3.37074484e+01] [ 2.56549934e-02 9.34024770e-06 9.99670856e-01 7.40736192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.174391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:206.80, Y:33.71, Z:7.41 [[ 9.92900036e-01 -1.16134203e-01 -2.57364591e-02 2.06795662e+02] [ 1.16091652e-01 9.93233522e-01 -3.14642767e-03 3.37119612e+01] [ 2.59277218e-02 1.36300096e-04 9.99663811e-01 7.40797070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.204391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:206.83, Y:33.72, Z:7.41 [[ 9.93229597e-01 -1.13277738e-01 -2.57511472e-02 2.06827983e+02] [ 1.13234381e-01 9.93563341e-01 -3.14040350e-03 3.37159387e+01] [ 2.59411337e-02 2.03226480e-04 9.99663452e-01 7.40842660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.234391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:206.86, Y:33.72, Z:7.41 [[ 9.93562405e-01 -1.10368692e-01 -2.55440817e-02 2.06859962e+02] [ 1.10325257e-01 9.93890678e-01 -3.10783391e-03 3.37196603e+01] [ 2.57310322e-02 2.69669551e-04 9.99668866e-01 7.40902259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.264391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:206.89, Y:33.72, Z:7.41 [[ 9.93841584e-01 -1.07960338e-01 -2.49693902e-02 2.06892991e+02] [ 1.07918201e-01 9.94155151e-01 -3.03292772e-03 3.37232317e+01] [ 2.51508838e-02 3.19598020e-04 9.99683615e-01 7.40934168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.294391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:206.92, Y:33.73, Z:7.41 [[ 9.94328801e-01 -1.03460659e-01 -2.46196640e-02 2.06924599e+02] [ 1.03418439e-01 9.94633457e-01 -2.98544784e-03 3.37253695e+01] [ 2.47964179e-02 4.22389546e-04 9.99692432e-01 7.40972812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.324391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:206.96, Y:33.73, Z:7.41 [[ 9.94513944e-01 -1.01728162e-01 -2.43597246e-02 2.06957645e+02] [ 1.01686435e-01 9.94812130e-01 -2.94881678e-03 3.37285867e+01] [ 2.45333272e-02 4.55585856e-04 9.99698909e-01 7.40999917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.354391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:206.99, Y:33.73, Z:7.41 [[ 9.94785796e-01 -9.89990094e-02 -2.45033973e-02 2.06986514e+02] [ 9.89423375e-02 9.95086952e-01 -3.51749065e-03 3.37301816e+01] [ 2.47312390e-02 1.07472634e-03 9.99693558e-01 7.41029967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.384391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:207.02, Y:33.73, Z:7.41 [[ 9.94518009e-01 -1.01575409e-01 -2.48267350e-02 2.07021473e+02] [ 1.01541340e-01 9.94827838e-01 -2.63235552e-03 3.37330394e+01] [ 2.49657097e-02 9.69850249e-05 9.99688303e-01 7.41008316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.414391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:207.05, Y:33.74, Z:7.41 [[ 9.94528674e-01 -1.01456401e-01 -2.48860302e-02 2.07052620e+02] [ 1.01390683e-01 9.94839074e-01 -3.89176722e-03 3.37351138e+01] [ 2.51524400e-02 1.34726250e-03 9.99682719e-01 7.41050787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.444391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:207.09, Y:33.74, Z:7.41 [[ 9.94191868e-01 -1.04641945e-01 -2.51514000e-02 2.07086495e+02] [ 1.04617394e-01 9.94509900e-01 -2.29363041e-03 3.37366039e+01] [ 2.52533262e-02 -3.50965206e-04 9.99681022e-01 7.41013713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.474391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:207.12, Y:33.74, Z:7.41 [[ 9.93621128e-01 -1.10036196e-01 -2.46797399e-02 2.07119851e+02] [ 1.09996245e-01 9.93927551e-01 -2.97469000e-03 3.37362220e+01] [ 2.48571970e-02 2.41036122e-04 9.99690983e-01 7.41076177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.504391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:207.15, Y:33.74, Z:7.41 [[ 9.93312334e-01 -1.12841840e-01 -2.44402719e-02 2.07152176e+02] [ 1.12803602e-01 9.93612949e-01 -2.94202217e-03 3.37375556e+01] [ 2.46161538e-02 1.65396194e-04 9.99696963e-01 7.41122846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.534391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:207.19, Y:33.74, Z:7.41 [[ 9.92985467e-01 -1.15781444e-01 -2.39691269e-02 2.07185600e+02] [ 1.15745614e-01 9.93274710e-01 -2.88153369e-03 3.37389618e+01] [ 2.41415557e-02 8.69997706e-05 9.99708546e-01 7.41153255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:207.22, Y:33.74, Z:7.41 [[ 9.92866672e-01 -1.16961503e-01 -2.31468837e-02 2.07216405e+02] [ 1.17010042e-01 9.93130449e-01 7.49184274e-04 3.37380914e+01] [ 2.29002492e-02 -3.45225794e-03 9.99731794e-01 7.41041687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59439141800001 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:207.25, Y:33.74, Z:7.41 [[ 9.91983592e-01 -1.24310525e-01 -2.27034449e-02 2.07250819e+02] [ 1.24195376e-01 9.92237022e-01 -6.41882506e-03 3.37403552e+01] [ 2.33251261e-02 3.54770626e-03 9.99721637e-01 7.41286400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62439141800002 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:207.28, Y:33.74, Z:7.41 [[ 9.91643649e-01 -1.27009889e-01 -2.26133189e-02 2.07283829e+02] [ 1.26981183e-01 9.91901433e-01 -2.70666341e-03 3.37396782e+01] [ 2.27739565e-02 -1.87420419e-04 9.99740622e-01 7.41165228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65439141800002 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:207.32, Y:33.74, Z:7.41 [[ 9.91342293e-01 -1.29418480e-01 -2.21656421e-02 2.07317179e+02] [ 1.29391560e-01 9.91590036e-01 -2.65045489e-03 3.37405537e+01] [ 2.23222477e-02 -2.40538991e-04 9.99750799e-01 7.41157124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.684391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:207.35, Y:33.74, Z:7.41 [[ 9.90853309e-01 -1.33196975e-01 -2.16399324e-02 2.07350817e+02] [ 1.33172273e-01 9.91089533e-01 -2.58502142e-03 3.37385312e+01] [ 2.17914276e-02 -3.20461973e-04 9.99762487e-01 7.41127669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.714391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:207.38, Y:33.74, Z:7.41 [[ 9.90684673e-01 -1.34472499e-01 -2.14715009e-02 2.07382672e+02] [ 1.34448570e-01 9.90917264e-01 -2.56073104e-03 3.37398030e+01] [ 2.16208288e-02 -3.49935607e-04 9.99766181e-01 7.41146444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.744391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:207.42, Y:33.74, Z:7.41 [[ 9.90546260e-01 -1.35466148e-01 -2.16108680e-02 2.07415650e+02] [ 1.35442290e-01 9.90781902e-01 -2.57061384e-03 3.37413614e+01] [ 2.17598881e-02 -3.80713539e-04 9.99763153e-01 7.41159162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.774391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:207.45, Y:33.74, Z:7.41 [[ 9.89965635e-01 -1.38774414e-01 -2.66402678e-02 2.07445789e+02] [ 1.39140588e-01 9.90194833e-01 1.24132973e-02 3.37388885e+01] [ 2.46564075e-02 -1.59954803e-02 9.99568010e-01 7.41253363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.804391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:207.48, Y:33.75, Z:7.42 [[ 9.90297055e-01 -1.37372229e-01 -2.09908127e-02 2.07479471e+02] [ 1.36966562e-01 9.90380118e-01 -1.96820179e-02 3.37502716e+01] [ 2.34926463e-02 1.66160049e-02 9.99585916e-01 7.41831505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.834391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:207.51, Y:33.75, Z:7.41 [[ 9.90294725e-01 -1.37059270e-01 -2.30459350e-02 2.07513806e+02] [ 1.37034686e-01 9.90562705e-01 -2.65011804e-03 3.37462749e+01] [ 2.31916670e-02 -5.33694561e-04 9.99730895e-01 7.41332703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.864391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:207.55, Y:33.75, Z:7.41 [[ 9.90315124e-01 -1.36947679e-01 -2.28317503e-02 2.07545912e+02] [ 1.36963046e-01 9.90575752e-01 -8.96726425e-04 3.37470561e+01] [ 2.27393828e-02 -2.23906433e-03 9.99738919e-01 7.41289527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.894391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:207.58, Y:33.75, Z:7.41 [[ 9.89993070e-01 -1.38467026e-01 -2.72140555e-02 2.07576519e+02] [ 1.38751597e-01 9.90287641e-01 8.85333377e-03 3.37464981e+01] [ 2.57238481e-02 -1.25407328e-02 9.99590423e-01 7.41443761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.924391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:207.61, Y:33.75, Z:7.42 [[ 9.90688891e-01 -1.34348569e-01 -2.20450375e-02 2.07608813e+02] [ 1.34040218e-01 9.90863547e-01 -1.49214679e-02 3.37545982e+01] [ 2.38483019e-02 1.18276109e-02 9.99645620e-01 7.41761402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.954391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:207.64, Y:33.74, Z:7.42 [[ 9.90332769e-01 -1.35295453e-01 -3.05965303e-02 2.07638918e+02] [ 1.35869295e-01 9.90571911e-01 1.75163668e-02 3.37447880e+01] [ 2.79381787e-02 -2.15041610e-02 9.99378321e-01 7.41535526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.984391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:207.67, Y:33.76, Z:7.42 [[ 9.91216219e-01 -1.30612133e-01 -2.07576175e-02 2.07672866e+02] [ 1.30123530e-01 9.91222327e-01 -2.33701750e-02 3.37624877e+01] [ 2.36278423e-02 2.04638420e-02 9.99511359e-01 7.42106221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.014391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:207.71, Y:33.75, Z:7.42 [[ 9.91660751e-01 -1.26746170e-01 -2.33315935e-02 2.07707447e+02] [ 1.26716957e-01 9.91935153e-01 -2.73228365e-03 3.37534909e+01] [ 2.34897342e-02 -2.47010065e-04 9.99724048e-01 7.41532237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.044391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:207.74, Y:33.76, Z:7.42 [[ 9.91955725e-01 -1.24455581e-01 -2.31224607e-02 2.07739872e+02] [ 1.24426378e-01 9.92225161e-01 -2.70304900e-03 3.37553475e+01] [ 2.32790968e-02 -1.95739091e-04 9.99728986e-01 7.41581346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.074391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:207.77, Y:33.75, Z:7.42 [[ 9.91847356e-01 -1.23589616e-01 -3.10552746e-02 2.07768049e+02] [ 1.24183430e-01 9.92096474e-01 1.79739084e-02 3.37502315e+01] [ 2.85884400e-02 -2.16839240e-02 9.99356047e-01 7.41790736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.104391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:207.80, Y:33.77, Z:7.43 [[ 9.92811168e-01 -1.17759294e-01 -2.14180557e-02 2.07800653e+02] [ 1.17169181e-01 9.92745120e-01 -2.69909079e-02 3.37682267e+01] [ 2.44411006e-02 2.42873387e-02 9.99406203e-01 7.42502561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.134391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:207.83, Y:33.74, Z:7.42 [[ 9.92060559e-01 -1.20550619e-01 -3.58245232e-02 2.07832210e+02] [ 1.21957170e-01 9.91725930e-01 4.00765411e-02 3.37439391e+01] [ 3.06968568e-02 -4.41274132e-02 9.98554192e-01 7.41643365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.164391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:207.87, Y:33.78, Z:7.43 [[ 9.93221699e-01 -1.15028346e-01 -1.67073598e-02 2.07865570e+02] [ 1.14162612e-01 9.92404081e-01 -4.58370797e-02 3.37801595e+01] [ 2.18530155e-02 4.36190264e-02 9.98809204e-01 7.42956287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.194391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:207.90, Y:33.76, Z:7.42 [[ 9.93248510e-01 -1.13883323e-01 -2.20903970e-02 2.07901293e+02] [ 1.13855021e-01 9.93494131e-01 -2.53879463e-03 3.37595557e+01] [ 2.22358062e-02 6.55137361e-06 9.99752754e-01 7.41722882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.224391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:207.93, Y:33.74, Z:7.42 [[ 9.91905802e-01 -1.20357497e-01 -4.04592794e-02 2.07926409e+02] [ 1.22532995e-01 9.90857564e-01 5.64531074e-02 3.37398064e+01] [ 3.32948283e-02 -6.09537615e-02 9.97585131e-01 7.41646337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.254391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:207.96, Y:33.77, Z:7.43 [[ 9.92246152e-01 -1.20667832e-01 -2.97799987e-02 2.07956860e+02] [ 1.20159841e-01 9.92585835e-01 -1.83022680e-02 3.37732066e+01] [ 3.17676999e-02 1.45819951e-02 9.99388903e-01 7.43449073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.284391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:207.99, Y:33.77, Z:7.43 [[ 9.92846215e-01 -1.17414815e-01 -2.16830261e-02 2.07991949e+02] [ 1.16877525e-01 9.92842120e-01 -2.45798416e-02 3.37706767e+01] [ 2.44138592e-02 2.18697443e-02 9.99462695e-01 7.43091027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.314391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:208.03, Y:33.77, Z:7.42 [[ 9.92929637e-01 -1.17490001e-01 -1.69362528e-02 2.08026040e+02] [ 1.17026669e-01 9.92784286e-01 -2.61556829e-02 3.37709060e+01] [ 1.98870768e-02 2.39887594e-02 9.99514404e-01 7.42408421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34439141800001 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:208.05, Y:33.74, Z:7.42 [[ 9.91532393e-01 -1.24516443e-01 -3.68669125e-02 2.08052886e+02] [ 1.26424626e-01 9.90452010e-01 5.49693589e-02 3.37411729e+01] [ 2.96703186e-02 -5.91647856e-02 9.97807196e-01 7.41724146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37439141800002 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:208.09, Y:33.79, Z:7.43 [[ 9.92778418e-01 -1.19345481e-01 -1.21519324e-02 2.08087943e+02] [ 1.18389560e-01 9.91071361e-01 -6.13308245e-02 3.37889510e+01] [ 1.93629889e-02 5.94492569e-02 9.98043516e-01 7.43459010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40439141800002 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:208.12, Y:33.76, Z:7.42 [[ 9.92502401e-01 -1.20876774e-01 -1.81049471e-02 2.08124727e+02] [ 1.20859382e-01 9.92667509e-01 -2.05573829e-03 3.37608890e+01] [ 1.82206838e-02 -1.47827535e-04 9.99833979e-01 7.41805690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.434391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:208.16, Y:33.76, Z:7.42 [[ 9.92404431e-01 -1.21735705e-01 -1.77161914e-02 2.08157837e+02] [ 1.21719227e-01 9.92562538e-01 -2.00946136e-03 3.37619997e+01] [ 1.78290511e-02 -1.62202767e-04 9.99841037e-01 7.41822320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.464391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:208.19, Y:33.76, Z:7.42 [[ 9.92301303e-01 -1.22628167e-01 -1.73336627e-02 2.08191303e+02] [ 1.22612565e-01 9.92452670e-01 -1.96399035e-03 3.37632121e+01] [ 1.74436804e-02 -1.76454659e-04 9.99847832e-01 7.41847742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.494391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:208.22, Y:33.76, Z:7.42 [[ 9.92238549e-01 -1.23190485e-01 -1.69341940e-02 2.08224162e+02] [ 1.23175711e-01 9.92383026e-01 -1.91670027e-03 3.37645215e+01] [ 1.70413260e-02 -1.84057500e-04 9.99854769e-01 7.41875173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.524391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:208.26, Y:33.76, Z:7.42 [[ 9.92082230e-01 -1.24521842e-01 -1.63450269e-02 2.08256582e+02] [ 1.24508288e-01 9.92216846e-01 -1.84822844e-03 3.37640347e+01] [ 1.64479559e-02 -2.01496731e-04 9.99864703e-01 7.41846113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.554391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:208.29, Y:33.77, Z:7.42 [[ 9.92028986e-01 -1.25013498e-01 -1.58150770e-02 2.08289010e+02] [ 1.25000896e-01 9.92155020e-01 -1.78675931e-03 3.37655079e+01] [ 1.59143771e-02 -2.04381779e-04 9.99873337e-01 7.41840308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.584391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:208.32, Y:33.77, Z:7.42 [[ 9.91990853e-01 -1.25341590e-01 -1.56087459e-02 2.08322551e+02] [ 1.25329382e-01 9.92113624e-01 -1.76175844e-03 3.37671692e+01] [ 1.57064710e-02 -2.08586210e-04 9.99876624e-01 7.41851644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.614391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:208.35, Y:33.77, Z:7.42 [[ 9.91945883e-01 -1.25722510e-01 -1.54018293e-02 2.08354380e+02] [ 1.25710696e-01 9.92065424e-01 -1.73666272e-03 3.37667817e+01] [ 1.54979599e-02 -2.13499245e-04 9.99879877e-01 7.41804946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.644391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:208.39, Y:33.77, Z:7.42 [[ 9.91924117e-01 -1.25877463e-01 -1.55374185e-02 2.08387841e+02] [ 1.25865486e-01 9.92045773e-01 -1.75021809e-03 3.37688054e+01] [ 1.56341434e-02 -2.19541210e-04 9.99877755e-01 7.41848914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.674391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:208.42, Y:33.77, Z:7.42 [[ 9.91963456e-01 -1.25551578e-01 -1.56621660e-02 2.08420270e+02] [ 1.25539407e-01 9.92087069e-01 -1.76178714e-03 3.37707725e+01] [ 1.57594276e-02 -2.18590575e-04 9.99875789e-01 7.41853673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.704391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:208.45, Y:33.77, Z:7.42 [[ 9.91983418e-01 -1.25313225e-01 -1.62939917e-02 2.08453432e+02] [ 1.25300065e-01 9.92117203e-01 -1.83006467e-03 3.37730369e+01] [ 1.63948808e-02 -2.26244419e-04 9.99865569e-01 7.41852046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.734391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:208.49, Y:33.77, Z:7.42 [[ 9.91985536e-01 -1.25107798e-01 -1.76843400e-02 2.08485811e+02] [ 1.25092301e-01 9.92143124e-01 -1.98415104e-03 3.37739580e+01] [ 1.77936291e-02 -2.43925652e-04 9.99841651e-01 7.41799013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.764391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:208.52, Y:33.78, Z:7.42 [[ 9.92009127e-01 -1.24962512e-01 -1.73857053e-02 2.08518691e+02] [ 1.24947546e-01 9.92161435e-01 -1.94871584e-03 3.37761592e+01] [ 1.74929428e-02 -2.39157313e-04 9.99846958e-01 7.41768117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.794391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:208.55, Y:33.78, Z:7.42 [[ 9.91994748e-01 -1.25085316e-01 -1.73229285e-02 2.08550627e+02] [ 1.25070510e-01 9.92145959e-01 -1.93972843e-03 3.37783923e+01] [ 1.74295050e-02 -2.42387089e-04 9.99848065e-01 7.41780593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.824391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:208.58, Y:33.78, Z:7.42 [[ 9.91939790e-01 -1.25655903e-01 -1.63109591e-02 2.08583927e+02] [ 1.25642887e-01 9.92073856e-01 -1.82441880e-03 3.37801278e+01] [ 1.64109251e-02 -2.39642390e-04 9.99865303e-01 7.41764146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.854391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:208.62, Y:33.78, Z:7.42 [[ 9.91913963e-01 -1.25893555e-01 -1.60469101e-02 2.08615632e+02] [ 1.25881022e-01 9.92043726e-01 -1.79273845e-03 3.37828826e+01] [ 1.61449307e-02 -2.41759135e-04 9.99869633e-01 7.41756592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.884391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:208.65, Y:33.79, Z:7.42 [[ 9.91855460e-01 -1.26340563e-01 -1.61495451e-02 2.08647260e+02] [ 1.26327968e-01 9.91986894e-01 -1.80175250e-03 3.37858292e+01] [ 1.62477716e-02 -2.53061175e-04 9.99867964e-01 7.41803495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.914391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:208.68, Y:33.79, Z:7.42 [[ 9.91714671e-01 -1.27436523e-01 -1.61846815e-02 2.08679334e+02] [ 1.27424061e-01 9.91846690e-01 -1.80309949e-03 3.37880348e+01] [ 1.62825035e-02 -2.74157626e-04 9.99867394e-01 7.41767546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.944391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:208.71, Y:33.79, Z:7.42 [[ 9.91619055e-01 -1.28208661e-01 -1.59432949e-02 2.08711060e+02] [ 1.28196693e-01 9.91747175e-01 -1.77470193e-03 3.37908826e+01] [ 1.60392498e-02 -2.84049425e-04 9.99871323e-01 7.41788203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.974391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:208.74, Y:33.79, Z:7.42 [[ 9.91556177e-01 -1.28695724e-01 -1.59298001e-02 2.08743642e+02] [ 1.28683865e-01 9.91684085e-01 -1.77153098e-03 3.37931890e+01] [ 1.60253177e-02 -2.93335747e-04 9.99871543e-01 7.41868248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.004391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:208.78, Y:33.80, Z:7.42 [[ 9.91375659e-01 -1.30223932e-01 -1.46979702e-02 2.08775183e+02] [ 1.30214029e-01 9.91484564e-01 -1.63280737e-03 3.37959914e+01] [ 1.47854412e-02 -2.95156447e-04 9.99890646e-01 7.41799586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.034391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:208.81, Y:33.80, Z:7.42 [[ 9.91181037e-01 -1.31784888e-01 -1.38886716e-02 2.08808509e+02] [ 1.31776221e-01 9.91278292e-01 -1.54136115e-03 3.37986332e+01] [ 1.39706668e-02 -3.02428725e-04 9.99902360e-01 7.41826524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.064391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:208.84, Y:33.80, Z:7.42 [[ 9.90673876e-01 -1.35667917e-01 -1.26288692e-02 2.08840904e+02] [ 1.35661084e-01 9.90754314e-01 -1.40017533e-03 3.38003367e+01] [ 1.27020655e-02 -3.26128953e-04 9.99919272e-01 7.41852710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09439141800001 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:208.87, Y:33.80, Z:7.42 [[ 9.90371227e-01 -1.37891349e-01 -1.22803867e-02 2.08873763e+02] [ 1.37885075e-01 9.90447301e-01 -1.36024409e-03 3.38031242e+01] [ 1.23506418e-02 -3.46135429e-04 9.99923668e-01 7.41879695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12439141800002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:208.91, Y:33.81, Z:7.42 [[ 9.90115530e-01 -1.39724253e-01 -1.21807196e-02 2.08906135e+02] [ 1.39718239e-01 9.90190385e-01 -1.34745732e-03 3.38058350e+01] [ 1.22495039e-02 -3.67730277e-04 9.99924904e-01 7.41873626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15439141800002 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:208.94, Y:33.79, Z:7.42 [[ 9.89318949e-01 -1.43746442e-01 -2.41863174e-02 2.08939000e+02] [ 1.44491631e-01 9.88970422e-01 3.25526298e-02 3.37929646e+01] [ 1.92402278e-02 -3.56996539e-02 9.99177336e-01 7.42178767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.184391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:208.97, Y:33.83, Z:7.43 [[ 9.89525239e-01 -1.44082702e-01 -8.94289936e-03 2.08967955e+02] [ 1.43663219e-01 9.88937021e-01 -3.69384355e-02 3.38273572e+01] [ 1.41661538e-02 3.52667485e-02 9.99277527e-01 7.42563488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.214391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:209.00, Y:33.81, Z:7.42 [[ 9.89424652e-01 -1.44443444e-01 -1.32268730e-02 2.09002264e+02] [ 1.44436887e-01 9.89512946e-01 -1.45471323e-03 3.38142007e+01] [ 1.32982859e-02 -4.71119225e-04 9.99911463e-01 7.41762276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.244391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:209.04, Y:33.80, Z:7.42 [[ 9.89091852e-01 -1.45357647e-01 -2.38424603e-02 2.09035405e+02] [ 1.46068739e-01 9.88775010e-01 3.14309319e-02 3.38035361e+01] [ 1.90061026e-02 -3.45707167e-02 9.99221514e-01 7.42165964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.274391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:209.06, Y:33.82, Z:7.43 [[ 9.89005754e-01 -1.46544215e-01 -1.98093889e-02 2.09063569e+02] [ 1.46637358e-01 9.89184725e-01 3.32629962e-03 3.38219022e+01] [ 1.91076949e-02 -6.19452591e-03 9.99798242e-01 7.42795053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.304391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:209.10, Y:33.84, Z:7.43 [[ 9.89592955e-01 -1.43753579e-01 -6.37897044e-03 2.09095080e+02] [ 1.43380429e-01 9.88830324e-01 -4.07018873e-02 3.38439955e+01] [ 1.21587614e-02 3.93636814e-02 9.99150972e-01 7.42660289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.334391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:209.13, Y:33.82, Z:7.42 [[ 9.89732474e-01 -1.42065852e-01 -1.57138252e-02 2.09127095e+02] [ 1.42336513e-01 9.89660008e-01 1.77026781e-02 3.38220890e+01] [ 1.30363983e-02 -1.97575665e-02 9.99719806e-01 7.41998785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.364391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:209.16, Y:33.85, Z:7.42 [[ 9.89921909e-01 -1.41411805e-01 -7.57070969e-03 2.09157930e+02] [ 1.41195465e-01 9.89691268e-01 -2.39798926e-02 3.38457128e+01] [ 1.08837052e-02 2.26692711e-02 9.99683775e-01 7.42371574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.394391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:209.19, Y:33.84, Z:7.42 [[ 9.90014945e-01 -1.40603104e-01 -1.00585925e-02 2.09192368e+02] [ 1.40633915e-01 9.90058706e-01 2.42093390e-03 3.38384705e+01] [ 9.61820625e-03 -3.81133999e-03 9.99946480e-01 7.41718734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.424391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:209.22, Y:33.84, Z:7.42 [[ 9.90009217e-01 -1.40677784e-01 -9.56610519e-03 2.09223509e+02] [ 1.40674296e-01 9.90055383e-01 -1.03992876e-03 3.38445153e+01] [ 9.61726881e-03 -3.16166057e-04 9.99953703e-01 7.41704885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.454391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:209.26, Y:33.85, Z:7.42 [[ 9.90014434e-01 -1.40652625e-01 -9.39462688e-03 2.09256263e+02] [ 1.40649275e-01 9.90058959e-01 -1.01962362e-03 3.38489254e+01] [ 9.44464725e-03 -3.11905361e-04 9.99955350e-01 7.41691978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.484391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:209.29, Y:33.85, Z:7.42 [[ 9.89885903e-01 -1.41559691e-01 -9.31413279e-03 2.09288274e+02] [ 1.41556454e-01 9.89929670e-01 -1.00911221e-03 3.38540698e+01] [ 9.36318601e-03 -3.19569666e-04 9.99956113e-01 7.41671528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.514391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:209.32, Y:33.86, Z:7.42 [[ 9.89667718e-01 -1.43077412e-01 -9.30925914e-03 2.09320671e+02] [ 1.43074268e-01 9.89711443e-01 -1.00630522e-03 3.38592823e+01] [ 9.35745984e-03 -3.36007641e-04 9.99956162e-01 7.41714407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.544391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:209.35, Y:33.86, Z:7.42 [[ 9.89508871e-01 -1.44149095e-01 -9.65569662e-03 2.09353587e+02] [ 1.44145775e-01 9.89555915e-01 -1.04252694e-03 3.38647408e+01] [ 9.70513102e-03 -3.60238218e-04 9.99952839e-01 7.41747210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.574391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:209.39, Y:33.87, Z:7.42 [[ 9.89454554e-01 -1.44514569e-01 -9.75835415e-03 2.09385506e+02] [ 1.44511211e-01 9.89502604e-01 -1.05208810e-03 3.38694897e+01] [ 9.80795890e-03 -3.69198209e-04 9.99951833e-01 7.41761217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.604391418 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:209.42, Y:33.87, Z:7.42 [[ 9.89397084e-01 -1.44906986e-01 -9.76603591e-03 2.09418055e+02] [ 1.44903658e-01 9.89445211e-01 -1.05121148e-03 3.38744554e+01] [ 9.81528535e-03 -3.75068762e-04 9.99951759e-01 7.41825621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.634391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:209.45, Y:33.88, Z:7.42 [[ 9.89415369e-01 -1.44771882e-01 -9.91615475e-03 2.09449793e+02] [ 1.44768460e-01 9.89464985e-01 -1.06580197e-03 3.38794198e+01] [ 9.96598607e-03 -3.81025605e-04 9.99950266e-01 7.41851417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.664391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:209.48, Y:33.88, Z:7.42 [[ 9.89435235e-01 -1.44636034e-01 -9.91634402e-03 2.09483154e+02] [ 1.44632623e-01 9.89484852e-01 -1.06403859e-03 3.38828761e+01] [ 9.96597052e-03 -3.81429568e-04 9.99950266e-01 7.41871720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.694391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:209.52, Y:33.89, Z:7.42 [[ 9.89515061e-01 -1.44058732e-01 -1.03453217e-02 2.09515401e+02] [ 1.44055002e-01 9.89569061e-01 -1.10866446e-03 3.38879026e+01] [ 1.03971231e-02 -3.93255156e-04 9.99945871e-01 7.41920063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.724391418 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:209.55, Y:33.89, Z:7.42 [[ 9.89814451e-01 -1.42008886e-01 -1.00413889e-02 2.09548199e+02] [ 1.42005280e-01 9.89865317e-01 -1.07487929e-03 3.38940618e+01] [ 1.00922650e-02 -3.61999194e-04 9.99949006e-01 7.41906196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.754391418 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:209.58, Y:33.90, Z:7.42 [[ 9.90039218e-01 -1.40467744e-01 -9.54774351e-03 2.09581344e+02] [ 1.40464423e-01 9.90085200e-01 -1.02089656e-03 3.38990542e+01] [ 9.59648258e-03 -3.30390643e-04 9.99953898e-01 7.41890714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.784391418 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:209.61, Y:33.90, Z:7.42 [[ 9.90059088e-01 -1.40327615e-01 -9.54787523e-03 2.09614708e+02] [ 1.40324299e-01 9.90105071e-01 -1.01966345e-03 3.39024985e+01] [ 9.59648662e-03 -3.30271829e-04 9.99953898e-01 7.41911030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.814391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:209.65, Y:33.89, Z:7.42 [[ 9.90153045e-01 -1.37925966e-01 -2.39452572e-02 2.09645711e+02] [ 1.38934026e-01 9.89168861e-01 4.73529309e-02 3.38889374e+01] [ 1.71547041e-02 -5.02134597e-02 9.98591170e-01 7.42119386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84439141800001 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:209.67, Y:33.94, Z:7.43 [[ 9.91154036e-01 -1.32695802e-01 -2.34525698e-03 2.09674431e+02] [ 1.32403823e-01 9.89876659e-01 -5.11216916e-02 3.39376673e+01] [ 9.10514903e-03 5.03589500e-02 9.98689678e-01 7.43094515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87439141800002 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:209.71, Y:33.92, Z:7.42 [[ 9.91612797e-01 -1.29018094e-01 -7.64144058e-03 2.09708818e+02] [ 1.29015662e-01 9.91642223e-01 -8.12465178e-04 3.39194402e+01] [ 7.68239784e-03 -1.80214649e-04 9.99970474e-01 7.41782444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90439141800002 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:209.74, Y:33.92, Z:7.42 [[ 9.92086902e-01 -1.25326807e-01 -7.53458527e-03 2.09741031e+02] [ 1.25324345e-01 9.92115502e-01 -7.99896858e-04 3.39247332e+01] [ 7.57542737e-03 -1.50699770e-04 9.99971295e-01 7.41763713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.934391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:209.77, Y:33.93, Z:7.42 [[ 9.92923763e-01 -1.18566426e-01 -6.66355060e-03 2.09773691e+02] [ 1.18564358e-01 9.92946119e-01 -7.05856014e-04 3.39309273e+01] [ 6.70023753e-03 -8.91983893e-05 9.99977549e-01 7.41732690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.964391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:209.81, Y:33.94, Z:7.42 [[ 9.93328550e-01 -1.15159410e-01 -6.05819894e-03 2.09805336e+02] [ 1.15157642e-01 9.93347022e-01 -6.40910813e-04 3.39350367e+01] [ 6.09170078e-03 -6.10128980e-05 9.99981444e-01 7.41693475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.994391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:209.84, Y:33.94, Z:7.42 [[ 9.93613467e-01 -1.12696320e-01 -5.64070578e-03 2.09838469e+02] [ 1.12694757e-01 9.93629477e-01 -5.95208498e-04 3.39391253e+01] [ 5.67184934e-03 -4.42707847e-05 9.99983914e-01 7.41696211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.024391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:209.87, Y:33.94, Z:7.42 [[ 9.94060911e-01 -1.08685938e-01 -5.50209363e-03 2.09868733e+02] [ 1.08666435e-01 9.94071278e-01 -3.72826874e-03 3.39445442e+01] [ 5.87468363e-03 3.10823331e-03 9.99977913e-01 7.41777739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.054391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:209.90, Y:33.94, Z:7.42 [[ 9.94046625e-01 -1.08473636e-01 -1.02360765e-02 2.09904914e+02] [ 1.08663634e-01 9.93871040e-01 2.03118342e-02 3.39366041e+01] [ 7.97004151e-03 -2.13031995e-02 9.99741293e-01 7.41581467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.084391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:209.93, Y:33.96, Z:7.42 [[ 9.94115560e-01 -1.08304991e-01 -2.06947486e-03 2.09931861e+02] [ 1.08246445e-01 9.93941866e-01 -1.90334943e-02 3.39588948e+01] [ 4.11836014e-03 1.86974796e-02 9.99816705e-01 7.42110336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.114391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:209.97, Y:33.95, Z:7.42 [[ 9.94003093e-01 -1.09286223e-01 -3.79107667e-03 2.09965626e+02] [ 1.09285503e-01 9.94010322e-01 -3.97352338e-04 3.39526039e+01] [ 3.81179448e-03 -1.93402662e-05 9.99992735e-01 7.41523016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.144391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:210.00, Y:33.96, Z:7.41 [[ 9.93854323e-01 -1.10616467e-01 -4.19296899e-03 2.09998144e+02] [ 1.10615600e-01 9.93863168e-01 -4.38895591e-04 3.39556071e+01] [ 4.21578652e-03 -2.76094980e-05 9.99991113e-01 7.41492411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.174391418 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:210.03, Y:33.96, Z:7.41 [[ 9.93691444e-01 -1.12076921e-01 -4.00964946e-03 2.10030804e+02] [ 1.12076142e-01 9.93699533e-01 -4.19234820e-04 3.39580953e+01] [ 4.03137335e-03 -3.27959876e-05 9.99991873e-01 7.41453370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.204391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:210.06, Y:33.96, Z:7.41 [[ 9.93495415e-01 -1.13813305e-01 -3.65957604e-03 2.10062513e+02] [ 1.13812668e-01 9.93502154e-01 -3.82498294e-04 3.39605022e+01] [ 3.67933007e-03 -3.64958104e-05 9.99993231e-01 7.41390557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.234391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:210.10, Y:33.96, Z:7.41 [[ 9.93105376e-01 -1.17156140e-01 -4.01878997e-03 2.10095262e+02] [ 1.17155405e-01 9.93113506e-01 -4.18471894e-04 3.39617455e+01] [ 4.04014115e-03 -5.52362795e-05 9.99991837e-01 7.41325138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.264391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:210.13, Y:33.96, Z:7.41 [[ 9.92949240e-01 -1.18469722e-01 -4.09036366e-03 2.10127450e+02] [ 1.18468974e-01 9.92957663e-01 -4.25490926e-04 3.39640770e+01] [ 4.11196573e-03 -6.20902946e-05 9.99991544e-01 7.41317518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.294391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:210.16, Y:33.97, Z:7.41 [[ 9.92866701e-01 -1.19166765e-01 -3.87248790e-03 2.10160885e+02] [ 1.19166103e-01 9.92874251e-01 -4.01998767e-04 3.39664601e+01] [ 3.89279842e-03 -6.23381041e-05 9.99992421e-01 7.41292867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.324391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:210.19, Y:33.97, Z:7.41 [[ 9.92854484e-01 -1.19279678e-01 -3.51181046e-03 2.10193369e+02] [ 1.19279135e-01 9.92860693e-01 -3.64471177e-04 3.39678445e+01] [ 3.53021257e-03 -5.70188708e-05 9.99993767e-01 7.41274863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.354391418 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:210.22, Y:33.97, Z:7.41 [[ 9.92696843e-01 -1.20437977e-01 -6.90449732e-03 2.10223153e+02] [ 1.20504384e-01 9.92660597e-01 1.01799653e-02 3.39669600e+01] [ 5.62776802e-03 -1.09376416e-02 9.99924345e-01 7.41360462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.384391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:210.26, Y:33.98, Z:7.41 [[ 9.93017604e-01 -1.17950347e-01 -1.93773540e-03 2.10255601e+02] [ 1.17921697e-01 9.92960007e-01 -1.11757345e-02 3.39776093e+01] [ 3.24227552e-03 1.08692000e-02 9.99935672e-01 7.41487122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.414391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:210.29, Y:33.97, Z:7.41 [[ 9.93152196e-01 -1.16784709e-01 -3.16981152e-03 2.10289126e+02] [ 1.16784261e-01 9.93157253e-01 -3.26570745e-04 3.39746351e+01] [ 3.18625977e-03 -4.58496436e-05 9.99994923e-01 7.41213061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.444391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:210.32, Y:33.98, Z:7.41 [[ 9.93452397e-01 -1.14203781e-01 -3.13541711e-03 2.10321120e+02] [ 1.14203330e-01 9.93457344e-01 -3.23000621e-04 3.39757961e+01] [ 3.15179105e-03 -3.71893338e-05 9.99995032e-01 7.41176506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.474391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:210.35, Y:33.98, Z:7.41 [[ 9.93577537e-01 -1.13098845e-01 -3.51133740e-03 2.10354109e+02] [ 1.13098278e-01 9.93583741e-01 -3.60187502e-04 3.39783784e+01] [ 3.52954454e-03 -3.92520027e-05 9.99993770e-01 7.41170870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.504391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:210.39, Y:33.98, Z:7.41 [[ 9.93721125e-01 -1.11816541e-01 -3.92250947e-03 2.10385759e+02] [ 1.11795283e-01 9.93717257e-01 -5.27514849e-03 3.39830323e+01] [ 4.48771421e-03 4.80350844e-03 9.99978393e-01 7.41317003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.534391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:210.42, Y:33.98, Z:7.41 [[ 9.93840280e-01 -1.10561146e-01 -7.59808801e-03 2.10416781e+02] [ 1.10667338e-01 9.93738672e-01 1.53685437e-02 3.39768096e+01] [ 5.85135009e-03 -1.61147380e-02 9.99853028e-01 7.41103657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.564391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:210.45, Y:33.99, Z:7.41 [[ 9.94118350e-01 -1.08279969e-01 -2.03810166e-03 2.10449675e+02] [ 1.08248381e-01 9.94052529e-01 -1.19103622e-02 3.39908341e+01] [ 3.31563376e-03 1.16196884e-02 9.99926992e-01 7.41408549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59439141800001 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:210.48, Y:33.99, Z:7.41 [[ 9.94244290e-01 -1.07090686e-01 -3.14268951e-03 2.10483435e+02] [ 1.07090212e-01 9.94249257e-01 -3.19160131e-04 3.39879316e+01] [ 3.15879579e-03 -1.92281485e-05 9.99995011e-01 7.41079655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62439141800002 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:210.52, Y:33.99, Z:7.41 [[ 9.94442559e-01 -1.05221271e-01 -3.53295507e-03 2.10516699e+02] [ 1.05220662e-01 9.94448834e-01 -3.58316813e-04 3.39899604e+01] [ 3.55104560e-03 -1.54143838e-05 9.99993695e-01 7.40998221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65439141800002 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:210.55, Y:33.99, Z:7.41 [[ 9.94573587e-01 -1.03979969e-01 -3.39793127e-03 2.10550057e+02] [ 1.03979400e-01 9.94579391e-01 -3.44233450e-04 3.39923570e+01] [ 3.41530580e-03 -1.09493575e-05 9.99994168e-01 7.40992336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.684391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:210.58, Y:33.99, Z:7.41 [[ 9.94580973e-01 -1.03678360e-01 -7.71271444e-03 2.10581684e+02] [ 1.03757198e-01 9.94545743e-01 1.06399736e-02 3.39907619e+01] [ 6.56751230e-03 -1.13825649e-02 9.99913649e-01 7.41108053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.714391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:210.61, Y:34.00, Z:7.41 [[ 9.94801962e-01 -1.01804558e-01 -2.21112387e-03 2.10614034e+02] [ 1.01771557e-01 9.94737091e-01 -1.18604342e-02 3.40028061e+01] [ 3.40693318e-03 1.15737537e-02 9.99927218e-01 7.41228498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.744391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:210.65, Y:34.00, Z:7.41 [[ 9.94914911e-01 -1.00664763e-01 -3.30526087e-03 2.10647738e+02] [ 1.00664212e-01 9.94920402e-01 -3.32956499e-04 3.39989002e+01] [ 3.32198846e-03 -1.45809609e-06 9.99994482e-01 7.40922056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.774391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:210.68, Y:34.00, Z:7.41 [[ 9.94963080e-01 -1.00166364e-01 -3.89477568e-03 2.10680229e+02] [ 1.00165598e-01 9.94970703e-01 -3.91755872e-04 3.40010497e+01] [ 3.91442846e-03 -3.39907361e-07 9.99992339e-01 7.40926099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.804391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:210.71, Y:34.00, Z:7.41 [[ 9.94983598e-01 -9.99489497e-02 -4.22468943e-03 2.10713574e+02] [ 9.99480487e-02 9.94992567e-01 -4.24377552e-04 3.40031814e+01] [ 4.24595067e-03 -7.61404677e-10 9.99990986e-01 7.40907309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.834391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:210.75, Y:34.01, Z:7.41 [[ 9.95000845e-01 -9.97478994e-02 -4.86575166e-03 2.10746241e+02] [ 9.97467053e-02 9.95012742e-01 -4.88075173e-04 3.40051053e+01] [ 4.89016937e-03 2.92513249e-07 9.99988043e-01 7.40872966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.864391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:210.78, Y:34.01, Z:7.41 [[ 9.95003406e-01 -9.96951037e-02 -5.39515686e-03 2.10777916e+02] [ 9.96936388e-02 9.95018033e-01 -5.40456681e-04 3.40055747e+01] [ 5.42215925e-03 -1.06581177e-07 9.99985300e-01 7.40909113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.894391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:210.81, Y:34.01, Z:7.41 [[ 9.94999450e-01 -9.97479557e-02 -5.14196640e-03 2.10811365e+02] [ 9.97466283e-02 9.95012736e-01 -5.14586321e-04 3.40077000e+01] [ 5.16765099e-03 -8.80704981e-07 9.99986648e-01 7.40949775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.924391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:210.84, Y:34.01, Z:7.41 [[ 9.95020745e-01 -9.95461938e-02 -4.92663124e-03 2.10844510e+02] [ 9.95449757e-02 9.95032942e-01 -4.92463904e-04 3.40087077e+01] [ 4.95118329e-03 -4.09586332e-07 9.99987743e-01 7.41052788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.954391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:210.88, Y:34.01, Z:7.41 [[ 9.95052180e-01 -9.92321452e-02 -4.91332477e-03 2.10876763e+02] [ 9.92309327e-02 9.95064310e-01 -4.90534261e-04 3.40107307e+01] [ 4.93775089e-03 5.53386121e-07 9.99987809e-01 7.41110028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.984391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:210.91, Y:34.01, Z:7.41 [[ 9.95059885e-01 -9.91555441e-02 -4.89924523e-03 2.10910059e+02] [ 9.91543408e-02 9.95071946e-01 -4.88494579e-04 3.40126640e+01] [ 4.92353843e-03 2.99929270e-07 9.99987879e-01 7.41146850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.014391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:210.94, Y:34.01, Z:7.41 [[ 9.95003773e-01 -9.97028476e-02 -5.18016221e-03 2.10941949e+02] [ 9.97015135e-02 9.95017257e-01 -5.15796711e-04 3.40129260e+01] [ 5.20577720e-03 -3.25033945e-06 9.99986450e-01 7.41188817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.044391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:210.97, Y:34.01, Z:7.41 [[ 9.94949470e-01 -1.00236223e-01 -5.31517583e-03 2.10974775e+02] [ 1.00234830e-01 9.94963667e-01 -5.28642505e-04 3.40143022e+01] [ 5.34139596e-03 -6.79316321e-06 9.99985735e-01 7.41222543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.074391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:211.01, Y:34.02, Z:7.41 [[ 9.94862867e-01 -1.01115647e-01 -4.84784821e-03 2.11008227e+02] [ 1.01114501e-01 9.94874678e-01 -4.81597183e-04 3.40157055e+01] [ 4.87169844e-03 -1.10645962e-05 9.99988133e-01 7.41226678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.104391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:211.04, Y:34.02, Z:7.41 [[ 9.94518366e-01 -1.04448380e-01 -4.87398195e-03 2.11040176e+02] [ 1.04447264e-01 9.94530309e-01 -4.83567612e-04 3.40155411e+01] [ 4.89783062e-03 -2.81572083e-05 9.99988005e-01 7.41278834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.134391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:211.07, Y:34.02, Z:7.41 [[ 9.94320857e-01 -1.06319796e-01 -4.70474373e-03 2.11073141e+02] [ 1.06318780e-01 9.94331987e-01 -4.66301129e-04 3.40167888e+01] [ 4.72765422e-03 -3.65496741e-05 9.99988824e-01 7.41300986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.164391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:211.10, Y:34.02, Z:7.41 [[ 9.94090382e-01 -1.08463987e-01 -4.45823607e-03 2.11104872e+02] [ 1.08463098e-01 9.94100378e-01 -4.41327378e-04 3.40179081e+01] [ 4.47980229e-03 -4.48347934e-05 9.99989965e-01 7.41295434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.194391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:211.14, Y:34.02, Z:7.41 [[ 9.93872971e-01 -1.10433393e-01 -4.58083193e-03 2.11138286e+02] [ 1.10432478e-01 9.93883526e-01 -4.52978885e-04 3.40190912e+01] [ 4.60283739e-03 -5.56691516e-05 9.99989405e-01 7.41336919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.224391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:211.17, Y:34.02, Z:7.41 [[ 9.93356812e-01 -1.14965963e-01 -5.00720059e-03 2.11171571e+02] [ 1.14964931e-01 9.93369428e-01 -4.94466125e-04 3.40189348e+01] [ 5.03084676e-03 -8.44711746e-05 9.99987342e-01 7.41356216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.254391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:211.20, Y:34.02, Z:7.41 [[ 9.93147454e-01 -1.16732382e-01 -5.62907778e-03 2.11204480e+02] [ 1.16731110e-01 9.93163400e-01 -5.55082203e-04 3.40202122e+01] [ 5.65539009e-03 -1.05810023e-04 9.99984003e-01 7.41373170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.284391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:211.24, Y:34.02, Z:7.41 [[ 9.92986874e-01 -1.18082787e-01 -5.78993564e-03 2.11236409e+02] [ 1.18081470e-01 9.93003747e-01 -5.70070293e-04 3.40217410e+01] [ 5.81674327e-03 -1.17611793e-04 9.99983076e-01 7.41368727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.314391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:211.27, Y:34.02, Z:7.41 [[ 9.92856014e-01 -1.19172980e-01 -5.89382758e-03 2.11269433e+02] [ 1.19171641e-01 9.92873499e-01 -5.79075301e-04 3.40234746e+01] [ 5.92083534e-03 -1.27438712e-04 9.99982464e-01 7.41390151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34439141800001 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:211.30, Y:34.02, Z:7.41 [[ 9.92646881e-01 -1.20861663e-01 -6.68047788e-03 2.11302475e+02] [ 1.20859987e-01 9.92669348e-01 -6.55416477e-04 3.40241153e+01] [ 6.71072035e-03 -1.56805351e-04 9.99977471e-01 7.41412774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37439141800002 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:211.33, Y:34.03, Z:7.41 [[ 9.92634951e-01 -1.20945911e-01 -6.92396857e-03 2.11334306e+02] [ 1.20944120e-01 9.92659085e-01 -6.78409053e-04 3.40259594e+01] [ 6.95519111e-03 -1.64000748e-04 9.99975799e-01 7.41449721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40439141800002 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:211.37, Y:34.03, Z:7.41 [[ 9.92638704e-01 -1.20912874e-01 -6.96270840e-03 2.11367187e+02] [ 1.20911068e-01 9.92663110e-01 -6.81409810e-04 3.40282529e+01] [ 6.99401499e-03 -1.65474754e-04 9.99975528e-01 7.41482238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.434391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:211.40, Y:34.03, Z:7.42 [[ 9.92692486e-01 -1.20464252e-01 -7.07051868e-03 2.11399266e+02] [ 1.20462384e-01 9.92717652e-01 -6.91072011e-04 3.40299168e+01] [ 7.10227818e-03 -1.65709542e-04 9.99974765e-01 7.41563110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.464391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:211.43, Y:34.03, Z:7.42 [[ 9.92731467e-01 -1.20151236e-01 -6.92211959e-03 2.11431453e+02] [ 1.20149445e-01 9.92755586e-01 -6.75534656e-04 3.40325055e+01] [ 6.95313922e-03 -1.61064318e-04 9.99975814e-01 7.41562248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.494391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:211.46, Y:34.04, Z:7.42 [[ 9.92798182e-01 -1.19600466e-01 -6.89194344e-03 2.11464087e+02] [ 1.19598686e-01 9.92822091e-01 -6.71326916e-04 3.40352281e+01] [ 6.92276471e-03 -1.57775241e-04 9.99976025e-01 7.41586205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.524391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:211.50, Y:34.04, Z:7.42 [[ 9.92843990e-01 -1.19204668e-01 -7.14556510e-03 2.11496734e+02] [ 1.19202752e-01 9.92869690e-01 -6.95066672e-04 3.40373623e+01] [ 7.17747020e-03 -1.61678254e-04 9.99974229e-01 7.41604496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.554391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:211.53, Y:34.04, Z:7.42 [[ 9.92814030e-01 -1.19464370e-01 -6.96889674e-03 2.11529275e+02] [ 1.19462559e-01 9.92838476e-01 -6.76986296e-04 3.40402178e+01] [ 6.99986456e-03 -1.60400746e-04 9.99975488e-01 7.41601701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.584391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:211.56, Y:34.04, Z:7.42 [[ 9.92762753e-01 -1.19886566e-01 -7.02339567e-03 2.11562411e+02] [ 1.19884744e-01 9.92787583e-01 -6.81363636e-04 3.40430227e+01] [ 7.05442636e-03 -1.65565551e-04 9.99975104e-01 7.41599678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.614391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:211.60, Y:34.05, Z:7.42 [[ 9.92713598e-01 -1.20279029e-01 -7.25717781e-03 2.11595072e+02] [ 1.20277101e-01 9.92740109e-01 -7.03077182e-04 3.40457473e+01] [ 7.28905693e-03 -1.74918030e-04 9.99973419e-01 7.41601116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.644391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:211.63, Y:34.05, Z:7.42 [[ 9.92731731e-01 -1.20129272e-01 -7.25727383e-03 2.11628466e+02] [ 1.20127348e-01 9.92758242e-01 -7.02084898e-04 3.40488384e+01] [ 7.28905935e-03 -1.74815100e-04 9.99973419e-01 7.41617591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.674391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:211.66, Y:34.05, Z:7.42 [[ 9.92420762e-01 -1.22629940e-01 -7.93278900e-03 2.11660095e+02] [ 1.22627729e-01 9.92452444e-01 -7.66292706e-04 3.40518432e+01] [ 7.96688626e-03 -2.12295111e-04 9.99968241e-01 7.41635136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.704391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:211.69, Y:34.05, Z:7.42 [[ 9.92220014e-01 -1.24252895e-01 -7.78854490e-03 2.11692997e+02] [ 1.24250821e-01 9.92250557e-01 -7.51463232e-04 3.40549454e+01] [ 7.82155950e-03 -2.22116243e-04 9.99969386e-01 7.41625504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.734391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:211.73, Y:34.06, Z:7.42 [[ 9.92008413e-01 -1.25954513e-01 -7.40059560e-03 2.11726024e+02] [ 1.25952695e-01 9.92035992e-01 -7.13101344e-04 3.40579839e+01] [ 7.43147553e-03 -2.24722425e-04 9.99972361e-01 7.41628013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.764391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:211.76, Y:34.06, Z:7.42 [[ 9.91584297e-01 -1.29265189e-01 -7.14797885e-03 2.11759347e+02] [ 1.29263586e-01 9.91610030e-01 -6.87849634e-04 3.40613567e+01] [ 7.17692254e-03 -2.41912480e-04 9.99974216e-01 7.41670595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.794391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:211.79, Y:34.06, Z:7.42 [[ 9.91444369e-01 -1.30332169e-01 -7.18250029e-03 2.11791911e+02] [ 1.30330585e-01 9.91470354e-01 -6.90236805e-04 3.40644395e+01] [ 7.21119616e-03 -2.51768070e-04 9.99973967e-01 7.41649005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.824391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:211.82, Y:34.07, Z:7.42 [[ 9.91365475e-01 -1.30909657e-01 -7.56015283e-03 2.11823549e+02] [ 1.30907925e-01 9.91394265e-01 -7.25582789e-04 3.40675833e+01] [ 7.59007795e-03 -2.70366196e-04 9.99971158e-01 7.41653686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.854391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:211.86, Y:34.07, Z:7.42 [[ 9.91399756e-01 -1.30633369e-01 -7.83879771e-03 2.11855498e+02] [ 1.30631505e-01 9.91430706e-01 -7.51472228e-04 3.40719549e+01] [ 7.86979210e-03 -2.78984562e-04 9.99968994e-01 7.41628096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.884391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:211.89, Y:34.08, Z:7.42 [[ 9.91490027e-01 -1.29945254e-01 -7.85859456e-03 2.11887867e+02] [ 1.29943366e-01 9.91521132e-01 -7.52495696e-04 3.40762291e+01] [ 7.88974582e-03 -2.75080253e-04 9.99968838e-01 7.41649830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.914391418 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:211.92, Y:34.08, Z:7.42 [[ 9.91700598e-01 -1.28319360e-01 -8.00406295e-03 2.11919370e+02] [ 1.28317357e-01 9.91732862e-01 -7.65516960e-04 3.40802088e+01] [ 8.03612290e-03 -2.67896572e-04 9.99967674e-01 7.41691001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.944391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:211.95, Y:34.09, Z:7.42 [[ 9.92124765e-01 -1.25013930e-01 -7.74396242e-03 2.11952190e+02] [ 1.25011960e-01 9.92154959e-01 -7.39812745e-04 3.40866414e+01] [ 7.77569761e-03 -2.34101376e-04 9.99969741e-01 7.41715009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.974391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:211.98, Y:34.09, Z:7.42 [[ 9.92408051e-01 -1.22741940e-01 -7.78951950e-03 2.11983646e+02] [ 1.22739885e-01 9.92438597e-01 -7.43251796e-04 3.40912140e+01] [ 7.82184797e-03 -2.18475658e-04 9.99969385e-01 7.41772024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.004391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:212.02, Y:34.10, Z:7.42 [[ 9.92711068e-01 -1.20275119e-01 -7.65715193e-03 2.12016178e+02] [ 1.20273066e-01 9.92740579e-01 -7.29705744e-04 3.40955748e+01] [ 7.68933089e-03 -1.96562175e-04 9.99970417e-01 7.41795712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.034391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:212.05, Y:34.10, Z:7.42 [[ 9.93292375e-01 -1.15400874e-01 -7.27302499e-03 2.12049223e+02] [ 1.15398899e-01 9.93318990e-01 -6.92082202e-04 3.41013886e+01] [ 7.30430073e-03 -1.51859100e-04 9.99973312e-01 7.41785820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.064391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:212.08, Y:34.11, Z:7.42 [[ 9.93600496e-01 -1.12705710e-01 -7.44830348e-03 2.12081511e+02] [ 1.12703570e-01 9.93628404e-01 -7.07793781e-04 3.41060001e+01] [ 7.48061829e-03 -1.36186142e-04 9.99972011e-01 7.41803054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09439141800001 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:212.11, Y:34.11, Z:7.42 [[ 9.93873487e-01 -1.10256916e-01 -7.67494260e-03 2.12114229e+02] [ 1.10254578e-01 9.93903113e-01 -7.28372867e-04 3.41108219e+01] [ 7.70845749e-03 -1.22287074e-04 9.99970282e-01 7.41775815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12439141800002 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:212.15, Y:34.12, Z:7.42 [[ 9.94451710e-01 -1.04842866e-01 -8.58890414e-03 2.12145691e+02] [ 1.04839745e-01 9.94488796e-01 -8.14060077e-04 3.41171755e+01] [ 8.62691733e-03 -9.09150872e-05 9.99962783e-01 7.41779996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15439141800002 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:212.18, Y:34.12, Z:7.42 [[ 9.94707100e-01 -1.02356130e-01 -9.00041977e-03 2.12177071e+02] [ 1.02352609e-01 9.94747816e-01 -8.52132396e-04 3.41219018e+01] [ 9.04036889e-03 -7.35943032e-05 9.99959132e-01 7.41818416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.184391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:212.21, Y:34.13, Z:7.42 [[ 9.94958967e-01 -9.98797560e-02 -8.98267872e-03 2.12210243e+02] [ 9.98761570e-02 9.94999513e-01 -8.49480610e-04 3.41264520e+01] [ 9.02260687e-03 -5.19570804e-05 9.99959294e-01 7.41855650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.214391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:212.24, Y:34.13, Z:7.42 [[ 9.95143074e-01 -9.80337331e-02 -8.92463303e-03 2.12242766e+02] [ 9.80301158e-02 9.95183092e-01 -8.42920037e-04 3.41309548e+01] [ 8.96427848e-03 -3.60567727e-05 9.99959819e-01 7.41857279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.244391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:212.28, Y:34.14, Z:7.42 [[ 9.95308734e-01 -9.63394448e-02 -8.90145199e-03 2.12275321e+02] [ 9.63357882e-02 9.95348537e-01 -8.39646474e-04 3.41351279e+01] [ 8.94093829e-03 -2.18209242e-05 9.99960029e-01 7.41891986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.274391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:212.31, Y:34.14, Z:7.42 [[ 9.95413090e-01 -9.51910245e-02 -9.56287204e-03 2.12308479e+02] [ 9.51867642e-02 9.95459024e-01 -9.00702766e-04 3.41402964e+01] [ 9.60518609e-03 -1.36875219e-05 9.99953869e-01 7.41928786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.304391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:212.34, Y:34.14, Z:7.42 [[ 9.95403718e-01 -9.52744656e-02 -9.70642899e-03 2.12340688e+02] [ 9.52700926e-02 9.95451041e-01 -9.12969061e-04 3.41435942e+01] [ 9.74925749e-03 -1.59595914e-05 9.99952475e-01 7.41958670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.334391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:212.37, Y:34.15, Z:7.42 [[ 9.95152945e-01 -9.78466569e-02 -9.83097315e-03 2.12372450e+02] [ 9.78423068e-02 9.95201502e-01 -9.23629744e-04 3.41478607e+01] [ 9.87417333e-03 -4.27322312e-05 9.99951248e-01 7.42012661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.364391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:212.41, Y:34.15, Z:7.42 [[ 9.94994210e-01 -9.94553447e-02 -9.75484275e-03 2.12405624e+02] [ 9.94511502e-02 9.95042025e-01 -9.15343285e-04 3.41513168e+01] [ 9.79751426e-03 -5.93690628e-05 9.99952001e-01 7.42054339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.394391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:212.44, Y:34.15, Z:7.42 [[ 9.94757729e-01 -1.01815966e-01 -9.51684239e-03 2.12437047e+02] [ 1.01812092e-01 9.94803248e-01 -8.91949991e-04 3.41543510e+01] [ 9.55820047e-03 -8.16554829e-05 9.99954316e-01 7.42081321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.424391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:212.47, Y:34.16, Z:7.42 [[ 9.94477981e-01 -1.04500433e-01 -9.65424051e-03 2.12469997e+02] [ 1.04496582e-01 9.94524835e-01 -9.03784955e-04 3.41572372e+01] [ 9.69582787e-03 -1.10040900e-04 9.99952988e-01 7.42142898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.454391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:212.50, Y:34.16, Z:7.42 [[ 9.93797958e-01 -1.10823192e-01 -9.15632407e-03 2.12502309e+02] [ 1.10820009e-01 9.93840125e-01 -8.55809428e-04 3.41600104e+01] [ 9.19476578e-03 -1.64202253e-04 9.99957714e-01 7.42213321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.484391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:212.54, Y:34.16, Z:7.42 [[ 9.93417092e-01 -1.14189653e-01 -9.12169182e-03 2.12535560e+02] [ 1.14186649e-01 9.93458950e-01 -8.51144597e-04 3.41627296e+01] [ 9.15921828e-03 -1.96033836e-04 9.99958034e-01 7.42236002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.514391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:212.57, Y:34.17, Z:7.42 [[ 9.93029166e-01 -1.17527003e-01 -8.97106503e-03 2.12567369e+02] [ 1.17524242e-01 9.93069662e-01 -8.36142006e-04 3.41652658e+01] [ 9.00716178e-03 -2.24004221e-04 9.99959410e-01 7.42246580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.544391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:212.60, Y:34.17, Z:7.42 [[ 9.92599917e-01 -1.21071091e-01 -9.33785801e-03 2.12600269e+02] [ 1.21068266e-01 9.92643803e-01 -8.69334984e-04 3.41680795e+01] [ 9.37441823e-03 -2.67616441e-04 9.99956023e-01 7.42308426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.574391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:212.63, Y:34.18, Z:7.42 [[ 9.92107392e-01 -1.25386924e-01 1.02094205e-03 2.12634942e+02] [ 1.25346115e-01 9.91500714e-01 -3.48523351e-02 3.41843926e+01] [ 3.35776234e-03 3.47052304e-02 9.99391951e-01 7.41877841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.604391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:212.67, Y:34.16, Z:7.42 [[ 9.91331964e-01 -1.30756905e-01 -1.27894426e-02 2.12665084e+02] [ 1.31124653e-01 9.90776285e-01 3.41859387e-02 3.41560449e+01] [ 8.20142887e-03 -3.55666250e-02 9.99333654e-01 7.41599700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.634391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:212.70, Y:34.18, Z:7.42 [[ 9.90926524e-01 -1.34044290e-01 -9.83630395e-03 2.12696016e+02] [ 1.34041822e-01 9.90975255e-01 -9.12705910e-04 3.41756113e+01] [ 9.86987683e-03 -4.14051608e-04 9.99951206e-01 7.42410914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.664391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:212.73, Y:34.18, Z:7.42 [[ 9.90271351e-01 -1.38831215e-01 -9.40983749e-03 2.12729115e+02] [ 1.38829182e-01 9.90315959e-01 -8.72112273e-04 3.41781831e+01] [ 9.43978864e-03 -4.42732238e-04 9.99955346e-01 7.42430075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.694391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:212.76, Y:34.18, Z:7.42 [[ 9.89995134e-01 -1.40803705e-01 -9.16253884e-03 2.12762255e+02] [ 1.40801870e-01 9.90037431e-01 -8.48194242e-04 3.41810673e+01] [ 9.19068530e-03 -4.50394432e-04 9.99957663e-01 7.42447027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.724391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:212.79, Y:34.18, Z:7.42 [[ 9.89811786e-01 -1.42107127e-01 -8.84271065e-03 2.12794176e+02] [ 1.42105478e-01 9.89851183e-01 -8.17706342e-04 3.41838758e+01] [ 8.86916950e-03 -4.47222249e-04 9.99960568e-01 7.42418509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.754391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:212.83, Y:34.19, Z:7.42 [[ 9.89558148e-01 -1.43848469e-01 -9.07137793e-03 2.12825875e+02] [ 1.43846818e-01 9.89599612e-01 -8.37667843e-04 3.41873953e+01] [ 9.09752931e-03 -4.75967806e-04 9.99958503e-01 7.42464612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.784391418 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:212.86, Y:34.19, Z:7.42 [[ 9.89529825e-01 -1.44007970e-01 -9.61403663e-03 2.12857904e+02] [ 1.44006134e-01 9.89576398e-01 -8.86541358e-04 3.41912955e+01] [ 9.64149276e-03 -5.07221133e-04 9.99953391e-01 7.42495881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.814391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:212.89, Y:34.20, Z:7.43 [[ 9.89542324e-01 -1.43891419e-01 -1.00622178e-02 2.12889398e+02] [ 1.43889409e-01 9.89593340e-01 -9.27133195e-04 3.41950482e+01] [ 1.00909103e-02 -5.30409043e-04 9.99948945e-01 7.42524904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84439141800001 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:212.92, Y:34.20, Z:7.43 [[ 9.89654998e-01 -1.43041755e-01 -1.10472631e-02 2.12921539e+02] [ 1.43039291e-01 9.89716488e-01 -1.01696562e-03 3.42001074e+01] [ 1.10791270e-02 -5.73747566e-04 9.99938460e-01 7.42528161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87439141800002 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:212.95, Y:34.20, Z:7.43 [[ 9.89718104e-01 -1.42578475e-01 -1.13777806e-02 2.12953282e+02] [ 1.42575840e-01 9.89783327e-01 -1.04649175e-03 3.42044777e+01] [ 1.14107447e-02 -5.86464790e-04 9.99934723e-01 7.42574492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90439141800002 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:212.99, Y:34.21, Z:7.43 [[ 9.89857881e-01 -1.41623553e-01 -1.11420601e-02 2.12985234e+02] [ 1.41620975e-01 9.89920427e-01 -1.02404291e-03 3.42088838e+01] [ 1.11747815e-02 -5.64292471e-04 9.99937401e-01 7.42567648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.934391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:213.02, Y:34.22, Z:7.43 [[ 9.90086827e-01 -1.40011064e-01 -1.11792804e-02 2.13016690e+02] [ 1.40008376e-01 9.90149787e-01 -1.02657965e-03 3.42154601e+01] [ 1.12128946e-02 -5.48789910e-04 9.99936983e-01 7.42652568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.964391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:213.05, Y:34.23, Z:7.42 [[ 9.90470666e-01 -1.37692285e-01 -2.94848265e-03 2.13050188e+02] [ 1.37543068e-01 9.90040390e-01 -3.00321741e-02 3.42330304e+01] [ 7.05431560e-03 2.93404442e-02 9.99544584e-01 7.42263403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.994391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:213.08, Y:34.21, Z:7.42 [[ 9.90399625e-01 -1.37510690e-01 -1.41206772e-02 2.13082066e+02] [ 1.37868952e-01 9.90035273e-01 2.86759630e-02 3.42111981e+01] [ 1.00367170e-02 -3.03474660e-02 9.99489017e-01 7.42044624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.024391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:213.11, Y:34.23, Z:7.43 [[ 9.90742125e-01 -1.35244531e-01 -1.17880331e-02 2.13113186e+02] [ 1.35241226e-01 9.90812113e-01 -1.08079133e-03 3.42326025e+01] [ 1.18258970e-02 -5.23442541e-04 9.99929935e-01 7.42777921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.054391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:213.14, Y:34.24, Z:7.43 [[ 9.90901426e-01 -1.34070359e-01 -1.18111517e-02 2.13144924e+02] [ 1.34066968e-01 9.90971683e-01 -1.08194314e-03 3.42374648e+01] [ 1.18495734e-02 -5.11386294e-04 9.99929661e-01 7.42812238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.084391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:213.18, Y:34.24, Z:7.43 [[ 9.91067654e-01 -1.32865202e-01 -1.14779351e-02 2.13176162e+02] [ 1.32861930e-01 9.91133999e-01 -1.05054858e-03 3.42421227e+01] [ 1.15157531e-02 -4.83815900e-04 9.99933574e-01 7.42879830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.114391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:213.21, Y:34.25, Z:7.43 [[ 9.91314825e-01 -1.31055495e-01 -1.09258667e-02 2.13207309e+02] [ 1.31052430e-01 9.91374935e-01 -9.99127948e-04 3.42485515e+01] [ 1.09625716e-02 -4.41411038e-04 9.99939812e-01 7.42950200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.144391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:213.24, Y:34.25, Z:7.43 [[ 9.91430004e-01 -1.30207915e-01 -1.06040236e-02 2.13239944e+02] [ 1.30204990e-01 9.91486622e-01 -9.68739598e-04 3.42531224e+01] [ 1.06398851e-02 -4.20259277e-04 9.99943307e-01 7.43007471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.174391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:213.27, Y:34.26, Z:7.43 [[ 9.91512618e-01 -1.29578661e-01 -1.05876666e-02 2.13271961e+02] [ 1.29575723e-01 9.91569059e-01 -9.65884811e-04 3.42578310e+01] [ 1.06235607e-02 -4.14217584e-04 9.99943483e-01 7.43036627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.204391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:213.31, Y:34.26, Z:7.43 [[ 9.91567960e-01 -1.29133567e-01 -1.08398846e-02 2.13305190e+02] [ 1.29130476e-01 9.91627120e-01 -9.87534597e-04 3.42624026e+01] [ 1.08766474e-02 -4.20551786e-04 9.99940759e-01 7.43047676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.234391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:213.34, Y:34.27, Z:7.43 [[ 9.91610862e-01 -1.28815439e-01 -1.06996151e-02 2.13337817e+02] [ 1.28812422e-01 9.91668499e-01 -9.73574758e-04 3.42680762e+01] [ 1.07358828e-02 -4.12836035e-04 9.99942284e-01 7.43047930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.264391418 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:213.38, Y:34.29, Z:7.43 [[ 9.92213544e-01 -1.24520371e-01 2.63828081e-03 2.13376187e+02] [ 1.24505942e-01 9.91100887e-01 -4.70882460e-02 3.42898630e+01] [ 3.24864342e-03 4.70500771e-02 9.98887249e-01 7.42956768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.294391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:213.40, Y:34.25, Z:7.42 [[ 9.91517817e-01 -1.29049018e-01 -1.54521950e-02 2.13402631e+02] [ 1.29638537e-01 9.90464583e-01 4.66236016e-02 3.42533349e+01] [ 9.28812191e-03 -4.82313316e-02 9.98793006e-01 7.41872176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.324391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:213.43, Y:34.28, Z:7.43 [[ 9.91449735e-01 -1.29976814e-01 -1.15520840e-02 2.13432338e+02] [ 1.29973421e-01 9.91516925e-01 -1.04718626e-03 3.42818703e+01] [ 1.15901968e-02 -4.63231337e-04 9.99932724e-01 7.43089934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.354391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:213.47, Y:34.29, Z:7.43 [[ 9.91412046e-01 -1.30246929e-01 -1.17427314e-02 2.13465175e+02] [ 1.30243470e-01 9.91481473e-01 -1.06208162e-03 3.42863540e+01] [ 1.17810335e-02 -4.76453567e-04 9.99930488e-01 7.43083437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.384391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:213.50, Y:34.29, Z:7.43 [[ 9.91437332e-01 -1.30033451e-01 -1.19716010e-02 2.13497791e+02] [ 1.30029857e-01 9.91509489e-01 -1.08133956e-03 3.42906507e+01] [ 1.20105663e-02 -4.84585160e-04 9.99927753e-01 7.43134950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.414391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:213.53, Y:34.30, Z:7.43 [[ 9.91497404e-01 -1.29531226e-01 -1.24322204e-02 2.13529274e+02] [ 1.29527346e-01 9.91575217e-01 -1.12018051e-03 3.42951445e+01] [ 1.24725800e-02 -4.99656448e-04 9.99922090e-01 7.43153969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.444391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:213.56, Y:34.30, Z:7.43 [[ 9.91779595e-01 -1.27342967e-01 -1.25300795e-02 2.13561764e+02] [ 1.27338883e-01 9.91858629e-01 -1.12652312e-03 3.43012924e+01] [ 1.25715222e-02 -4.78303677e-04 9.99920861e-01 7.43213393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.474391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:213.59, Y:34.31, Z:7.43 [[ 9.92051628e-01 -1.25254322e-01 -1.20383952e-02 2.13593404e+02] [ 1.25250430e-01 9.92124571e-01 -1.07962982e-03 3.43059191e+01] [ 1.20788160e-02 -4.36765660e-04 9.99926953e-01 7.43255396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.504391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:213.63, Y:34.31, Z:7.43 [[ 9.92342848e-01 -1.22956076e-01 -1.17249947e-02 2.13626107e+02] [ 1.22952251e-01 9.92412033e-01 -1.04917124e-03 3.43107941e+01] [ 1.17650278e-02 -4.00476925e-04 9.99930709e-01 7.43308056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.534391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:213.66, Y:34.32, Z:7.43 [[ 9.92988966e-01 -1.17655924e-01 -1.14015909e-02 2.13658906e+02] [ 1.17651974e-01 9.93054367e-01 -1.01887652e-03 3.43174483e+01] [ 1.14422764e-02 -3.29686526e-04 9.99934481e-01 7.43429449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.564391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:213.69, Y:34.32, Z:7.43 [[ 9.93290283e-01 -1.15149382e-01 -1.07253930e-02 2.13691313e+02] [ 1.15145754e-01 9.93348146e-01 -9.57202721e-04 3.43219165e+01] [ 1.07642706e-02 -2.84203311e-04 9.99942023e-01 7.43460186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59439141800001 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:213.72, Y:34.32, Z:7.43 [[ 9.93315232e-01 -1.14933950e-01 -1.07255537e-02 2.13724765e+02] [ 1.14930330e-01 9.93373095e-01 -9.55399418e-04 3.43247659e+01] [ 1.07642843e-02 -2.83678630e-04 9.99942023e-01 7.43478048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62439141800002 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:213.76, Y:34.33, Z:7.44 [[ 9.93584910e-01 -1.12584049e-01 -1.06704519e-02 2.13756842e+02] [ 1.12580353e-01 9.93642171e-01 -9.48283655e-04 3.43288155e+01] [ 1.07093726e-02 -2.59082915e-04 9.99942619e-01 7.43549521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65439141800002 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:213.79, Y:34.33, Z:7.43 [[ 9.93873146e-01 -1.10052883e-01 -1.02241434e-02 2.13789159e+02] [ 1.10049373e-01 9.93925708e-01 -9.07031717e-04 3.43331604e+01] [ 1.02618604e-02 -2.23686098e-04 9.99947321e-01 7.43474206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.684391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:213.82, Y:34.34, Z:7.43 [[ 9.93945720e-01 -1.09356788e-01 -1.06300658e-02 2.13822156e+02] [ 1.09352967e-01 9.94002536e-01 -9.41742804e-04 3.43365380e+01] [ 1.06692983e-02 -2.26388002e-04 9.99943056e-01 7.43475427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.714391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:213.86, Y:34.34, Z:7.43 [[ 9.94017744e-01 -1.08603582e-01 -1.15752264e-02 2.13855132e+02] [ 1.08599017e-01 9.94085109e-01 -1.02401898e-03 3.43392740e+01] [ 1.16179723e-02 -2.39165175e-04 9.99932480e-01 7.43298177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.744391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:213.89, Y:34.34, Z:7.43 [[ 9.93817459e-01 -1.10245661e-01 -1.31435716e-02 2.13887155e+02] [ 1.10239960e-01 9.93904325e-01 -1.15967076e-03 3.43435796e+01] [ 1.31913013e-02 -2.96445758e-04 9.99912947e-01 7.43430825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.774391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:213.92, Y:34.35, Z:7.43 [[ 9.93670213e-01 -1.11482385e-01 -1.38270074e-02 2.13919975e+02] [ 1.11476234e-01 9.93766355e-01 -1.21724775e-03 3.43468758e+01] [ 1.38765164e-02 -3.31839873e-04 9.99903661e-01 7.43403806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.804391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:213.95, Y:34.35, Z:7.43 [[ 9.93532637e-01 -1.12569050e-01 -1.48697072e-02 2.13951518e+02] [ 1.12562111e-01 9.93643833e-01 -1.30544915e-03 3.43497178e+01] [ 1.49221460e-02 -3.76759297e-04 9.99888588e-01 7.43439719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.834391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:213.98, Y:34.35, Z:7.43 [[ 9.93220096e-01 -1.15175645e-01 -1.57610673e-02 2.13983667e+02] [ 1.15168252e-01 9.93345042e-01 -1.37894907e-03 3.43526852e+01] [ 1.58149994e-02 -4.45574635e-04 9.99874836e-01 7.43421418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.864391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:214.02, Y:34.36, Z:7.43 [[ 9.93073628e-01 -1.16450076e-01 -1.56252867e-02 2.14016593e+02] [ 1.16443011e-01 9.93196438e-01 -1.36428354e-03 3.43557159e+01] [ 1.56778500e-02 -4.64621418e-04 9.99876987e-01 7.43459269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.894391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:214.05, Y:34.36, Z:7.43 [[ 9.93018035e-01 -1.16974913e-01 -1.52332785e-02 2.14048248e+02] [ 1.16968314e-01 9.93134761e-01 -1.32646750e-03 3.43585790e+01] [ 1.52838618e-02 -4.64604762e-04 9.99883087e-01 7.43461418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.924391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:214.08, Y:34.36, Z:7.44 [[ 9.93112378e-01 -1.16196297e-01 -1.50408189e-02 2.14079660e+02] [ 1.16199070e-01 9.93225703e-01 -6.92341362e-04 3.43614388e+01] [ 1.50193754e-02 -1.06015640e-03 9.99886641e-01 7.43500051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.954391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:214.11, Y:34.37, Z:7.44 [[ 9.92976959e-01 -1.17405036e-01 -1.45882024e-02 2.14112172e+02] [ 1.17388776e-01 9.93084084e-01 -1.96895802e-03 3.43663361e+01] [ 1.47184772e-02 2.42638734e-04 9.99891648e-01 7.43598863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.984391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:214.14, Y:34.37, Z:7.44 [[ 9.93065704e-01 -1.16681940e-01 -1.43468846e-02 2.14144352e+02] [ 1.16676188e-01 9.93169235e-01 -1.24018695e-03 3.43695064e+01] [ 1.43935918e-02 -4.42352675e-04 9.99896309e-01 7.43597362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.014391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:214.18, Y:34.37, Z:7.43 [[ 9.93292115e-01 -1.14856763e-01 -1.33678002e-02 2.14176023e+02] [ 1.14915410e-01 9.93368381e-01 3.70249636e-03 3.43704629e+01] [ 1.28538933e-02 -5.21382669e-03 9.99903792e-01 7.43457723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.044391418 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:214.22, Y:34.41, Z:7.45 [[ 9.94452847e-01 -1.04985904e-01 6.44172398e-03 2.14217462e+02] [ 1.05148295e-01 9.90674511e-01 -8.66478521e-02 3.44112995e+01] [ 2.71515137e-03 8.68445395e-02 9.96218176e-01 7.44664789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.074391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:214.24, Y:34.34, Z:7.41 [[ 9.93810556e-01 -1.09155522e-01 -2.06313186e-02 2.14242142e+02] [ 1.10495691e-01 9.90468285e-01 8.22391541e-02 3.43401758e+01] [ 1.14578090e-02 -8.40098113e-02 9.96399052e-01 7.41458250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.104391418 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:214.27, Y:34.38, Z:7.44 [[ 9.94158946e-01 -1.07150110e-01 -1.29168270e-02 2.14270438e+02] [ 1.07144691e-01 9.94242816e-01 -1.11285387e-03 3.43841568e+01] [ 1.29617049e-02 -2.77615804e-04 9.99915955e-01 7.43813746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.134391418 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:214.30, Y:34.39, Z:7.44 [[ 9.94469709e-01 -1.04294427e-01 -1.23560093e-02 2.14303228e+02] [ 1.04289269e-01 9.94546439e-01 -1.06279241e-03 3.43876365e+01] [ 1.23994684e-02 -2.31684318e-04 9.99923097e-01 7.43848049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.164391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:214.33, Y:34.39, Z:7.44 [[ 9.95115467e-01 -9.80143940e-02 -1.17637781e-02 2.14334565e+02] [ 9.80093006e-02 9.95184986e-01 -1.01008820e-03 3.43917948e+01] [ 1.18061385e-02 -1.47805271e-04 9.99930294e-01 7.43907693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.194391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:214.37, Y:34.40, Z:7.44 [[ 9.95431011e-01 -9.47244372e-02 -1.20159729e-02 2.14367073e+02] [ 9.47189055e-02 9.95503525e-01 -1.02990494e-03 3.43950806e+01] [ 1.20595005e-02 -1.12940488e-04 9.99927275e-01 7.43898748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.224391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:214.40, Y:34.40, Z:7.44 [[ 9.95730484e-01 -9.14537626e-02 -1.25304812e-02 2.14400411e+02] [ 9.14475080e-02 9.95809321e-01 -1.07241413e-03 3.43980396e+01] [ 1.25760463e-02 -7.80458413e-05 9.99920915e-01 7.43830050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.254391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:214.43, Y:34.40, Z:7.44 [[ 9.96258356e-01 -8.55119927e-02 -1.25294695e-02 2.14432337e+02] [ 8.55053052e-02 9.96337141e-01 -1.06944445e-03 3.44016506e+01] [ 1.25750262e-02 -5.89314834e-06 9.99920931e-01 7.43876599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.284391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:214.46, Y:34.40, Z:7.44 [[ 9.96497232e-01 -8.27158106e-02 -1.23028999e-02 2.14464630e+02] [ 8.27091868e-02 9.96573175e-01 -1.04709515e-03 3.44044520e+01] [ 1.23473513e-02 2.58645751e-05 9.99923768e-01 7.43882252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.314391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:214.50, Y:34.41, Z:7.44 [[ 9.96676720e-01 -8.05452406e-02 -1.21647280e-02 2.14497727e+02] [ 8.05386262e-02 9.96750953e-01 -1.03344554e-03 3.44075741e+01] [ 1.22084433e-02 5.02806313e-05 9.99925473e-01 7.43874486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34439141800001 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:214.53, Y:34.41, Z:7.44 [[ 9.96925205e-01 -7.73974269e-02 -1.22381917e-02 2.14530332e+02] [ 7.73905134e-02 9.97000316e-01 -1.03819663e-03 3.44102672e+01] [ 1.22818347e-02 8.78844550e-05 9.99924572e-01 7.43860506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37439141800002 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:214.56, Y:34.41, Z:7.44 [[ 9.96980700e-01 -7.66998691e-02 -1.21084315e-02 2.14563535e+02] [ 7.66930678e-02 9.97054222e-01 -1.02572054e-03 3.44128639e+01] [ 1.21514354e-02 9.39908195e-05 9.99926164e-01 7.43854501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40439141800002 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:214.60, Y:34.42, Z:7.44 [[ 9.96997885e-01 -7.64515717e-02 -1.22626995e-02 2.14596651e+02] [ 7.64445956e-02 9.97073291e-01 -1.03729109e-03 3.44152685e+01] [ 1.23061126e-02 9.67599206e-05 9.99924272e-01 7.43845793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.434391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:214.63, Y:34.42, Z:7.44 [[ 9.96869805e-01 -7.80508896e-02 -1.25956874e-02 2.14629938e+02] [ 7.80436767e-02 9.96949373e-01 -1.06391553e-03 3.44166834e+01] [ 1.26403022e-02 7.75715056e-05 9.99920105e-01 7.43855216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.464391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:214.66, Y:34.42, Z:7.44 [[ 9.96705426e-01 -7.98972053e-02 -1.39545739e-02 2.14662381e+02] [ 7.97860723e-02 9.96777055e-01 -8.34778024e-03 3.44217510e+01] [ 1.45765634e-02 7.20689722e-03 9.99867783e-01 7.44135301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.494391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:214.69, Y:34.42, Z:7.44 [[ 9.96470500e-01 -8.28556995e-02 -1.34712875e-02 2.14693557e+02] [ 8.29430336e-02 9.96535877e-01 6.05799120e-03 3.44163556e+01] [ 1.29226822e-02 -7.15395897e-03 9.99890907e-01 7.43674206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.524391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:214.73, Y:34.42, Z:7.44 [[ 9.95855247e-01 -9.01597484e-02 -1.19811200e-02 2.14726383e+02] [ 9.01541463e-02 9.95927314e-01 -1.00794838e-03 3.44193437e+01] [ 1.20232010e-02 -7.63769552e-05 9.99927716e-01 7.43873969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.554391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:214.76, Y:34.42, Z:7.44 [[ 9.95446039e-01 -9.46107650e-02 -1.16612877e-02 2.14759597e+02] [ 9.46057802e-02 9.95514333e-01 -9.79604529e-04 3.44203063e+01] [ 1.17016602e-02 -1.28081771e-04 9.99931525e-01 7.43849704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.584391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:214.79, Y:34.42, Z:7.44 [[ 9.94996216e-01 -9.93220928e-02 -1.08467126e-02 2.14791705e+02] [ 9.93180851e-02 9.95055321e-01 -9.08850096e-04 3.44209958e+01] [ 1.08833480e-02 -1.72972323e-04 9.99940760e-01 7.43857185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.614391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:214.82, Y:34.42, Z:7.44 [[ 9.94541664e-01 -1.03827180e-01 -1.03342244e-02 2.14824011e+02] [ 1.03823817e-01 9.94595330e-01 -8.62829058e-04 3.44213461e+01] [ 1.03679564e-02 -2.14819179e-04 9.99946228e-01 7.43874193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.644391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:214.86, Y:34.42, Z:7.44 [[ 9.93486058e-01 -1.13636940e-01 -8.49102625e-03 2.14857263e+02] [ 1.13635042e-01 9.93522308e-01 -7.07233828e-04 3.44201885e+01] [ 8.51639189e-03 -2.62251180e-04 9.99963700e-01 7.43855156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.674391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:214.89, Y:34.42, Z:7.44 [[ 9.92989834e-01 -1.17914974e-01 -8.20050990e-03 2.14890754e+02] [ 1.17913357e-01 9.93023653e-01 -6.82064212e-04 3.44208220e+01] [ 8.22372588e-03 -2.89666821e-04 9.99966143e-01 7.43888274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.704391418 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:214.92, Y:34.42, Z:7.44 [[ 9.92038033e-01 -1.25708815e-01 -7.60486940e-03 2.14923350e+02] [ 1.25707663e-01 9.92067127e-01 -6.31225364e-04 3.44196905e+01] [ 7.62389153e-03 -3.29790792e-04 9.99970883e-01 7.43831588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.734391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:214.96, Y:34.42, Z:7.44 [[ 9.91629958e-01 -1.28878262e-01 -7.77298462e-03 2.14956122e+02] [ 1.28877171e-01 9.91660356e-01 -6.43255016e-04 3.44210293e+01] [ 7.79106228e-03 -3.63889322e-04 9.99969583e-01 7.43853770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.764391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:214.99, Y:34.42, Z:7.44 [[ 9.91294128e-01 -1.31436856e-01 -7.76563784e-03 2.14989657e+02] [ 1.31435856e-01 9.91324470e-01 -6.41204776e-04 3.44226205e+01] [ 7.78254475e-03 -3.85060726e-04 9.99969641e-01 7.43866566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.794391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:215.02, Y:34.42, Z:7.44 [[ 9.91056035e-01 -1.33218347e-01 -7.79797943e-03 2.15021894e+02] [ 1.33217413e-01 9.91086631e-01 -6.41350509e-04 3.44242486e+01] [ 7.81391282e-03 -4.03212354e-04 9.99969390e-01 7.43896731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.824391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:215.05, Y:34.43, Z:7.44 [[ 9.90702433e-01 -1.35822220e-01 -7.81110790e-03 2.15054836e+02] [ 1.35821383e-01 9.90733134e-01 -6.39978132e-04 3.44255198e+01] [ 7.82564665e-03 -4.26887583e-04 9.99969288e-01 7.43886666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.854391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:215.09, Y:34.43, Z:7.44 [[ 9.90724849e-01 -1.35681459e-01 -7.40378716e-03 2.15087798e+02] [ 1.35680720e-01 9.90752430e-01 -6.04279412e-04 3.44273826e+01] [ 7.41730963e-03 -4.05876545e-04 9.99972409e-01 7.43901855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.884391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:215.12, Y:34.43, Z:7.44 [[ 9.90933594e-01 -1.34168913e-01 -7.02243638e-03 2.15120661e+02] [ 1.34168227e-01 9.90958405e-01 -5.70957910e-04 3.44292511e+01] [ 7.03554716e-03 -3.76406462e-04 9.99975179e-01 7.43911899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.914391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:215.15, Y:34.43, Z:7.44 [[ 9.91114697e-01 -1.32835444e-01 -6.81187146e-03 2.15152245e+02] [ 1.32834781e-01 9.91138041e-01 -5.51694589e-04 3.44317553e+01] [ 6.82478953e-03 -3.58060837e-04 9.99976647e-01 7.43907577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.944391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:215.18, Y:34.43, Z:7.44 [[ 9.91376239e-01 -1.30878024e-01 -6.64043237e-03 2.15184885e+02] [ 1.30877364e-01 9.91398421e-01 -5.35798500e-04 3.44346558e+01] [ 6.65343841e-03 -3.37904382e-04 9.99977809e-01 7.43897253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.974391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:215.22, Y:34.44, Z:7.44 [[ 9.91965332e-01 -1.26289549e-01 -7.46522453e-03 2.15216608e+02] [ 1.26288604e-01 9.91993361e-01 -5.99732237e-04 3.44386390e+01] [ 7.48119309e-03 -3.47859199e-04 9.99971955e-01 7.43945491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.004391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:215.25, Y:34.44, Z:7.44 [[ 9.92306385e-01 -1.23539795e-01 -8.12147402e-03 2.15249789e+02] [ 1.23538606e-01 9.92339554e-01 -6.49782262e-04 3.44419004e+01] [ 8.13953388e-03 -3.58532493e-04 9.99966809e-01 7.43932155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.034391418 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:215.28, Y:34.44, Z:7.44 [[ 9.92645811e-01 -1.20769292e-01 -8.31100976e-03 2.15281974e+02] [ 1.20767972e-01 9.92680542e-01 -6.62291390e-04 3.44449205e+01] [ 8.33016213e-03 -3.46283020e-04 9.99965244e-01 7.43931018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.064391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:215.32, Y:34.45, Z:7.44 [[ 9.92951633e-01 -1.18179014e-01 -8.98747339e-03 2.15315287e+02] [ 1.18177384e-01 9.92992244e-01 -7.14042146e-04 3.44481815e+01] [ 9.00887616e-03 -3.53106780e-04 9.99959357e-01 7.43992660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09439141800001 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:215.35, Y:34.45, Z:7.44 [[ 9.93626014e-01 -1.12398151e-01 -8.60232220e-03 2.15348184e+02] [ 1.12396450e-01 9.93663209e-01 -6.82450363e-04 3.44521160e+01] [ 8.62451724e-03 -2.88770044e-04 9.99962766e-01 7.44024920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12439141800002 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:215.38, Y:34.46, Z:7.44 [[ 9.93959071e-01 -1.09411529e-01 -8.63032869e-03 2.15380136e+02] [ 1.09409718e-01 9.93996502e-01 -6.83072166e-04 3.44556453e+01] [ 8.65325250e-03 -2.65296055e-04 9.99962525e-01 7.44095270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15439141800002 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:215.41, Y:34.46, Z:7.44 [[ 9.94583053e-01 -1.03617002e-01 -8.25025980e-03 2.15413011e+02] [ 1.03615163e-01 9.94617250e-01 -6.51168131e-04 3.44599303e+01] [ 8.27332281e-03 -2.07211228e-04 9.99965754e-01 7.44110741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.184391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:215.45, Y:34.46, Z:7.44 [[ 9.94870347e-01 -1.00847180e-01 -7.92713795e-03 2.15445686e+02] [ 1.00845401e-01 9.94901912e-01 -6.24759095e-04 3.44630415e+01] [ 7.94972989e-03 -1.77861109e-04 9.99968385e-01 7.44154405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.214391418 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:215.49, Y:34.49, Z:7.44 [[ 9.95542923e-01 -9.41345739e-02 5.74206693e-03 2.15485623e+02] [ 9.43051843e-02 9.94235225e-01 -5.10181266e-02 3.44860402e+01] [-9.06395601e-04 5.13322415e-02 9.98681220e-01 7.44244096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.244391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:215.51, Y:34.44, Z:7.43 [[ 9.95347827e-01 -9.55688090e-02 -1.22191119e-02 2.15510713e+02] [ 9.60764247e-02 9.94034473e-01 5.16215756e-02 3.44435794e+01] [ 7.21280593e-03 -5.25553917e-02 9.98591962e-01 7.42882636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.274391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:215.54, Y:34.47, Z:7.44 [[ 9.95789690e-01 -9.12851346e-02 -8.36162249e-03 2.15541570e+02] [ 9.12828126e-02 9.95824790e-01 -6.59722749e-04 3.44716078e+01] [ 8.38693384e-03 -1.06327307e-04 9.99964823e-01 7.44293193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.304391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:215.57, Y:34.47, Z:7.44 [[ 9.95993176e-01 -8.90170696e-02 -8.57644678e-03 2.15574501e+02] [ 8.90145517e-02 9.96030097e-01 -6.75617515e-04 3.44740678e+01] [ 8.60254061e-03 -9.05181315e-05 9.99962993e-01 7.44250781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.334391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:215.61, Y:34.48, Z:7.44 [[ 9.96321873e-01 -8.51635353e-02 -9.48140416e-03 2.15606505e+02] [ 8.51603014e-02 9.96366985e-01 -7.45016512e-04 3.44766229e+01] [ 9.51040631e-03 -6.51629885e-05 9.99954773e-01 7.44264292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.364391418 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:215.64, Y:34.48, Z:7.44 [[ 9.96478668e-01 -8.32491891e-02 -9.99182132e-03 2.15639765e+02] [ 8.32455259e-02 9.96528760e-01 -7.82678976e-04 3.44787347e+01] [ 1.00222947e-02 -5.18515169e-05 9.99949774e-01 7.44302039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.394391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:215.67, Y:34.48, Z:7.44 [[ 9.96574724e-01 -8.20660195e-02 -1.01974147e-02 2.15671935e+02] [ 8.20621545e-02 9.96626894e-01 -7.97577548e-04 3.44808026e+01] [ 1.02284718e-02 -4.19761994e-05 9.99947687e-01 7.44335468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.424391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:215.70, Y:34.48, Z:7.44 [[ 9.96669399e-01 -8.09086042e-02 -1.01935211e-02 2.15704714e+02] [ 8.09046931e-02 9.96721524e-01 -7.96141801e-04 3.44823522e+01] [ 1.02245166e-02 -3.12135273e-05 9.99947728e-01 7.44336922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.454391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:215.74, Y:34.48, Z:7.44 [[ 9.96680781e-01 -8.07682530e-02 -1.01936236e-02 2.15738168e+02] [ 8.07643480e-02 9.96732907e-01 -7.94828435e-04 3.44848442e+01] [ 1.02245169e-02 -3.10911355e-05 9.99947728e-01 7.44357153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.484391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:215.77, Y:34.49, Z:7.44 [[ 9.96788062e-01 -7.94033009e-02 -1.04247054e-02 2.15771005e+02] [ 7.93991569e-02 9.96842573e-01 -8.11431660e-04 3.44850678e+01] [ 1.04562205e-02 -1.88874310e-05 9.99945332e-01 7.44413728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.514391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:215.80, Y:34.49, Z:7.44 [[ 9.96837816e-01 -7.87776203e-02 -1.04141744e-02 2.15803487e+02] [ 7.87734676e-02 9.96892214e-01 -8.08982851e-04 3.44860914e+01] [ 1.04455391e-02 -1.39359299e-05 9.99945444e-01 7.44476415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.544391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:215.84, Y:34.49, Z:7.45 [[ 9.96888688e-01 -7.82124306e-02 -9.78570745e-03 2.15836809e+02] [ 7.82087525e-02 9.96936716e-01 -7.58565738e-04 3.44870419e+01] [ 9.81506032e-03 -9.12236900e-06 9.99951831e-01 7.44503789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.574391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:215.87, Y:34.49, Z:7.45 [[ 9.96894947e-01 -7.81927329e-02 -9.29304215e-03 2.15868589e+02] [ 7.81894274e-02 9.96938261e-01 -7.19035267e-04 3.44863373e+01] [ 9.32081261e-03 -9.81501970e-06 9.99956560e-01 7.44530985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.604391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:215.90, Y:34.49, Z:7.45 [[ 9.96870742e-01 -7.85064773e-02 -9.24431132e-03 2.15901713e+02] [ 7.85032345e-02 9.96913603e-01 -7.13691882e-04 3.44868701e+01] [ 9.27180915e-03 -1.42497837e-05 9.99957016e-01 7.44540460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.634391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:215.93, Y:34.49, Z:7.45 [[ 9.96842236e-01 -7.88738658e-02 -9.19073607e-03 2.15934392e+02] [ 7.88706861e-02 9.96884604e-01 -7.08469409e-04 3.44873012e+01] [ 9.21798300e-03 -1.86474296e-05 9.99957513e-01 7.44547915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.664391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:215.97, Y:34.49, Z:7.45 [[ 9.96688130e-01 -8.07773996e-02 -9.36922655e-03 2.15967004e+02] [ 8.07741892e-02 9.96732166e-01 -7.21174640e-04 3.44850729e+01] [ 9.39686408e-03 -3.80054747e-05 9.99955848e-01 7.44519668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.694391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:216.00, Y:34.49, Z:7.45 [[ 9.96583189e-01 -8.20694429e-02 -9.30338836e-03 2.16000184e+02] [ 8.20663429e-02 9.96626612e-01 -7.15124865e-04 3.44850081e+01] [ 9.33069432e-03 -5.08136405e-05 9.99956467e-01 7.44521486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.724391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:216.03, Y:34.48, Z:7.45 [[ 9.96464168e-01 -8.34730368e-02 -9.56109069e-03 2.16033583e+02] [ 8.34698387e-02 9.96510034e-01 -7.33747408e-04 3.44849385e+01] [ 9.58897093e-03 -6.69096972e-05 9.99954023e-01 7.44513359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.754391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:216.07, Y:34.48, Z:7.44 [[ 9.96266255e-01 -8.57820672e-02 -9.74608091e-03 2.16065469e+02] [ 8.57788657e-02 9.96313921e-01 -7.46802812e-04 3.44823378e+01] [ 9.77421837e-03 -9.19933244e-05 9.99952227e-01 7.44492417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.784391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:216.10, Y:34.48, Z:7.45 [[ 9.96182452e-01 -8.67086324e-02 -1.01062489e-02 2.16098929e+02] [ 8.67052493e-02 9.96233708e-01 -7.73248170e-04 3.44826918e+01] [ 1.01352331e-02 -1.05968573e-04 9.99948632e-01 7.44510217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.814391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:216.13, Y:34.48, Z:7.44 [[ 9.96123571e-01 -8.73504223e-02 -1.03795704e-02 2.16131244e+02] [ 8.73469013e-02 9.96177640e-01 -7.92927455e-04 3.44830392e+01] [ 1.04091584e-02 -1.16769581e-04 9.99945816e-01 7.44499751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84439141800001 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:216.16, Y:34.48, Z:7.45 [[ 9.96067479e-01 -8.78850524e-02 -1.12158503e-02 2.16164884e+02] [ 8.78809895e-02 9.96130614e-01 -8.55533037e-04 3.44812113e+01] [ 1.12476404e-02 -1.33491387e-04 9.99936734e-01 7.44515119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87439141800002 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:216.20, Y:34.48, Z:7.45 [[ 9.96081617e-01 -8.77340852e-02 -1.11418959e-02 2.16197657e+02] [ 8.77300811e-02 9.96143922e-01 -8.48565786e-04 3.44816713e+01] [ 1.11733800e-02 -1.32238647e-04 9.99937567e-01 7.44527564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90439141800002 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:216.23, Y:34.48, Z:7.45 [[ 9.96146653e-01 -8.70309019e-02 -1.08382205e-02 2.16231195e+02] [ 8.70270858e-02 9.96205605e-01 -8.24116806e-04 3.44820175e+01] [ 1.08688196e-02 -1.22277544e-04 9.99940925e-01 7.44526139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.934391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:216.26, Y:34.48, Z:7.45 [[ 9.96231068e-01 -8.60578775e-02 -1.08489720e-02 2.16263039e+02] [ 8.60540096e-02 9.96290133e-01 -8.23700404e-04 3.44811116e+01] [ 1.08796097e-02 -1.13001609e-04 9.99940809e-01 7.44536889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.964391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:216.30, Y:34.48, Z:7.45 [[ 9.96277543e-01 -8.55217481e-02 -1.08207060e-02 2.16295740e+02] [ 8.55178816e-02 9.96336298e-01 -8.20365249e-04 3.44819158e+01] [ 1.08512212e-02 -1.08052381e-04 9.99941118e-01 7.44558138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.994391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:216.33, Y:34.48, Z:7.45 [[ 9.96333181e-01 -8.48833617e-02 -1.07241269e-02 2.16328370e+02] [ 8.48795407e-02 9.96390889e-01 -8.11759142e-04 3.44827164e+01] [ 1.07543272e-02 -1.01476400e-04 9.99942165e-01 7.44578466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.024391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:216.36, Y:34.48, Z:7.45 [[ 9.96389766e-01 -8.42245796e-02 -1.06608777e-02 2.16360441e+02] [ 8.42207785e-02 9.96446793e-01 -8.05790883e-04 3.44834318e+01] [ 1.06908648e-02 -9.49856332e-05 9.99942847e-01 7.44598411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.054391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:216.39, Y:34.48, Z:7.45 [[ 9.96525432e-01 -8.25975563e-02 -1.07101220e-02 2.16392638e+02] [ 8.25936374e-02 9.96582981e-01 -8.08450107e-04 3.44821100e+01] [ 1.07403013e-02 -7.89468402e-05 9.99942318e-01 7.44595847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.084391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:216.42, Y:34.48, Z:7.45 [[ 9.96592483e-01 -8.17968752e-02 -1.06157020e-02 2.16424748e+02] [ 8.17929897e-02 9.96649019e-01 -8.00378801e-04 3.44827254e+01] [ 1.06455975e-02 -7.06385109e-05 9.99943332e-01 7.44635166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.114391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:216.46, Y:34.48, Z:7.45 [[ 9.96658968e-01 -8.10297932e-02 -1.02505943e-02 2.16456553e+02] [ 8.10261379e-02 9.96711678e-01 -7.72073107e-04 3.44835578e+01] [ 1.02794480e-02 -6.10724817e-05 9.99947163e-01 7.44618954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.144391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:216.49, Y:34.48, Z:7.45 [[ 9.96790458e-01 -7.94043622e-02 -1.01848050e-02 2.16488000e+02] [ 7.94006759e-02 9.96842488e-01 -7.66417358e-04 3.44828037e+01] [ 1.02135032e-02 -4.47228900e-05 9.99947840e-01 7.44687136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.174391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:216.52, Y:34.48, Z:7.45 [[ 9.96844721e-01 -7.86903313e-02 -1.04131460e-02 2.16520199e+02] [ 7.86864473e-02 9.96899107e-01 -7.82801465e-04 3.44837819e+01] [ 1.04424549e-02 -3.90419553e-05 9.99945475e-01 7.44747748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.204391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:216.55, Y:34.48, Z:7.45 [[ 9.96876442e-01 -7.82690637e-02 -1.05505117e-02 2.16552826e+02] [ 7.82650635e-02 9.96932271e-01 -7.92134151e-04 3.44844974e+01] [ 1.05801452e-02 -3.60765944e-05 9.99944028e-01 7.44730401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.234391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:216.58, Y:34.48, Z:7.45 [[ 9.96885592e-01 -7.80760718e-02 -1.11014914e-02 2.16584797e+02] [ 7.80716418e-02 9.96947404e-01 -8.32518507e-04 3.44831154e+01] [ 1.11326028e-02 -3.67859565e-05 9.99938030e-01 7.44708603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.264391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:216.62, Y:34.48, Z:7.45 [[ 9.96842810e-01 -7.85338953e-02 -1.16978502e-02 2.16616053e+02] [ 7.85290192e-02 9.96911443e-01 -8.76289035e-04 3.44837683e+01] [ 1.17305391e-02 -4.50982818e-05 9.99931194e-01 7.44712675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.294391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:216.65, Y:34.48, Z:7.45 [[ 9.96735477e-01 -7.97856184e-02 -1.23549484e-02 2.16647220e+02] [ 7.97802857e-02 9.96812044e-01 -9.24669601e-04 3.44826525e+01] [ 1.23893367e-02 -6.40303186e-05 9.99923247e-01 7.44746178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.324391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:216.68, Y:34.48, Z:7.45 [[ 9.96655087e-01 -8.08128667e-02 -1.21621490e-02 2.16679088e+02] [ 8.08077863e-02 9.96729289e-01 -9.09369074e-04 3.44834884e+01] [ 1.21958588e-02 -7.64690223e-05 9.99925625e-01 7.44755445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.354391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:216.71, Y:34.48, Z:7.45 [[ 9.96569204e-01 -8.18361630e-02 -1.23557574e-02 2.16711166e+02] [ 8.18310110e-02 9.96645792e-01 -9.22810095e-04 3.44840612e+01] [ 1.23898328e-02 -9.14399964e-05 9.99923239e-01 7.44788175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.384391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:216.74, Y:34.48, Z:7.45 [[ 9.96403479e-01 -8.39246862e-02 -1.16941774e-02 2.16743335e+02] [ 8.39202266e-02 9.96472094e-01 -8.72399853e-04 3.44831651e+01] [ 1.17261374e-02 -1.12115772e-04 9.99931240e-01 7.44851563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.414391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:216.77, Y:34.48, Z:7.45 [[ 9.96343574e-01 -8.46978018e-02 -1.12145288e-02 2.16774543e+02] [ 8.46937591e-02 9.96406678e-01 -8.35770928e-04 3.44839288e+01] [ 1.12450193e-02 -1.17085605e-04 9.99936766e-01 7.44876855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.444391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:216.81, Y:34.49, Z:7.45 [[ 9.96272034e-01 -8.55607579e-02 -1.10177279e-02 2.16806844e+02] [ 8.55569177e-02 9.96332947e-01 -8.20276014e-04 3.44851081e+01] [ 1.10475087e-02 -1.25424783e-04 9.99938967e-01 7.44921500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.474391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:216.84, Y:34.49, Z:7.45 [[ 9.96239487e-01 -8.59879320e-02 -1.06282769e-02 2.16839441e+02] [ 8.59843926e-02 9.96296171e-01 -7.90364688e-04 3.44863895e+01] [ 1.06568734e-02 -1.26473425e-04 9.99943206e-01 7.44955609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.504391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:216.87, Y:34.49, Z:7.45 [[ 9.96141792e-01 -8.72020596e-02 -9.86564882e-03 2.16870693e+02] [ 8.71990768e-02 9.96190636e-01 -7.32912739e-04 3.44866617e+01] [ 9.89197848e-03 -1.30190459e-04 9.99951065e-01 7.44957227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.534391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:216.90, Y:34.49, Z:7.45 [[ 9.96086111e-01 -8.78395744e-02 -9.83203755e-03 2.16902972e+02] [ 8.78366501e-02 9.96134625e-01 -7.29688618e-04 3.44878482e+01] [ 9.85812857e-03 -1.36780544e-04 9.99951398e-01 7.44988438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.564391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:216.93, Y:34.49, Z:7.45 [[ 9.96012477e-01 -8.87024058e-02 -9.54093476e-03 2.16933894e+02] [ 8.86997014e-02 9.96058162e-01 -7.07064351e-04 3.44887926e+01] [ 9.56604425e-03 -1.42033149e-04 9.99954234e-01 7.45012022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59439141800001 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:216.97, Y:34.49, Z:7.45 [[ 9.95856499e-01 -9.04774028e-02 -9.14730702e-03 2.16965795e+02] [ 9.04750018e-02 9.95898497e-01 -6.76797285e-04 3.44884195e+01] [ 9.17102417e-03 -1.53609644e-04 9.99957933e-01 7.44977579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62439141800002 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:217.00, Y:34.49, Z:7.45 [[ 9.95789027e-01 -9.11684171e-02 -9.61942695e-03 2.16998407e+02] [ 9.11658024e-02 9.95835474e-01 -7.10875113e-04 3.44894186e+01] [ 9.64417595e-03 -1.69081139e-04 9.99953480e-01 7.45011791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65439141800002 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:217.03, Y:34.49, Z:7.45 [[ 9.95741039e-01 -9.16891282e-02 -9.63784075e-03 2.17029925e+02] [ 9.16865350e-02 9.95787665e-01 -7.11489092e-04 3.44905194e+01] [ 9.66247875e-03 -1.75201336e-04 9.99953302e-01 7.45011257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.684391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:217.06, Y:34.49, Z:7.45 [[ 9.95681909e-01 -9.22834966e-02 -1.00644011e-02 2.17061702e+02] [ 9.22807068e-02 9.95732755e-01 -7.42221357e-04 3.44911698e+01] [ 1.00899486e-02 -1.89733666e-04 9.99949077e-01 7.45055453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.714391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:217.09, Y:34.49, Z:7.45 [[ 9.95717410e-01 -9.18608038e-02 -1.04130801e-02 2.17094241e+02] [ 9.18578041e-02 9.95771839e-01 -7.66996770e-04 3.44925347e+01] [ 1.04395089e-02 -1.92810639e-04 9.99945488e-01 7.45038283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.744391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:217.13, Y:34.49, Z:7.45 [[ 9.95777425e-01 -9.11227521e-02 -1.11338753e-02 2.17125085e+02] [ 9.11192910e-02 9.95839648e-01 -8.18797690e-04 3.44937194e+01] [ 1.11621655e-02 -1.99170564e-04 9.99937681e-01 7.45044713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.774391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:217.16, Y:34.49, Z:7.45 [[ 9.96016094e-01 -8.83898397e-02 -1.17973384e-02 2.17157250e+02] [ 8.83857786e-02 9.96085942e-01 -8.66195360e-04 3.44944664e+01] [ 1.18277258e-02 -1.79972420e-04 9.99930034e-01 7.45087910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.804391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:217.19, Y:34.50, Z:7.45 [[ 9.96183312e-01 -8.65278218e-02 -1.14780129e-02 2.17189661e+02] [ 8.65238653e-02 9.96249423e-01 -8.41766066e-04 3.44961882e+01] [ 1.15077999e-02 -1.54568735e-04 9.99933771e-01 7.45123708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.834391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:217.22, Y:34.50, Z:7.45 [[ 9.96357444e-01 -8.44899739e-02 -1.15450066e-02 2.17220619e+02] [ 8.44858447e-02 9.96424321e-01 -8.45781957e-04 3.44980353e+01] [ 1.15751855e-02 -1.32688489e-04 9.99932996e-01 7.45220232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.864391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:217.25, Y:34.50, Z:7.45 [[ 9.96680497e-01 -8.06699608e-02 -1.09701738e-02 2.17252484e+02] [ 8.06660100e-02 9.96740864e-01 -8.02860684e-04 3.44997256e+01] [ 1.09991873e-02 -8.47245671e-05 9.99939504e-01 7.45180317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.894391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:217.28, Y:34.50, Z:7.45 [[ 9.96810168e-01 -7.90084932e-02 -1.12759568e-02 2.17284338e+02] [ 7.90042242e-02 9.96873940e-01 -8.24231519e-04 3.45017466e+01] [ 1.13058288e-02 -6.92458640e-05 9.99936085e-01 7.45206224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.924391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:217.32, Y:34.50, Z:7.45 [[ 9.96919664e-01 -7.75673721e-02 -1.15967829e-02 2.17316660e+02] [ 7.75627712e-02 9.96987111e-01 -8.46644476e-04 3.45036743e+01] [ 1.16275151e-02 -5.54420965e-05 9.99932397e-01 7.45190700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.954391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:217.35, Y:34.51, Z:7.45 [[ 9.96973781e-01 -7.68194213e-02 -1.19187779e-02 2.17348589e+02] [ 7.68145207e-02 9.97045021e-01 -8.69086006e-04 3.45055023e+01] [ 1.19503208e-02 -4.90792495e-05 9.99928591e-01 7.45215710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.984391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:217.38, Y:34.51, Z:7.45 [[ 9.97005365e-01 -7.64153550e-02 -1.18741700e-02 2.17380992e+02] [ 7.64104749e-02 9.97076071e-01 -8.64777991e-04 3.45065531e+01] [ 1.19055331e-02 -4.51226752e-05 9.99929126e-01 7.45206619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.014391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:217.41, Y:34.51, Z:7.45 [[ 9.96964156e-01 -7.69440667e-02 -1.19198338e-02 2.17411986e+02] [ 7.69391979e-02 9.97035410e-01 -8.67169641e-04 3.45080682e+01] [ 1.19512199e-02 -5.25654008e-05 9.99928580e-01 7.45260327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.044391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:217.44, Y:34.51, Z:7.45 [[ 9.96865191e-01 -7.82925477e-02 -1.14047219e-02 2.17443762e+02] [ 7.82881887e-02 9.96930425e-01 -8.28834362e-04 3.45099620e+01] [ 1.14346058e-02 -6.66188953e-05 9.99934621e-01 7.45306758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.074391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:217.48, Y:34.51, Z:7.45 [[ 9.96597037e-01 -8.17494733e-02 -1.05531301e-02 2.17475633e+02] [ 8.17459442e-02 9.96652905e-01 -7.66050176e-04 3.45112923e+01] [ 1.05804320e-02 -9.92322529e-05 9.99944021e-01 7.45394369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.104391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:217.51, Y:34.51, Z:7.45 [[ 9.96420650e-01 -8.39123230e-02 -1.02279410e-02 2.17507933e+02] [ 8.39091311e-02 9.96473135e-01 -7.41555071e-04 3.45131503e+01] [ 1.02540941e-02 -1.19316860e-04 9.99947418e-01 7.45447798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.134391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:217.54, Y:34.51, Z:7.45 [[ 9.96193162e-01 -8.66176881e-02 -9.82646636e-03 2.17539388e+02] [ 8.66148809e-02 9.96241615e-01 -7.11684298e-04 3.45148050e+01] [ 9.85117917e-03 -1.42143182e-04 9.99951466e-01 7.45457319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.164391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:217.57, Y:34.52, Z:7.45 [[ 9.95633107e-01 -9.28821121e-02 -9.36106522e-03 2.17570248e+02] [ 9.28798467e-02 9.95677094e-01 -6.77384641e-04 3.45154158e+01] [ 9.38351513e-03 -1.95027729e-04 9.99955955e-01 7.45456701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.194391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:217.60, Y:34.52, Z:7.45 [[ 9.95311517e-01 -9.62679500e-02 -9.35231766e-03 2.17602650e+02] [ 9.62658446e-02 9.95355429e-01 -6.76079121e-04 3.45172376e+01] [ 9.37396490e-03 -2.27399422e-04 9.99956038e-01 7.45462462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.224391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:217.64, Y:34.52, Z:7.45 [[ 9.94944910e-01 -9.99708726e-02 -9.51060605e-03 2.17635241e+02] [ 9.99688721e-02 9.94990328e-01 -6.86703900e-04 3.45193990e+01] [ 9.53161142e-03 -2.67532010e-04 9.99954537e-01 7.45433299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.254391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:217.67, Y:34.52, Z:7.45 [[ 9.94585302e-01 -1.03460644e-01 -9.79658252e-03 2.17666233e+02] [ 1.03458700e-01 9.94633500e-01 -7.06328578e-04 3.45212496e+01] [ 9.81708637e-03 -3.11037670e-04 9.99951763e-01 7.45446536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.284391418 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:217.70, Y:34.52, Z:7.45 [[ 9.93856975e-01 -1.10195649e-01 -1.02582235e-02 2.17698010e+02] [ 1.10193889e-01 9.93909836e-01 -7.38408781e-04 3.45232137e+01] [ 1.02771187e-02 -3.96520824e-04 9.99947110e-01 7.45412368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.314391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:217.73, Y:34.53, Z:7.45 [[ 9.93572494e-01 -1.12687308e-01 -1.07363372e-02 2.17728729e+02] [ 1.12685534e-01 9.93630401e-01 -7.71969308e-04 3.45253303e+01] [ 1.07549422e-02 -4.42822413e-04 9.99942066e-01 7.45434630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34439141800001 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:217.76, Y:34.53, Z:7.45 [[ 9.93333682e-01 -1.14744343e-01 -1.10422419e-02 2.17760895e+02] [ 1.14742603e-01 9.93394940e-01 -7.93146595e-04 3.45279954e+01] [ 1.10603163e-02 -4.79156347e-04 9.99938718e-01 7.45466433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37439141800002 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:217.79, Y:34.53, Z:7.46 [[ 9.92970153e-01 -1.17874629e-01 -1.07632729e-02 2.17792648e+02] [ 1.17873168e-01 9.93028358e-01 -7.72210056e-04 3.45319945e+01] [ 1.07792592e-02 -5.01919540e-04 9.99941776e-01 7.45514471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40439141800002 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:217.83, Y:34.53, Z:7.46 [[ 9.92982184e-01 -1.17773225e-01 -1.07633449e-02 2.17825260e+02] [ 1.17771769e-01 9.93040390e-01 -7.71205766e-04 3.45342525e+01] [ 1.07792636e-02 -5.01824591e-04 9.99941776e-01 7.45534196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.434391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:217.86, Y:34.54, Z:7.46 [[ 9.92855418e-01 -1.18841100e-01 -1.07196937e-02 2.17857245e+02] [ 1.18839730e-01 9.92913153e-01 -7.66962977e-04 3.45378948e+01] [ 1.07348716e-02 -5.12442163e-04 9.99942248e-01 7.45568580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.464391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:217.89, Y:34.54, Z:7.46 [[ 9.92754345e-01 -1.19709195e-01 -1.04172788e-02 2.17889392e+02] [ 1.19707959e-01 9.92808869e-01 -7.44327190e-04 3.45417832e+01] [ 1.04314696e-02 -5.08097133e-04 9.99945462e-01 7.45638521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.494391418 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:217.92, Y:34.55, Z:7.46 [[ 9.92543937e-01 -1.21482983e-01 -9.92057512e-03 2.17922545e+02] [ 1.21481960e-01 9.92593387e-01 -7.07858687e-04 3.45479730e+01] [ 9.93309004e-03 -5.02590060e-04 9.99950539e-01 7.45692138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.524391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:217.95, Y:34.55, Z:7.46 [[ 9.92420191e-01 -1.22473399e-01 -1.01208069e-02 2.17954096e+02] [ 1.22472398e-01 9.92471658e-01 -7.20954766e-04 3.45519032e+01] [ 1.01329118e-02 -5.24029422e-04 9.99948523e-01 7.45716139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.554391418 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:217.99, Y:34.56, Z:7.46 [[ 9.92293284e-01 -1.23488829e-01 -1.02248708e-02 2.17987347e+02] [ 1.23487873e-01 9.92345815e-01 -7.27246319e-04 3.45556521e+01] [ 1.02364145e-02 -5.41005907e-04 9.99947460e-01 7.45611093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.584391418 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:218.02, Y:34.56, Z:7.46 [[ 9.91957029e-01 -1.26111886e-01 -1.08186956e-02 2.18019950e+02] [ 1.26110985e-01 9.92015841e-01 -7.68136183e-04 3.45623379e+01] [ 1.08291885e-02 -6.02398271e-04 9.99941181e-01 7.45718786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.614391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:218.05, Y:34.57, Z:7.46 [[ 9.91756222e-01 -1.27634739e-01 -1.13564927e-02 2.18052114e+02] [ 1.27633861e-01 9.91821027e-01 -8.04979796e-04 3.45664246e+01] [ 1.13663516e-02 -6.51129294e-04 9.99935189e-01 7.45683904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.644391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:218.09, Y:34.57, Z:7.46 [[ 9.91549082e-01 -1.29181414e-01 -1.19406698e-02 2.18085258e+02] [ 1.29180572e-01 9.91620727e-01 -8.45035987e-04 3.45710652e+01] [ 1.19497786e-02 -7.04607890e-04 9.99928351e-01 7.45691505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.674391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:218.12, Y:34.58, Z:7.46 [[ 9.91088675e-01 -1.32534858e-01 -1.33322577e-02 2.18117272e+02] [ 1.32534130e-01 9.91177995e-01 -9.42011336e-04 3.45783703e+01] [ 1.33394898e-02 -8.33362409e-04 9.99910678e-01 7.45756776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.704391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:218.15, Y:34.58, Z:7.46 [[ 9.90793414e-01 -1.34668613e-01 -1.38843921e-02 2.18149694e+02] [ 1.34668055e-01 9.90890284e-01 -9.79410475e-04 3.45828913e+01] [ 1.38898050e-02 -8.99390625e-04 9.99903128e-01 7.45801448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.734391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:218.18, Y:34.59, Z:7.46 [[ 9.90512575e-01 -1.36662255e-01 -1.44314900e-02 2.18181060e+02] [ 1.36661887e-01 9.90617230e-01 -1.01632455e-03 3.45875800e+01] [ 1.44349759e-02 -9.65552410e-04 9.99895344e-01 7.45822460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.764391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:218.21, Y:34.60, Z:7.46 [[ 9.89951689e-01 -1.40621608e-01 -1.48733729e-02 2.18214032e+02] [ 1.40621688e-01 9.90062850e-01 -1.04567518e-03 3.45951655e+01] [ 1.48726185e-02 -1.05635089e-03 9.99888838e-01 7.45893863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.794391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:218.25, Y:34.60, Z:7.46 [[ 9.89761874e-01 -1.41985170e-01 -1.45479900e-02 2.18246955e+02] [ 1.41985419e-01 9.89868223e-01 -1.02098185e-03 3.46002661e+01] [ 1.45455573e-02 -1.05507354e-03 9.99893651e-01 7.45928593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.824391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:218.28, Y:34.61, Z:7.46 [[ 9.89639119e-01 -1.42977689e-01 -1.31070629e-02 2.18280612e+02] [ 1.42961851e-01 9.89725881e-01 -2.14234545e-03 3.46058726e+01] [ 1.32787069e-02 2.46338904e-04 9.99911804e-01 7.45922310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.854391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:218.31, Y:34.61, Z:7.46 [[ 9.89571085e-01 -1.43416799e-01 -1.34420786e-02 2.18311117e+02] [ 1.43434486e-01 9.89659750e-01 3.56067035e-04 3.46101697e+01] [ 1.32520182e-02 -2.28041127e-03 9.99909588e-01 7.45974435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.884391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:218.34, Y:34.62, Z:7.46 [[ 9.89657383e-01 -1.43031879e-01 -1.09610705e-02 2.18343408e+02] [ 1.42993289e-01 9.89714614e-01 -4.23101047e-03 3.46211020e+01] [ 1.14535011e-02 2.61989122e-03 9.99930974e-01 7.46049522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.914391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:218.38, Y:34.62, Z:7.46 [[ 9.89826435e-01 -1.41857572e-01 -1.09571250e-02 2.18376217e+02] [ 1.41854550e-01 9.89886948e-01 -1.05644909e-03 3.46246096e+01] [ 1.09961803e-02 -5.08616801e-04 9.99939411e-01 7.45970813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.944391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:218.41, Y:34.63, Z:7.46 [[ 9.90022109e-01 -1.40352690e-01 -1.25437571e-02 2.18406000e+02] [ 1.40399895e-01 9.90090452e-01 2.96094657e-03 3.46280650e+01] [ 1.20038773e-02 -4.69254475e-03 9.99916940e-01 7.46043681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.974391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:218.44, Y:34.64, Z:7.46 [[ 9.90296955e-01 -1.38561307e-01 -1.06162274e-02 2.18439123e+02] [ 1.38519454e-01 9.90349101e-01 -4.58465376e-03 3.46374375e+01] [ 1.11490268e-02 3.06961464e-03 9.99933136e-01 7.46085627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.004391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:218.47, Y:34.64, Z:7.46 [[ 9.91062484e-01 -1.32772879e-01 -1.29040944e-02 2.18470187e+02] [ 1.32822654e-01 9.91135046e-01 3.07618855e-03 3.46422527e+01] [ 1.23812658e-02 -4.76265113e-03 9.99912007e-01 7.46124057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.034391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:218.50, Y:34.65, Z:7.46 [[ 9.91437796e-01 -1.29958551e-01 -1.27229146e-02 2.18502594e+02] [ 1.29957941e-01 9.91519118e-01 -8.78199985e-04 3.46497248e+01] [ 1.27291426e-02 -7.82763126e-04 9.99918675e-01 7.46229941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.064391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:218.53, Y:34.66, Z:7.46 [[ 9.91779402e-01 -1.27283557e-01 -1.31344798e-02 2.18534881e+02] [ 1.27282694e-01 9.91866068e-01 -9.05021048e-04 3.46550113e+01] [ 1.31428391e-02 -7.74210745e-04 9.99913329e-01 7.46294882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09439141800001 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:218.57, Y:34.66, Z:7.46 [[ 9.92366645e-01 -1.22607623e-01 -1.32594273e-02 2.18567318e+02] [ 1.22606349e-01 9.92454962e-01 -9.12031807e-04 3.46630801e+01] [ 1.32712065e-02 -7.20620021e-04 9.99911674e-01 7.46315312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12439141800002 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:218.60, Y:34.67, Z:7.46 [[ 9.92673008e-01 -1.20117045e-01 -1.31222692e-02 2.18598913e+02] [ 1.20115599e-01 9.92759503e-01 -9.01157730e-04 3.46674925e+01] [ 1.31355019e-02 -6.81634272e-04 9.99913493e-01 7.46323884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15439141800002 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:218.63, Y:34.67, Z:7.46 [[ 9.92946959e-01 -1.17808300e-01 -1.33244321e-02 2.18631395e+02] [ 1.17806621e-01 9.93036135e-01 -9.13563980e-04 3.46723307e+01] [ 1.33392680e-02 -6.62585743e-04 9.99910808e-01 7.46323378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.184391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:218.66, Y:34.68, Z:7.46 [[ 9.93546389e-01 -1.12538386e-01 -1.41663141e-02 2.18663054e+02] [ 1.12535976e-01 9.93647178e-01 -9.69713619e-04 3.46800294e+01] [ 1.41854480e-02 -6.30764508e-04 9.99899183e-01 7.46363683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.214391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:218.69, Y:34.69, Z:7.46 [[ 9.93813425e-01 -1.10119662e-01 -1.44407790e-02 2.18694362e+02] [ 1.10116923e-01 9.93918150e-01 -9.87079050e-04 3.46852765e+01] [ 1.44616491e-02 -6.09201734e-04 9.99895239e-01 7.46345523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.244391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:218.73, Y:34.69, Z:7.46 [[ 9.94132937e-01 -1.07097588e-01 -1.51594958e-02 2.18726956e+02] [ 1.07094244e-01 9.94248336e-01 -1.03454188e-03 3.46901728e+01] [ 1.51831004e-02 -5.95022577e-04 9.99884553e-01 7.46396268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.274391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:218.76, Y:34.70, Z:7.46 [[ 9.94731801e-01 -1.01420105e-01 -1.49199805e-02 2.18758140e+02] [ 1.01416263e-01 9.94843560e-01 -1.01584397e-03 3.46980207e+01] [ 1.49460735e-02 -5.02636369e-04 9.99888175e-01 7.46456904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.304391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:218.79, Y:34.70, Z:7.46 [[ 9.95010403e-01 -9.87271769e-02 -1.43959381e-02 2.18790590e+02] [ 9.87233484e-02 9.95114438e-01 -9.78092280e-04 3.47027206e+01] [ 1.44221702e-02 -4.48003220e-04 9.99895895e-01 7.46489925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.334391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:218.82, Y:34.71, Z:7.47 [[ 9.95240440e-01 -9.64421799e-02 -1.39776016e-02 2.18823656e+02] [ 9.64383682e-02 9.95338506e-01 -9.48040618e-04 3.47073575e+01] [ 1.40038762e-02 -4.04448724e-04 9.99901859e-01 7.46539324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.364391418 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:218.86, Y:34.71, Z:7.47 [[ 9.95410521e-01 -9.46510006e-02 -1.41096851e-02 2.18855558e+02] [ 9.46469588e-02 9.95510442e-01 -9.55432340e-04 3.47114925e+01] [ 1.41367715e-02 -3.84391380e-04 9.99899997e-01 7.46580300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.394391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:218.89, Y:34.72, Z:7.47 [[ 9.95587181e-01 -9.28647242e-02 -1.35021268e-02 2.18887934e+02] [ 9.28608788e-02 9.95678675e-01 -9.12814483e-04 3.47173091e+01] [ 1.35285480e-02 -3.45032960e-04 9.99908425e-01 7.46619603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.424391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:218.92, Y:34.72, Z:7.47 [[ 9.95607409e-01 -9.26652586e-02 -1.33804947e-02 2.18920431e+02] [ 9.26614861e-02 9.95697260e-01 -9.02965081e-04 3.47212640e+01] [ 1.34065954e-02 -3.40857803e-04 9.99910069e-01 7.46614594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.454391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:218.95, Y:34.72, Z:7.47 [[ 9.95577014e-01 -9.29587561e-02 -1.36043407e-02 2.18953785e+02] [ 9.29549066e-02 9.95669898e-01 -9.16383744e-04 3.47249714e+01] [ 1.36306184e-02 -3.52259623e-04 9.99907037e-01 7.46656063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.484391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:218.99, Y:34.73, Z:7.47 [[ 9.95497020e-01 -9.38514076e-02 -1.33265139e-02 2.18986565e+02] [ 9.38478153e-02 9.95586151e-01 -8.96051625e-04 3.47289569e+01] [ 1.33517884e-02 -3.58647491e-04 9.99910797e-01 7.46579884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.514391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:219.02, Y:34.73, Z:7.47 [[ 9.95443271e-01 -9.43672028e-02 -1.36939629e-02 2.19018336e+02] [ 9.43634998e-02 9.95537386e-01 -9.17740814e-04 3.47317466e+01] [ 1.37194566e-02 -3.78651345e-04 9.99905812e-01 7.46625285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.544391418 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:219.05, Y:34.73, Z:7.47 [[ 9.95418522e-01 -9.46431543e-02 -1.35881880e-02 2.19050477e+02] [ 9.46395892e-02 9.95511188e-01 -9.06594476e-04 3.47345771e+01] [ 1.36129962e-02 -3.83539599e-04 9.99907265e-01 7.46598571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.574391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:219.08, Y:34.74, Z:7.47 [[ 9.95373682e-01 -9.50836627e-02 -1.37960001e-02 2.19082884e+02] [ 9.50800691e-02 9.95469205e-01 -9.17624680e-04 3.47385132e+01] [ 1.38207444e-02 -3.98345188e-04 9.99904410e-01 7.46628719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.604391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:219.12, Y:34.74, Z:7.47 [[ 9.95423904e-01 -9.44833049e-02 -1.42883636e-02 2.19115609e+02] [ 9.44794142e-02 9.95526364e-01 -9.48582698e-04 3.47417002e+01] [ 1.43140679e-02 -4.05714335e-04 9.99897466e-01 7.46679052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.634391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:219.15, Y:34.74, Z:7.47 [[ 9.95522866e-01 -9.34826928e-02 -1.39717013e-02 2.19147553e+02] [ 9.34789174e-02 9.95620830e-01 -9.24469245e-04 3.47449021e+01] [ 1.39969388e-02 -3.85729243e-04 9.99901964e-01 7.46685337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.664391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:219.18, Y:34.75, Z:7.47 [[ 9.95788507e-01 -9.06085019e-02 -1.39767551e-02 2.19180618e+02] [ 9.06044803e-02 9.95886529e-01 -9.21982713e-04 3.47492811e+01] [ 1.40028016e-02 -3.48256845e-04 9.99901895e-01 7.46722085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.694391418 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:219.21, Y:34.75, Z:7.47 [[ 9.95956656e-01 -8.87312556e-02 -1.40393718e-02 2.19213708e+02] [ 8.87270354e-02 9.96055550e-01 -9.24406198e-04 3.47524478e+01] [ 1.40660180e-02 -3.25003337e-04 9.99901016e-01 7.46761949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.724391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:219.25, Y:34.76, Z:7.47 [[ 9.96171513e-01 -8.63403226e-02 -1.36991293e-02 2.19246415e+02] [ 8.63361017e-02 9.96265661e-01 -9.00318021e-04 3.47554278e+01] [ 1.37257058e-02 -2.85858252e-04 9.99905757e-01 7.46775144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.754391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:219.28, Y:34.76, Z:7.47 [[ 9.96408465e-01 -8.36139460e-02 -1.33745440e-02 2.19278957e+02] [ 8.36096991e-02 9.96498193e-01 -8.77350794e-04 3.47585773e+01] [ 1.34010677e-02 -2.44041840e-04 9.99910172e-01 7.46837929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.784391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:219.31, Y:34.76, Z:7.47 [[ 9.96851147e-01 -7.82509716e-02 -1.28287161e-02 2.19310333e+02] [ 7.82466382e-02 9.96933678e-01 -8.40133494e-04 3.47632039e+01] [ 1.28551204e-02 -1.66315872e-04 9.99917356e-01 7.46871490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.814391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:219.34, Y:34.77, Z:7.47 [[ 9.97054240e-01 -7.55764310e-02 -1.30784547e-02 2.19343346e+02] [ 7.55717165e-02 9.97140003e-01 -8.55012798e-04 3.47664971e+01] [ 1.31056692e-02 -1.35867136e-04 9.99914108e-01 7.46895834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84439141800001 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:219.38, Y:34.77, Z:7.47 [[ 9.97244262e-01 -7.30042617e-02 -1.32007579e-02 2.19375127e+02] [ 7.29992526e-02 9.97331623e-01 -8.61548153e-04 3.47694046e+01] [ 1.32284300e-02 -1.04471509e-04 9.99912495e-01 7.46886248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87439141800002 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:219.41, Y:34.77, Z:7.47 [[ 9.97434053e-01 -7.02723151e-02 -1.36788618e-02 2.19407988e+02] [ 7.02667010e-02 9.97527842e-01 -8.91188413e-04 3.47725815e+01] [ 1.37076714e-02 -7.22668234e-05 9.99906043e-01 7.46862837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90439141800002 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:219.44, Y:34.77, Z:7.47 [[ 9.97476498e-01 -6.96150975e-02 -1.39418235e-02 2.19440221e+02] [ 6.96092233e-02 9.97573924e-01 -9.06747678e-04 3.47744557e+01] [ 1.39711229e-02 -6.60200048e-05 9.99902397e-01 7.46852946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.934391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:219.47, Y:34.78, Z:7.47 [[ 9.97461164e-01 -6.97322648e-02 -1.44442824e-02 2.19472930e+02] [ 6.97259957e-02 9.97565740e-01 -9.37778129e-04 3.47765228e+01] [ 1.44745147e-02 -7.17447078e-05 9.99895236e-01 7.46867381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.964391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:219.51, Y:34.78, Z:7.47 [[ 9.97421501e-01 -7.03084550e-02 -1.43899398e-02 2.19505659e+02] [ 7.03023181e-02 9.97525295e-01 -9.32502679e-04 3.47785608e+01] [ 1.44198918e-02 -8.15479025e-05 9.99896025e-01 7.46868864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.994391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:219.54, Y:34.78, Z:7.47 [[ 9.97263253e-01 -7.24426883e-02 -1.47668837e-02 2.19537826e+02] [ 7.24364840e-02 9.97372570e-01 -9.55280029e-04 3.47806075e+01] [ 1.47972878e-02 -1.16995465e-04 9.99890507e-01 7.46961148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.024391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:219.57, Y:34.78, Z:7.47 [[ 9.97147255e-01 -7.41374669e-02 -1.41770414e-02 2.19571035e+02] [ 7.41319419e-02 9.97248022e-01 -9.15549683e-04 3.47825861e+01] [ 1.42059030e-02 -1.38033754e-04 9.99899082e-01 7.46985476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.054391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:219.60, Y:34.78, Z:7.47 [[ 9.96804702e-01 -7.88497518e-02 -1.27711303e-02 2.19603373e+02] [ 7.88456738e-02 9.96886494e-01 -8.23280254e-04 3.47841574e+01] [ 1.27962828e-02 -1.86298748e-04 9.99918107e-01 7.47003981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.084391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:219.64, Y:34.79, Z:7.47 [[ 9.96645251e-01 -8.07086144e-02 -1.35780262e-02 2.19636696e+02] [ 8.07042005e-02 9.96737713e-01 -8.73589200e-04 3.47854967e+01] [ 1.36042370e-02 -2.25145223e-04 9.99907433e-01 7.47040217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.114391418 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:219.67, Y:34.79, Z:7.47 [[ 9.96435075e-01 -8.32403580e-02 -1.37180324e-02 2.19669961e+02] [ 8.32361158e-02 9.96529464e-01 -8.80889305e-04 3.47867982e+01] [ 1.37437491e-02 -2.64086737e-04 9.99905515e-01 7.47043250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.144391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:219.70, Y:34.79, Z:7.47 [[ 9.95965432e-01 -8.85651249e-02 -1.44595194e-02 2.19702203e+02] [ 8.85609965e-02 9.96070324e-01 -9.26833096e-04 3.47875282e+01] [ 1.44847832e-02 -3.57455718e-04 9.99895026e-01 7.46997830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.174391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:219.73, Y:34.79, Z:7.47 [[ 9.95720836e-01 -9.12830447e-02 -1.44021702e-02 2.19734813e+02] [ 9.12792567e-02 9.95824908e-01 -9.21519217e-04 3.47893245e+01] [ 1.44261589e-02 -3.97043508e-04 9.99895859e-01 7.47010955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.204391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:219.77, Y:34.79, Z:7.47 [[ 9.95465220e-01 -9.39794733e-02 -1.47260062e-02 2.19768209e+02] [ 9.39758344e-02 9.95574034e-01 -9.40429595e-04 3.47913232e+01] [ 1.47492105e-02 -4.47723768e-04 9.99891124e-01 7.47049389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.234391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:219.80, Y:34.79, Z:7.47 [[ 9.95250093e-01 -9.62908167e-02 -1.43294090e-02 2.19800587e+02] [ 9.62876555e-02 9.95353131e-01 -9.11959409e-04 3.47928298e+01] [ 1.43506355e-02 -4.72117513e-04 9.99896913e-01 7.47067065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.264391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:219.83, Y:34.79, Z:7.47 [[ 9.95262764e-01 -9.61597319e-02 -1.43295957e-02 2.19834075e+02] [ 9.61565994e-02 9.95365803e-01 -9.09019430e-04 3.47948280e+01] [ 1.43506006e-02 -4.73172000e-04 9.99896913e-01 7.47088268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.294391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:219.87, Y:34.80, Z:7.47 [[ 9.94696679e-01 -1.01996535e-01 -1.32372100e-02 2.19867473e+02] [ 1.01994399e-01 9.94784620e-01 -8.38122038e-04 3.47961079e+01] [ 1.32536585e-02 -5.16444074e-04 9.99912033e-01 7.47064729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.324391418 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:219.90, Y:34.80, Z:7.47 [[ 9.94425196e-01 -1.04706685e-01 -1.24515096e-02 2.19899666e+02] [ 1.04705031e-01 9.94503011e-01 -7.86453072e-04 3.47976670e+01] [ 1.24654107e-02 -5.21666951e-04 9.99922168e-01 7.47096411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.354391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:219.93, Y:34.80, Z:7.47 [[ 9.94153026e-01 -1.07312204e-01 -1.19938477e-02 2.19932215e+02] [ 1.07310880e-01 9.94225228e-01 -7.55676875e-04 3.47996416e+01] [ 1.20056793e-02 -5.35811903e-04 9.99927786e-01 7.47176578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.384391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:219.96, Y:34.80, Z:7.47 [[ 9.93705659e-01 -1.11516511e-01 -1.06362910e-02 2.19964674e+02] [ 1.11515731e-01 9.93762444e-01 -6.68232037e-04 3.48019873e+01] [ 1.06444654e-02 -5.22087814e-04 9.99943210e-01 7.47196073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.414391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:220.00, Y:34.80, Z:7.47 [[ 9.93546134e-01 -1.12966935e-01 -1.02250656e-02 2.19997302e+02] [ 1.12966322e-01 9.93598612e-01 -6.39325685e-04 3.48044029e+01] [ 1.02318336e-02 -5.19888489e-04 9.99947518e-01 7.47260148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.444391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:220.03, Y:34.81, Z:7.47 [[ 9.93419762e-01 -1.14077538e-01 -1.01731406e-02 2.20028869e+02] [ 1.14077023e-01 9.93471707e-01 -6.32774074e-04 3.48069356e+01] [ 1.01789127e-02 -5.31911330e-04 9.99948052e-01 7.47272073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.474391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:220.06, Y:34.81, Z:7.47 [[ 9.93304827e-01 -1.15053966e-01 -1.03974266e-02 2.20061891e+02] [ 1.15053517e-01 9.93359086e-01 -6.43377582e-04 3.48098454e+01] [ 1.04024014e-02 -5.57190441e-04 9.99945738e-01 7.47304000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.504391418 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:220.09, Y:34.81, Z:7.47 [[ 9.93348992e-01 -1.14689096e-01 -1.02073792e-02 2.20094955e+02] [ 1.14688677e-01 9.93401285e-01 -6.28303299e-04 3.48123186e+01] [ 1.02120831e-02 -5.46546367e-04 9.99947706e-01 7.47280701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.534391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:220.13, Y:34.81, Z:7.47 [[ 9.93443274e-01 -1.13862698e-01 -1.02833963e-02 2.20126782e+02] [ 1.13862263e-01 9.93496346e-01 -6.29669045e-04 3.48149139e+01] [ 1.02882125e-02 -5.45350296e-04 9.99946926e-01 7.47293992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.564391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:220.16, Y:34.82, Z:7.47 [[ 9.93555520e-01 -1.12913202e-01 -9.90134329e-03 2.20160081e+02] [ 1.12912782e-01 9.93604720e-01 -6.03247219e-04 3.48179948e+01] [ 9.90613600e-03 -5.18628609e-04 9.99950799e-01 7.47290638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59439141800001 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:220.19, Y:34.82, Z:7.47 [[ 9.93797450e-01 -1.10700701e-01 -1.05822553e-02 2.20192938e+02] [ 1.10700134e-01 9.93853646e-01 -6.41147450e-04 3.48223233e+01] [ 1.05881885e-02 -5.34286378e-04 9.99943801e-01 7.47330109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62439141800002 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:220.23, Y:34.83, Z:7.47 [[ 9.93960704e-01 -1.09165540e-01 -1.11804983e-02 2.20225527e+02] [ 1.09164851e-01 9.94023431e-01 -6.73636293e-04 3.48253872e+01] [ 1.11872152e-02 -5.50949435e-04 9.99937269e-01 7.47336532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65439141800002 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:220.26, Y:34.83, Z:7.47 [[ 9.94146704e-01 -1.07366843e-01 -1.20287804e-02 2.20258249e+02] [ 1.07365964e-01 9.94219307e-01 -7.20667471e-04 3.48287839e+01] [ 1.20366215e-02 -5.75032410e-04 9.99927392e-01 7.47388838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.684391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:220.29, Y:34.83, Z:7.47 [[ 9.94613873e-01 -1.02816984e-01 -1.31115151e-02 2.20289823e+02] [ 1.02815602e-01 9.94700127e-01 -7.81218207e-04 3.48336897e+01] [ 1.31223482e-02 -5.71057843e-04 9.99913735e-01 7.47392683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.714391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:220.32, Y:34.84, Z:7.47 [[ 9.94878004e-01 -1.00156577e-01 -1.36534987e-02 2.20323151e+02] [ 1.00154868e-01 9.94971530e-01 -8.10610413e-04 3.48371910e+01] [ 1.36660304e-02 -5.61005887e-04 9.99906458e-01 7.47438780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.744391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:220.36, Y:34.84, Z:7.47 [[ 9.95177018e-01 -9.72164323e-02 -1.31022231e-02 2.20356543e+02] [ 9.72146246e-02 9.95263138e-01 -7.76298523e-04 3.48408072e+01] [ 1.31156287e-02 -5.01173255e-04 9.99913861e-01 7.47415670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.774391418 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:220.39, Y:34.85, Z:7.48 [[ 9.95895446e-01 -8.97014699e-02 -1.20791940e-02 2.20389554e+02] [ 8.96993983e-02 9.95968628e-01 -7.14254250e-04 3.48466026e+01] [ 1.20945679e-02 -3.72173881e-04 9.99926789e-01 7.47562010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.804391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:220.42, Y:34.85, Z:7.48 [[ 9.96248016e-01 -8.58113722e-02 -1.12383149e-02 2.20422052e+02] [ 8.58093466e-02 9.96311355e-01 -6.63193294e-04 3.48504870e+01] [ 1.12537703e-02 -3.03647457e-04 9.99936628e-01 7.47584743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.834391418 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:220.45, Y:34.85, Z:7.48 [[ 9.96623640e-01 -8.13621737e-02 -1.10234711e-02 2.20453634e+02] [ 8.13599773e-02 9.96684571e-01 -6.48294165e-04 3.48541914e+01] [ 1.10396702e-02 -2.50764067e-04 9.99939030e-01 7.47692519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.864391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:220.49, Y:34.86, Z:7.48 [[ 9.96935314e-01 -7.75541280e-02 -1.02633905e-02 2.20485689e+02] [ 7.75520491e-02 9.96988124e-01 -6.00985356e-04 3.48577706e+01] [ 1.02790874e-02 -1.96803442e-04 9.99947149e-01 7.47719949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.894391418 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:220.52, Y:34.86, Z:7.48 [[ 9.97440135e-01 -7.08136880e-02 -9.92968939e-03 2.20518979e+02] [ 7.08114246e-02 9.97489552e-01 -5.79768253e-04 3.48618899e+01] [ 9.94581695e-03 -1.24851327e-04 9.99950531e-01 7.47738769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.924391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:220.55, Y:34.86, Z:7.48 [[ 9.97616471e-01 -6.83080557e-02 -9.76659379e-03 2.20552160e+02] [ 6.83057575e-02 9.97664272e-01 -5.69065803e-04 3.48643831e+01] [ 9.78265347e-03 -9.94051698e-05 9.99952144e-01 7.47698362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.954391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:220.58, Y:34.87, Z:7.48 [[ 9.97763106e-01 -6.60534261e-02 -1.02824546e-02 2.20584856e+02] [ 6.60507726e-02 9.97816084e-01 -5.97814802e-04 3.48666181e+01] [ 1.02994863e-02 -8.26865188e-05 9.99946955e-01 7.47754180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.984391418 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:220.62, Y:34.87, Z:7.48 [[ 9.97891461e-01 -6.39876754e-02 -1.08724435e-02 2.20617062e+02] [ 6.39846002e-02 9.97950687e-01 -6.30812521e-04 3.48687467e+01] [ 1.08905267e-02 -6.61865221e-05 9.99940694e-01 7.47733431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.014391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:220.65, Y:34.87, Z:7.48 [[ 9.97996736e-01 -6.21935924e-02 -1.15961894e-02 2.20649698e+02] [ 6.21899887e-02 9.98064103e-01 -6.71452065e-04 3.48709923e+01] [ 1.16155004e-02 -5.10599179e-05 9.99932536e-01 7.47757909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.044391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:220.68, Y:34.87, Z:7.48 [[ 9.98110823e-01 -6.02329397e-02 -1.21152335e-02 2.20682682e+02] [ 6.02288804e-02 9.98184348e-01 -6.99965235e-04 3.48731065e+01] [ 1.21353974e-02 -3.10440755e-05 9.99926363e-01 7.47793861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.074391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:220.71, Y:34.88, Z:7.48 [[ 9.98294969e-01 -5.67840526e-02 -1.35175982e-02 2.20714930e+02] [ 5.67787048e-02 9.98386484e-01 -7.79373613e-04 3.48753248e+01] [ 1.35400433e-02 1.05330380e-05 9.99908329e-01 7.47868471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.104391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:220.75, Y:34.88, Z:7.48 [[ 9.98404213e-01 -5.47957480e-02 -1.36548119e-02 2.20747358e+02] [ 5.47901241e-02 9.98497584e-01 -7.85889016e-04 3.48772318e+01] [ 1.36773601e-02 3.64860655e-05 9.99906460e-01 7.47900962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.134391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:220.78, Y:34.88, Z:7.48 [[ 9.98501572e-01 -5.29785914e-02 -1.37069517e-02 2.20780330e+02] [ 5.29727745e-02 9.98595647e-01 -7.87348815e-04 3.48791328e+01] [ 1.37294149e-02 6.00737699e-05 9.99905745e-01 7.47954453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.164391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:220.81, Y:34.88, Z:7.48 [[ 9.98590634e-01 -5.12982331e-02 -1.36101884e-02 2.20813154e+02] [ 5.12923644e-02 9.98683376e-01 -7.80140089e-04 3.48810677e+01] [ 1.36322887e-02 8.09418415e-05 9.99907073e-01 7.47979674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.194391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:220.85, Y:34.88, Z:7.48 [[ 9.98669534e-01 -4.98328825e-02 -1.32607098e-02 2.20845095e+02] [ 4.98272014e-02 9.98757565e-01 -7.58661971e-04 3.48826186e+01] [ 1.32820405e-02 9.69085393e-05 9.99911785e-01 7.47994828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.224391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:220.88, Y:34.88, Z:7.48 [[ 9.98795657e-01 -4.74871940e-02 -1.23370210e-02 2.20878687e+02] [ 4.74821143e-02 9.98871840e-01 -7.04486802e-04 3.48827554e+01] [ 1.23565570e-02 1.17850515e-04 9.99923648e-01 7.48048064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.254391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:220.91, Y:34.88, Z:7.48 [[ 9.98812002e-01 -4.72826716e-02 -1.17870079e-02 2.20911262e+02] [ 4.72780372e-02 9.98881543e-01 -6.71663015e-04 3.48835452e+01] [ 1.18055826e-02 1.13598483e-04 9.99930305e-01 7.48042115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.284391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:220.94, Y:34.88, Z:7.48 [[ 9.98795771e-01 -4.76523439e-02 -1.16731113e-02 2.20944715e+02] [ 4.76478406e-02 9.98863976e-01 -6.63746760e-04 3.48844001e+01] [ 1.16914794e-02 1.06748912e-04 9.99931647e-01 7.48075759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.314391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:220.98, Y:34.89, Z:7.48 [[ 9.98749975e-01 -4.85680494e-02 -1.18165721e-02 2.20976787e+02] [ 4.85635147e-02 9.98819871e-01 -6.70567350e-04 3.48852060e+01] [ 1.18351951e-02 9.58748536e-05 9.99929957e-01 7.48119989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34439141800001 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:221.01, Y:34.88, Z:7.48 [[ 9.98603278e-01 -5.16277378e-02 -1.12281039e-02 2.21009452e+02] [ 5.16238503e-02 9.98666398e-01 -6.35975051e-04 3.48841875e+01] [ 1.12459640e-02 5.54488151e-05 9.99936761e-01 7.48131144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37439141800002 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:221.04, Y:34.88, Z:7.48 [[ 9.98487201e-01 -5.38005591e-02 -1.13494136e-02 2.21042104e+02] [ 5.37967433e-02 9.98551701e-01 -6.41461645e-04 3.48841298e+01] [ 1.13674872e-02 2.99297543e-05 9.99935388e-01 7.48177687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40439141800002 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:221.07, Y:34.88, Z:7.48 [[ 9.98198792e-01 -5.88293811e-02 -1.17590240e-02 2.21074357e+02] [ 5.88256496e-02 9.98268052e-01 -6.63261418e-04 3.48815222e+01] [ 1.17776772e-02 -2.96654790e-05 9.99930640e-01 7.48145959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.434391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:221.11, Y:34.88, Z:7.48 [[ 9.98019694e-01 -6.17495762e-02 -1.19866527e-02 2.21107020e+02] [ 6.17459255e-02 9.98091672e-01 -6.74755255e-04 3.48809316e+01] [ 1.20054441e-02 -6.67079292e-05 9.99927930e-01 7.48105062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.464391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:221.14, Y:34.88, Z:7.48 [[ 9.97838634e-01 -6.44430005e-02 -1.28514285e-02 2.21139151e+02] [ 6.44390466e-02 9.97921384e-01 -7.21943806e-04 3.48799091e+01] [ 1.28712396e-02 -1.07750381e-04 9.99917156e-01 7.48088589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.494391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:221.17, Y:34.88, Z:7.48 [[ 9.97468749e-01 -6.97020337e-02 -1.40613697e-02 2.21171294e+02] [ 6.96978431e-02 9.97567837e-01 -7.88442876e-04 3.48766279e+01] [ 1.40821262e-02 -1.93600009e-04 9.99900823e-01 7.48004318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.524391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:221.20, Y:34.88, Z:7.48 [[ 9.97321004e-01 -7.17446568e-02 -1.42660064e-02 2.21203976e+02] [ 7.17405752e-02 9.97423006e-01 -7.98315049e-04 3.48761933e+01] [ 1.42865179e-02 -2.27275141e-04 9.99897917e-01 7.48008680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.554391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:221.24, Y:34.87, Z:7.48 [[ 9.97126506e-01 -7.43794711e-02 -1.43674833e-02 2.21236534e+02] [ 7.43756273e-02 9.97229975e-01 -8.02411969e-04 3.48733057e+01] [ 1.43873680e-02 -2.68484341e-04 9.99896460e-01 7.47979562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.584391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:221.27, Y:34.87, Z:7.48 [[ 9.97099341e-01 -7.47920391e-02 -1.41086841e-02 2.21269578e+02] [ 7.47883958e-02 9.97199116e-01 -7.86404452e-04 3.48730597e+01] [ 1.41279841e-02 -2.71042488e-04 9.99900158e-01 7.48008868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.614391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:221.30, Y:34.87, Z:7.48 [[ 9.97132576e-01 -7.43830243e-02 -1.39209014e-02 2.21302712e+02] [ 7.43794604e-02 9.97229711e-01 -7.74292025e-04 3.48730329e+01] [ 1.39399307e-02 -2.63357336e-04 9.99902800e-01 7.48030651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.644391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:221.34, Y:34.87, Z:7.48 [[ 9.97268930e-01 -7.24764991e-02 -1.42069596e-02 2.21336226e+02] [ 7.24726183e-02 9.97370091e-01 -7.88484283e-04 3.48720269e+01] [ 1.42267432e-02 -2.43284685e-04 9.99898765e-01 7.48069768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.674391418 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:221.37, Y:34.87, Z:7.48 [[ 9.97380458e-01 -7.09099896e-02 -1.42826833e-02 2.21369157e+02] [ 7.09059318e-02 9.97482693e-01 -7.90936257e-04 3.48728456e+01] [ 1.43028147e-02 -2.23862604e-04 9.99897684e-01 7.48058166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.704391418 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:221.40, Y:34.87, Z:7.48 [[ 9.97515568e-01 -6.89979535e-02 -1.42117849e-02 2.21402004e+02] [ 6.89937667e-02 9.97616782e-01 -7.85263396e-04 3.48735055e+01] [ 1.42320966e-02 -1.97212106e-04 9.99898699e-01 7.48104420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.734391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:221.44, Y:34.87, Z:7.48 [[ 9.97824306e-01 -6.44158529e-02 -1.40446584e-02 2.21435417e+02] [ 6.44113341e-02 9.97923134e-01 -7.74313334e-04 3.48728356e+01] [ 1.40653676e-02 -1.32006522e-04 9.99901069e-01 7.48068040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.764391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:221.47, Y:34.87, Z:7.48 [[ 9.97985295e-01 -6.17825562e-02 -1.44314443e-02 2.21467260e+02] [ 6.17775332e-02 9.98089628e-01 -7.94021196e-04 3.48731791e+01] [ 1.44529315e-02 -9.91175506e-05 9.99895546e-01 7.48127456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.794391418 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:221.50, Y:34.87, Z:7.48 [[ 9.98171808e-01 -5.87121931e-02 -1.43499231e-02 2.21500605e+02] [ 5.87069323e-02 9.98274950e-01 -7.87938094e-04 3.48737459e+01] [ 1.43714303e-02 -5.59423705e-05 9.99896724e-01 7.48123004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.824391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:221.53, Y:34.87, Z:7.48 [[ 9.98509836e-01 -5.25046273e-02 -1.48785820e-02 2.21533625e+02] [ 5.24983097e-02 9.98620680e-01 -8.15134048e-04 3.48738516e+01] [ 1.49008580e-02 3.28189607e-05 9.99888976e-01 7.48168412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.854391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:221.57, Y:34.87, Z:7.48 [[ 9.98670471e-01 -4.92566508e-02 -1.52010512e-02 2.21565759e+02] [ 4.92497030e-02 9.98786151e-01 -8.31296465e-04 3.48747405e+01] [ 1.52235463e-02 8.15439750e-05 9.99884112e-01 7.48228448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.884391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:221.60, Y:34.88, Z:7.48 [[ 9.98813565e-01 -4.61498681e-02 -1.55451736e-02 2.21598158e+02] [ 4.61422455e-02 9.98934519e-01 -8.48857030e-04 3.48755523e+01] [ 1.55677851e-02 1.30560701e-04 9.99878806e-01 7.48220543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.914391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:221.63, Y:34.88, Z:7.48 [[ 9.98951480e-01 -4.30633348e-02 -1.55399150e-02 2.21630796e+02] [ 4.30553633e-02 9.99072329e-01 -8.47314960e-04 3.48760775e+01] [ 1.55619873e-02 1.77349848e-04 9.99878889e-01 7.48261654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.944391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:221.66, Y:34.87, Z:7.48 [[ 9.99153757e-01 -3.80026064e-02 -1.57344069e-02 2.21663329e+02] [ 3.79938269e-02 9.99277607e-01 -8.56637446e-04 3.48748126e+01] [ 1.57555949e-02 2.58102191e-04 9.99875840e-01 7.48261178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.974391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:221.69, Y:34.87, Z:7.48 [[ 9.99220353e-01 -3.62146574e-02 -1.57220900e-02 2.21694405e+02] [ 3.62056874e-02 9.99343994e-01 -8.54889404e-04 3.48747937e+01] [ 1.57427358e-02 2.84993815e-04 9.99876035e-01 7.48288364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.004391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:221.73, Y:34.87, Z:7.48 [[ 9.99269859e-01 -3.49628076e-02 -1.54062028e-02 2.21725593e+02] [ 3.49540598e-02 9.99388570e-01 -8.36798451e-04 3.48747568e+01] [ 1.54260398e-02 2.97678138e-04 9.99880967e-01 7.48313587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.034391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:221.76, Y:34.87, Z:7.48 [[ 9.99299076e-01 -3.43200503e-02 -1.49496028e-02 2.21756541e+02] [ 3.43117521e-02 9.99410849e-01 -8.11291604e-04 3.48746075e+01] [ 1.49686388e-02 2.97775883e-04 9.99887919e-01 7.48357811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.064391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:221.79, Y:34.87, Z:7.48 [[ 9.99303193e-01 -3.46628976e-02 -1.38424040e-02 2.21787632e+02] [ 3.46558328e-02 9.99399025e-01 -7.49985271e-04 3.48722376e+01] [ 1.38600817e-02 2.69742638e-04 9.99903908e-01 7.48377006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09439141800001 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:221.82, Y:34.87, Z:7.48 [[ 9.99268386e-01 -3.58627941e-02 -1.32872829e-02 2.21819450e+02] [ 3.58564089e-02 9.99356694e-01 -7.18542612e-04 3.48715422e+01] [ 1.33045041e-02 2.41582667e-04 9.99911462e-01 7.48399520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12439141800002 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:221.85, Y:34.87, Z:7.48 [[ 9.99099127e-01 -4.06624830e-02 -1.21448251e-02 2.21850919e+02] [ 4.06575131e-02 9.99172926e-01 -6.55936712e-04 3.48678097e+01] [ 1.21614525e-02 1.61567408e-04 9.99926034e-01 7.48432360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15439141800002 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:221.88, Y:34.87, Z:7.48 [[ 9.98969886e-01 -4.37336037e-02 -1.21053404e-02 2.21881905e+02] [ 4.37289055e-02 9.99043221e-01 -6.52652608e-04 3.48664702e+01] [ 1.21223011e-02 1.22627015e-04 9.99926515e-01 7.48420364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.184391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:221.91, Y:34.87, Z:7.48 [[ 9.98974547e-01 -4.36269736e-02 -1.21054187e-02 2.21914563e+02] [ 4.36222852e-02 9.99047883e-01 -6.51197415e-04 3.48681484e+01] [ 1.21223027e-02 1.22463616e-04 9.99926515e-01 7.48441067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.214391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:221.94, Y:34.87, Z:7.49 [[ 9.98626289e-01 -5.05476292e-02 -1.38011945e-02 2.21944876e+02] [ 5.04519678e-02 9.98700579e-01 -7.19395472e-03 3.48667812e+01] [ 1.41468983e-02 6.48777488e-03 9.99878880e-01 7.48622275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.244391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:221.98, Y:34.86, Z:7.48 [[ 9.98299342e-01 -5.69126744e-02 -1.26242593e-02 2.21978917e+02] [ 5.69854603e-02 9.98359955e-01 5.48249865e-03 3.48598648e+01] [ 1.22915313e-02 -6.19257402e-03 9.99905281e-01 7.48230717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.274391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:222.01, Y:34.86, Z:7.48 [[ 9.97990199e-01 -6.21716759e-02 -1.22574264e-02 2.22011304e+02] [ 6.21683446e-02 9.98065464e-01 -6.52987812e-04 3.48610771e+01] [ 1.22743113e-02 -1.10348470e-04 9.99924662e-01 7.48369733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.304391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:222.04, Y:34.86, Z:7.48 [[ 9.97621941e-01 -6.78749083e-02 -1.19774839e-02 2.22043271e+02] [ 6.78721510e-02 9.97693823e-01 -6.37007335e-04 3.48595064e+01] [ 1.19930985e-02 -1.77445100e-04 9.99928064e-01 7.48386834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.334391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:222.08, Y:34.86, Z:7.48 [[ 9.96786014e-01 -7.92628977e-02 -1.16204672e-02 2.22076626e+02] [ 7.92610898e-02 9.96853700e-01 -6.16760335e-04 3.48557399e+01] [ 1.16327919e-02 -3.06272818e-04 9.99932290e-01 7.48410789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.364391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:222.11, Y:34.85, Z:7.48 [[ 9.96385008e-01 -8.41888290e-02 -1.13647624e-02 2.22109605e+02] [ 8.41874354e-02 9.96449755e-01 -6.01823477e-04 3.48548130e+01] [ 1.13750816e-02 -3.57122313e-04 9.99935238e-01 7.48432341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.394391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:222.14, Y:34.85, Z:7.48 [[ 9.95977668e-01 -8.88805049e-02 -1.13463975e-02 2.22142245e+02] [ 8.88794353e-02 9.96042211e-01 -5.99473198e-04 3.48541462e+01] [ 1.13547723e-02 -4.11399486e-04 9.99935448e-01 7.48429101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.424391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:222.18, Y:34.85, Z:7.48 [[ 9.95258223e-01 -9.66208230e-02 -1.12020695e-02 2.22175702e+02] [ 9.66202849e-02 9.95321140e-01 -5.90485618e-04 3.48523870e+01] [ 1.12067098e-02 -4.94661481e-04 9.99937081e-01 7.48410645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.454391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:222.21, Y:34.85, Z:7.48 [[ 9.94977405e-01 -9.94122116e-02 -1.17122000e-02 2.22207710e+02] [ 9.94118325e-02 9.95046184e-01 -6.15996202e-04 3.48524035e+01] [ 1.17154174e-02 -5.51428961e-04 9.99931220e-01 7.48443784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.484391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:222.24, Y:34.85, Z:7.48 [[ 9.94713364e-01 -1.02006568e-01 -1.18314420e-02 2.22239966e+02] [ 1.02006379e-01 9.94783551e-01 -6.21051946e-04 3.48528283e+01] [ 1.18330753e-02 -5.89113880e-04 9.99929813e-01 7.48400248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.514391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:222.27, Y:34.85, Z:7.48 [[ 9.94505017e-01 -1.04058326e-01 -1.14732698e-02 2.22272898e+02] [ 1.04058299e-01 9.94571018e-01 -6.00989220e-04 3.48534939e+01] [ 1.14735195e-02 -5.96202140e-04 9.99933999e-01 7.48383412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.544391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:222.31, Y:34.85, Z:7.48 [[ 9.94317908e-01 -1.05819094e-01 -1.15852049e-02 2.22305086e+02] [ 1.05819207e-01 9.94385202e-01 -6.04981764e-04 3.48546427e+01] [ 1.15841749e-02 -6.24392986e-04 9.99932706e-01 7.48422410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.574391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:222.34, Y:34.86, Z:7.48 [[ 9.94073465e-01 -1.08104018e-01 -1.14659090e-02 2.22338564e+02] [ 1.08104302e-01 9.94139378e-01 -5.96802829e-04 3.48562215e+01] [ 1.14632284e-02 -6.46248239e-04 9.99934086e-01 7.48470069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.604391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:222.37, Y:34.86, Z:7.49 [[ 9.94009103e-01 -1.08695948e-01 -1.14496530e-02 2.22372015e+02] [ 1.08696287e-01 9.94074828e-01 -5.94538040e-04 3.48579795e+01] [ 1.14464357e-02 -6.53558537e-04 9.99934274e-01 7.48512646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.634391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:222.40, Y:34.86, Z:7.49 [[ 9.93949427e-01 -1.09198877e-01 -1.18381453e-02 2.22404880e+02] [ 1.09199292e-01 9.94019687e-01 -6.13216143e-04 3.48606818e+01] [ 1.18343120e-02 -6.83211257e-04 9.99929739e-01 7.48592835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.664391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:222.44, Y:34.86, Z:7.49 [[ 9.93948620e-01 -1.09211697e-01 -1.17874977e-02 2.22438259e+02] [ 1.09212127e-01 9.94018280e-01 -6.09136019e-04 3.48628825e+01] [ 1.17835130e-02 -6.81887788e-04 9.99930340e-01 7.48594752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.694391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:222.47, Y:34.86, Z:7.49 [[ 9.93975533e-01 -1.08941569e-01 -1.20155553e-02 2.22470306e+02] [ 1.08942013e-01 9.94047913e-01 -6.19528229e-04 3.48648910e+01] [ 1.20115300e-02 -6.93202872e-04 9.99927619e-01 7.48606349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.724391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:222.50, Y:34.87, Z:7.49 [[ 9.94019679e-01 -1.08465434e-01 -1.26541496e-02 2.22503507e+02] [ 1.08465907e-01 9.94099956e-01 -6.50995214e-04 3.48669173e+01] [ 1.26501001e-02 -7.25441759e-04 9.99919721e-01 7.48538187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.754391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:222.54, Y:34.87, Z:7.49 [[ 9.94052828e-01 -1.08109086e-01 -1.30919919e-02 2.22536269e+02] [ 1.08109582e-01 9.94138756e-01 -6.71877522e-04 3.48709099e+01] [ 1.30878926e-02 -7.47488024e-04 9.99914070e-01 7.48612803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.784391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:222.57, Y:34.87, Z:7.49 [[ 9.94082004e-01 -1.07755501e-01 -1.37739245e-02 2.22567798e+02] [ 1.07756039e-01 9.94177116e-01 -7.05280674e-04 3.48736569e+01] [ 1.37697184e-02 -7.83116721e-04 9.99904886e-01 7.48645427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.814391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:222.60, Y:34.88, Z:7.49 [[ 9.94147977e-01 -1.07037051e-01 -1.45900396e-02 2.22600777e+02] [ 1.07037602e-01 9.94254694e-01 -7.45355625e-04 3.48780726e+01] [ 1.45859960e-02 -8.20689063e-04 9.99893282e-01 7.48604617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84439141800001 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:222.63, Y:34.88, Z:7.49 [[ 9.94185677e-01 -1.06620124e-01 -1.50661313e-02 2.22632985e+02] [ 1.06620690e-01 9.94299471e-01 -7.67955787e-04 3.48812972e+01] [ 1.50621260e-02 -8.42870671e-04 9.99886204e-01 7.48656285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87439141800002 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:222.67, Y:34.88, Z:7.49 [[ 9.94269248e-01 -1.05808113e-01 -1.52743142e-02 2.22665475e+02] [ 1.05808626e-01 9.94386208e-01 -7.76823507e-04 3.48844599e+01] [ 1.52707617e-02 -8.43782482e-04 9.99883039e-01 7.48694554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90439141800002 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:222.70, Y:34.89, Z:7.49 [[ 9.94452817e-01 -1.04150903e-01 -1.47032300e-02 2.22698563e+02] [ 1.04151223e-01 9.94561193e-01 -7.46001931e-04 3.48907219e+01] [ 1.47009588e-02 -7.89495673e-04 9.99891623e-01 7.48799402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.934391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:222.73, Y:34.89, Z:7.49 [[ 9.94597042e-01 -1.02881377e-01 -1.38617031e-02 2.22731601e+02] [ 1.02881562e-01 9.94693366e-01 -7.01636152e-04 3.48949545e+01] [ 1.38603294e-02 -7.28268430e-04 9.99903676e-01 7.48854286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.964391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:222.76, Y:34.90, Z:7.49 [[ 9.94734528e-01 -1.01594426e-01 -1.34829963e-02 2.22763608e+02] [ 1.01594503e-01 9.94825660e-01 -6.80972221e-04 3.48993469e+01] [ 1.34824137e-02 -6.92411727e-04 9.99908868e-01 7.48948658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.994391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:222.80, Y:34.90, Z:7.49 [[ 9.94882955e-01 -1.00212076e-01 -1.28625864e-02 2.22796394e+02] [ 1.00212049e-01 9.94965891e-01 -6.48218794e-04 3.49034936e+01] [ 1.28627941e-02 -6.44084313e-04 9.99917063e-01 7.48988729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.024391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:222.83, Y:34.91, Z:7.49 [[ 9.95205680e-01 -9.70722432e-02 -1.19429601e-02 2.22828533e+02] [ 9.70720101e-02 9.95277180e-01 -6.00570049e-04 3.49097895e+01] [ 1.19448543e-02 -5.61636417e-04 9.99928500e-01 7.49017847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.054391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:222.86, Y:34.91, Z:7.49 [[ 9.95379108e-01 -9.53229052e-02 -1.15747425e-02 2.22860265e+02] [ 9.53225815e-02 9.95446266e-01 -5.80902237e-04 3.49137913e+01] [ 1.15774075e-02 -5.25116385e-04 9.99932842e-01 7.49043356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.084391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:222.89, Y:34.92, Z:7.49 [[ 9.95542197e-01 -9.35473855e-02 -1.20258308e-02 2.22893149e+02] [ 9.35469231e-02 9.95614690e-01 -6.02189077e-04 3.49178117e+01] [ 1.20294270e-02 -5.25474831e-04 9.99927506e-01 7.49101818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.114391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:222.93, Y:34.92, Z:7.49 [[ 9.95840553e-01 -9.02667145e-02 -1.23900443e-02 2.22926229e+02] [ 9.02659892e-02 9.95917501e-01 -6.18889341e-04 3.49247311e+01] [ 1.23953270e-02 -5.02084500e-04 9.99923049e-01 7.49156831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.144391418 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:222.96, Y:34.93, Z:7.49 [[ 9.95977667e-01 -8.86993964e-02 -1.26847622e-02 2.22958050e+02] [ 8.86985275e-02 9.96058317e-01 -6.32177954e-04 3.49287326e+01] [ 1.26908367e-02 -4.95484605e-04 9.99919345e-01 7.49167125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.174391418 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:222.99, Y:34.93, Z:7.49 [[ 9.96131573e-01 -8.69780612e-02 -1.25182022e-02 2.22991179e+02] [ 8.69770962e-02 9.96210117e-01 -6.22517966e-04 3.49326979e+01] [ 1.25249051e-02 -4.68687074e-04 9.99921450e-01 7.49194464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.204391418 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:223.02, Y:34.94, Z:7.49 [[ 9.96258035e-01 -8.54816072e-02 -1.27601863e-02 2.23024311e+02] [ 8.54805016e-02 9.96339642e-01 -6.33011058e-04 3.49366438e+01] [ 1.27675902e-02 -4.60104772e-04 9.99918385e-01 7.49224138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.234391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:223.06, Y:34.94, Z:7.49 [[ 9.96468082e-01 -8.29341840e-02 -1.31637018e-02 2.23057136e+02] [ 8.29328068e-02 9.96554928e-01 -6.51402645e-04 3.49426631e+01] [ 1.31723755e-02 -4.42600797e-04 9.99913143e-01 7.49253398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.264391418 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:223.09, Y:34.95, Z:7.49 [[ 9.96567944e-01 -8.17276004e-02 -1.31503719e-02 2.23089181e+02] [ 8.17261405e-02 9.96654612e-01 -6.49268247e-04 3.49465508e+01] [ 1.31594419e-02 -4.27689219e-04 9.99913319e-01 7.49319849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.294391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:223.12, Y:34.95, Z:7.49 [[ 9.96665418e-01 -8.05125186e-02 -1.32581477e-02 2.23121138e+02] [ 8.05109451e-02 9.96753511e-01 -6.53243641e-04 3.49506277e+01] [ 1.32676995e-02 -4.16360654e-04 9.99911894e-01 7.49377699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.324391418 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:223.15, Y:34.96, Z:7.49 [[ 9.96872237e-01 -7.78226248e-02 -1.37616314e-02 2.23153551e+02] [ 7.78206949e-02 9.96967142e-01 -6.76495416e-04 3.49572724e+01] [ 1.37725410e-02 -3.96560219e-04 9.99905075e-01 7.49402262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.354391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:223.19, Y:34.96, Z:7.49 [[ 9.97005310e-01 -7.61144628e-02 -1.36748383e-02 2.23186716e+02] [ 7.61124193e-02 9.97099017e-01 -6.70564430e-04 3.49609030e+01] [ 1.36862075e-02 -3.72268731e-04 9.99906270e-01 7.49428389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.384391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:223.22, Y:34.96, Z:7.49 [[ 9.97125286e-01 -7.45457159e-02 -1.35683461e-02 2.23219619e+02] [ 7.45435816e-02 9.97217536e-01 -6.63676199e-04 3.49644088e+01] [ 1.35800669e-02 -3.49664795e-04 9.99907726e-01 7.49454664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.414391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:223.25, Y:34.97, Z:7.49 [[ 9.97365970e-01 -7.13070878e-02 -1.32823517e-02 2.23251616e+02] [ 7.13047751e-02 9.97454364e-01 -6.48209831e-04 3.49696198e+01] [ 1.32947616e-02 -3.00592674e-04 9.99911576e-01 7.49476650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.444391418 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:223.28, Y:34.97, Z:7.50 [[ 9.97468256e-01 -6.98863019e-02 -1.31522754e-02 2.23284876e+02] [ 6.98839302e-02 9.97554924e-01 -6.40386547e-04 3.49728834e+01] [ 1.31648713e-02 -2.80367441e-04 9.99913300e-01 7.49505833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.474391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:223.32, Y:34.98, Z:7.50 [[ 9.97639778e-01 -6.74104001e-02 -1.30656493e-02 2.23316376e+02] [ 6.74078665e-02 9.97725301e-01 -6.34702275e-04 3.49773376e+01] [ 1.30787145e-02 -2.47523310e-04 9.99914439e-01 7.49546996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.504391418 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:223.35, Y:34.98, Z:7.50 [[ 9.97711196e-01 -6.63085492e-02 -1.32493802e-02 2.23348693e+02] [ 6.63058646e-02 9.97799138e-01 -6.42281546e-04 3.49803325e+01] [ 1.32628089e-02 -2.37700117e-04 9.99912017e-01 7.49596758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.534391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:223.38, Y:34.98, Z:7.50 [[ 9.97794046e-01 -6.50436317e-02 -1.32803221e-02 2.23381678e+02] [ 6.50408419e-02 9.97882396e-01 -6.42321802e-04 3.49829005e+01] [ 1.32939786e-02 -2.22858459e-04 9.99911606e-01 7.49660946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.564391418 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:223.41, Y:34.99, Z:7.50 [[ 9.97929541e-01 -6.30932544e-02 -1.24848510e-02 2.23414796e+02] [ 6.30906542e-02 9.98007618e-01 -6.02405644e-04 3.49854640e+01] [ 1.24979841e-02 -1.86519026e-04 9.99921880e-01 7.49665715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59439141800001 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:223.45, Y:34.99, Z:7.50 [[ 9.97971365e-01 -6.24736276e-02 -1.22556313e-02 2.23448282e+02] [ 6.24710930e-02 9.98046599e-01 -5.89901489e-04 3.49871068e+01] [ 1.22685444e-02 -1.76917889e-04 9.99924723e-01 7.49711048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62439141800002 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:223.48, Y:34.99, Z:7.50 [[ 9.98012231e-01 -6.18992798e-02 -1.18349465e-02 2.23481743e+02] [ 6.18968922e-02 9.98082387e-01 -5.68268597e-04 3.49886237e+01] [ 1.18474271e-02 -1.65407397e-04 9.99929803e-01 7.49715683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65439141800002 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:223.51, Y:34.99, Z:7.50 [[ 9.98030811e-01 -6.15843890e-02 -1.19106720e-02 2.23513580e+02] [ 6.15819703e-02 9.98101867e-01 -5.70064382e-04 3.49900257e+01] [ 1.19231710e-02 -1.64540830e-04 9.99928903e-01 7.49795359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.684391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:223.55, Y:34.99, Z:7.50 [[ 9.97992718e-01 -6.23316948e-02 -1.11935092e-02 2.23546474e+02] [ 6.23296255e-02 9.98055476e-01 -5.33962933e-04 3.49911507e+01] [ 1.12050260e-02 -1.64796118e-04 9.99937208e-01 7.49724788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.714391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:223.58, Y:34.99, Z:7.50 [[ 9.97939157e-01 -6.30967121e-02 -1.16723520e-02 2.23578588e+02] [ 6.30945361e-02 9.98007401e-01 -5.54942309e-04 3.49922309e+01] [ 1.16841087e-02 -1.82662975e-04 9.99931722e-01 7.49745474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.744391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:223.61, Y:34.99, Z:7.50 [[ 9.97868549e-01 -6.41510761e-02 -1.19581582e-02 2.23611350e+02] [ 6.41488917e-02 9.97940178e-01 -5.66538166e-04 3.49929740e+01] [ 1.19698706e-02 -2.01771980e-04 9.99928338e-01 7.49726209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.774391418 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:223.64, Y:34.99, Z:7.50 [[ 9.97617192e-01 -6.78029153e-02 -1.27555080e-02 2.23644883e+02] [ 6.78007483e-02 9.97698700e-01 -6.02741230e-04 3.49927375e+01] [ 1.27670213e-02 -2.63527973e-04 9.99918464e-01 7.49691962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.804391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:223.68, Y:34.99, Z:7.50 [[ 9.97477108e-01 -6.97822878e-02 -1.30327123e-02 2.23677084e+02] [ 6.97802215e-02 9.97562201e-01 -6.13764748e-04 3.49932170e+01] [ 1.30437710e-02 -2.97209263e-04 9.99914882e-01 7.49716934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.834391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:223.71, Y:34.99, Z:7.50 [[ 9.97329015e-01 -7.18034588e-02 -1.33827642e-02 2.23709859e+02] [ 7.18014897e-02 9.97418744e-01 -6.28170073e-04 3.49935450e+01] [ 1.33933246e-02 -3.34410162e-04 9.99910249e-01 7.49712078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.864391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:223.74, Y:34.99, Z:7.50 [[ 9.97174318e-01 -7.38816622e-02 -1.35970682e-02 2.23742673e+02] [ 7.38798442e-02 9.97266947e-01 -6.36641758e-04 3.49939479e+01] [ 1.36069428e-02 -3.69706465e-04 9.99907353e-01 7.49726272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.894391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:223.77, Y:34.99, Z:7.50 [[ 9.96830149e-01 -7.83405446e-02 -1.38713241e-02 2.23774586e+02] [ 7.83391050e-02 9.96926559e-01 -6.47943814e-04 3.49929928e+01] [ 1.38794516e-02 -4.40777185e-04 9.99903579e-01 7.49751767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.924391418 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:223.81, Y:34.99, Z:7.50 [[ 9.96668242e-01 -8.04176834e-02 -1.36166141e-02 2.23807309e+02] [ 8.04165100e-02 9.96761146e-01 -6.34562349e-04 3.49934559e+01] [ 1.36235419e-02 -4.62552442e-04 9.99907088e-01 7.49752394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.954391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:223.84, Y:34.99, Z:7.50 [[ 9.96348040e-01 -8.43662296e-02 -1.31500238e-02 2.23840676e+02] [ 8.43654992e-02 9.96434689e-01 -6.11256881e-04 3.49930502e+01] [ 1.31547093e-02 -5.00383729e-04 9.99913348e-01 7.49832900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.984391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:223.87, Y:34.99, Z:7.50 [[ 9.96219897e-01 -8.59384687e-02 -1.26687219e-02 2.23873145e+02] [ 8.59379353e-02 9.96300319e-01 -5.87489417e-04 3.49935988e+01] [ 1.26723396e-02 -5.03455156e-04 9.99919576e-01 7.49837229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.014391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:223.91, Y:34.99, Z:7.50 [[ 9.96133937e-01 -8.69032395e-02 -1.28455026e-02 2.23906489e+02] [ 8.69027899e-02 9.96216619e-01 -5.94232768e-04 3.49942232e+01] [ 1.28485439e-02 -5.24374583e-04 9.99917317e-01 7.49880902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.044391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:223.94, Y:34.99, Z:7.50 [[ 9.96000353e-01 -8.84580130e-02 -1.25887780e-02 2.23939751e+02] [ 8.84577246e-02 9.96079763e-01 -5.80812233e-04 3.49945366e+01] [ 1.25908045e-02 -5.35085467e-04 9.99920590e-01 7.49869217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.074391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:223.97, Y:35.00, Z:7.50 [[ 9.95972741e-01 -8.87747950e-02 -1.25433352e-02 2.23971757e+02] [ 8.87745592e-02 9.96051578e-01 -5.76683156e-04 3.49953357e+01] [ 1.25450037e-02 -5.39168348e-04 9.99921163e-01 7.49901096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.104391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:224.01, Y:35.00, Z:7.50 [[ 9.95985123e-01 -8.86357509e-02 -1.25434347e-02 2.24005277e+02] [ 8.86355314e-02 9.96063960e-01 -5.74512005e-04 3.49967518e+01] [ 1.25449855e-02 -5.39588591e-04 9.99921163e-01 7.49923082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.134391418 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:224.04, Y:35.00, Z:7.50 [[ 9.95963638e-01 -8.88787002e-02 -1.25303180e-02 2.24038534e+02] [ 8.88785210e-02 9.96042309e-01 -5.72262190e-04 3.49976300e+01] [ 1.25315888e-02 -5.43723800e-04 9.99921329e-01 7.49930764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.164391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:224.07, Y:35.00, Z:7.50 [[ 9.95914394e-01 -8.94487333e-02 -1.23872319e-02 2.24071838e+02] [ 8.94486210e-02 9.95991278e-01 -5.64207918e-04 3.49987100e+01] [ 1.23880426e-02 -5.46118024e-04 9.99923116e-01 7.49941655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.194391418 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:224.10, Y:35.00, Z:7.50 [[ 9.95864358e-01 -8.98836167e-02 -1.32331467e-02 2.24104398e+02] [ 8.98835493e-02 9.95952100e-01 -6.01041987e-04 3.50003472e+01] [ 1.32336040e-02 -5.90885898e-04 9.99912257e-01 7.50003380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.224391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:224.14, Y:35.00, Z:7.50 [[ 9.95840735e-01 -9.00814252e-02 -1.36589974e-02 2.24136927e+02] [ 9.00813954e-02 9.95934214e-01 -6.18674979e-04 3.50016891e+01] [ 1.36591940e-02 -6.14319804e-04 9.99906520e-01 7.50003945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.254391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:224.17, Y:35.00, Z:7.50 [[ 9.95825137e-01 -9.01714918e-02 -1.41915231e-02 2.24170211e+02] [ 9.01714939e-02 9.95926047e-01 -6.41028969e-04 3.50028708e+01] [ 1.41915100e-02 -6.41318075e-04 9.99899090e-01 7.49991514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.284391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:224.20, Y:35.00, Z:7.50 [[ 9.95831026e-01 -8.99398868e-02 -1.52113427e-02 2.24202327e+02] [ 8.99398885e-02 9.95946960e-01 -6.85366553e-04 3.50041154e+01] [ 1.52113324e-02 -6.85597193e-04 9.99884066e-01 7.49988904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.314391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:224.23, Y:35.01, Z:7.50 [[ 9.95893269e-01 -8.91879485e-02 -1.55597741e-02 2.24233570e+02] [ 8.91854862e-02 9.96014669e-01 -8.53457021e-04 3.50059619e+01] [ 1.55738813e-02 -5.37753915e-04 9.99878575e-01 7.50043326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34439141800001 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:224.27, Y:35.01, Z:7.50 [[ 9.95951353e-01 -8.86098335e-02 -1.51393652e-02 2.24266260e+02] [ 8.86119474e-02 9.96066082e-01 -5.32436290e-04 3.50078582e+01] [ 1.51269873e-02 -8.11247989e-04 9.99885251e-01 7.50091434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37439141800002 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:224.30, Y:35.01, Z:7.50 [[ 9.96175319e-01 -8.61719286e-02 -1.44614285e-02 2.24297978e+02] [ 8.61716088e-02 9.96280099e-01 -6.46389268e-04 3.50110306e+01] [ 1.44633341e-02 -6.02247527e-04 9.99895219e-01 7.50194029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40439141800002 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:224.33, Y:35.01, Z:7.50 [[ 9.96347890e-01 -8.41814404e-02 -1.42956965e-02 2.24330994e+02] [ 8.41809547e-02 9.96450280e-01 -6.36784011e-04 3.50136586e+01] [ 1.42985562e-02 -5.68966975e-04 9.99897609e-01 7.50266147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.434391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:224.36, Y:35.02, Z:7.50 [[ 9.96848732e-01 -7.81475566e-02 -1.36222484e-02 2.24363690e+02] [ 7.81465744e-02 9.96941697e-01 -6.05188375e-04 3.50176798e+01] [ 1.36278814e-02 -4.61250784e-04 9.99907030e-01 7.50315217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.464391418 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:224.40, Y:35.02, Z:7.50 [[ 9.97131620e-01 -7.44801220e-02 -1.34627151e-02 2.24395684e+02] [ 7.44788486e-02 9.97222415e-01 -5.96628819e-04 3.50201289e+01] [ 1.34697583e-02 -4.07770061e-04 9.99909196e-01 7.50343289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.494391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:224.43, Y:35.02, Z:7.50 [[ 9.97404144e-01 -7.07836856e-02 -1.32152457e-02 2.24427779e+02] [ 7.07821514e-02 9.97491627e-01 -5.84365828e-04 3.50227876e+01] [ 1.32234605e-02 -3.52554620e-04 9.99912504e-01 7.50383923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.524391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:224.46, Y:35.03, Z:7.50 [[ 9.97649924e-01 -6.72895664e-02 -1.29129047e-02 2.24460266e+02] [ 6.72878273e-02 9.97733443e-01 -5.69582553e-04 3.50255614e+01] [ 1.29219638e-02 -3.00637310e-04 9.99916463e-01 7.50409897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.554391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:224.49, Y:35.03, Z:7.50 [[ 9.98076938e-01 -6.06523178e-02 -1.27953588e-02 2.24492464e+02] [ 6.06500833e-02 9.98158930e-01 -5.62956729e-04 3.50298694e+01] [ 1.28059463e-02 -2.14165449e-04 9.99917978e-01 7.50463806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.584391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:224.53, Y:35.03, Z:7.50 [[ 9.98233105e-01 -5.80395084e-02 -1.27311758e-02 2.24525614e+02] [ 5.80371020e-02 9.98314270e-01 -5.58696920e-04 3.50322027e+01] [ 1.27421410e-02 -1.81170789e-04 9.99918799e-01 7.50476865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.614391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:224.56, Y:35.03, Z:7.50 [[ 9.98357298e-01 -5.58320537e-02 -1.28642251e-02 2.24557326e+02] [ 5.58294325e-02 9.98440162e-01 -5.63061461e-04 3.50341495e+01] [ 1.28755959e-02 -1.56065867e-04 9.99917094e-01 7.50454996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.644391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:224.59, Y:35.04, Z:7.50 [[ 9.98475137e-01 -5.33413611e-02 -1.42161892e-02 2.24589402e+02] [ 5.33379293e-02 9.98576327e-01 -6.20710736e-04 3.50366051e+01] [ 1.42290596e-02 -1.38497858e-04 9.99898752e-01 7.50383517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.674391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:224.62, Y:35.04, Z:7.50 [[ 9.98482274e-01 -5.28960272e-02 -1.53348589e-02 2.24622320e+02] [ 5.28920089e-02 9.98600015e-01 -6.67769199e-04 3.50386042e+01] [ 1.53487127e-02 -1.44335785e-04 9.99882191e-01 7.50390224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.704391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:224.66, Y:35.04, Z:7.50 [[ 9.98469719e-01 -5.29908401e-02 -1.58174195e-02 2.24655649e+02] [ 5.29866078e-02 9.98594987e-01 -6.86831484e-04 3.50406943e+01] [ 1.58315916e-02 -1.52330964e-04 9.99874661e-01 7.50400147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.734391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:224.69, Y:35.04, Z:7.50 [[ 9.98404245e-01 -5.41620238e-02 -1.59824581e-02 2.24687183e+02] [ 5.41578960e-02 9.98532145e-01 -6.91289737e-04 3.50433799e+01] [ 1.59964398e-02 -1.75389694e-04 9.99872033e-01 7.50445954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.764391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:224.72, Y:35.05, Z:7.50 [[ 9.98357645e-01 -5.51195602e-02 -1.56156104e-02 2.24720362e+02] [ 5.51157741e-02 9.98479744e-01 -6.73034751e-04 3.50453960e+01] [ 1.56289681e-02 -1.88737068e-04 9.99877842e-01 7.50475563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.794391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:224.75, Y:35.05, Z:7.51 [[ 9.98296275e-01 -5.63340140e-02 -1.51995532e-02 2.24753167e+02] [ 5.63305954e-02 9.98411958e-01 -6.53288658e-04 3.50473318e+01] [ 1.52122180e-02 -2.04024245e-04 9.99884267e-01 7.50551137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.824391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:224.79, Y:35.05, Z:7.51 [[ 9.98154200e-01 -5.91735157e-02 -1.36633963e-02 2.24786524e+02] [ 5.91710405e-02 9.98247687e-01 -5.85700073e-04 3.50491815e+01] [ 1.36741116e-02 -2.23858385e-04 9.99906480e-01 7.50599953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.854391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:224.82, Y:35.05, Z:7.51 [[ 9.98048417e-01 -6.10656621e-02 -1.30515144e-02 2.24819861e+02] [ 6.10635855e-02 9.98133722e-01 -5.57921762e-04 3.50506674e+01] [ 1.30612265e-02 -2.40139333e-04 9.99914670e-01 7.50629645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.884391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:224.85, Y:35.05, Z:7.51 [[ 9.97933362e-01 -6.30280301e-02 -1.25088572e-02 2.24852173e+02] [ 6.30262939e-02 9.98011724e-01 -5.33348668e-04 3.50521417e+01] [ 1.25176020e-02 -2.56140479e-04 9.99921619e-01 7.50646304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.914391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:224.89, Y:35.05, Z:7.51 [[ 9.97674247e-01 -6.71299474e-02 -1.18180835e-02 2.24885628e+02] [ 6.71287000e-02 9.97744198e-01 -5.02643732e-04 3.50535650e+01] [ 1.18251667e-02 -2.91857876e-04 9.99930038e-01 7.50643568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.944391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:224.92, Y:35.06, Z:7.51 [[ 9.97560219e-01 -6.86120413e-02 -1.28840011e-02 2.24916730e+02] [ 6.85716562e-02 9.97639874e-01 -3.55105614e-03 3.50562250e+01] [ 1.30972384e-02 2.65891505e-03 9.99910692e-01 7.50763343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.974391418 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:224.95, Y:35.05, Z:7.51 [[ 9.97260647e-01 -7.29873625e-02 -1.20019886e-02 2.24950717e+02] [ 7.30208847e-02 9.97327576e-01 2.37839286e-03 3.50546545e+01] [ 1.17963216e-02 -3.24827342e-03 9.99925145e-01 7.50519609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.004391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:224.98, Y:35.06, Z:7.51 [[ 9.97143198e-01 -7.45869187e-02 -1.19262284e-02 2.24983530e+02] [ 7.45862512e-02 9.97214440e-01 -5.01361810e-04 3.50572264e+01] [ 1.19304022e-02 -3.89603149e-04 9.99928754e-01 7.50605313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.034391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:225.02, Y:35.06, Z:7.51 [[ 9.97080359e-01 -7.54065714e-02 -1.20252587e-02 2.25015078e+02] [ 7.54059689e-02 9.97152790e-01 -5.04146070e-04 3.50582261e+01] [ 1.20290362e-02 -4.04102139e-04 9.99927567e-01 7.50621437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.064391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:225.05, Y:35.06, Z:7.51 [[ 9.97025733e-01 -7.61322950e-02 -1.19817489e-02 2.25047162e+02] [ 7.61317637e-02 9.97097640e-01 -5.01109683e-04 3.50593229e+01] [ 1.19851242e-02 -4.12572431e-04 9.99928091e-01 7.50628504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09439141800001 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:225.08, Y:35.06, Z:7.51 [[ 9.96988107e-01 -7.65603657e-02 -1.23784333e-02 2.25080503e+02] [ 7.65598489e-02 9.97064854e-01 -5.16307041e-04 3.50609161e+01] [ 1.23816294e-02 -4.32939001e-04 9.99923251e-01 7.50653830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12439141800002 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:225.11, Y:35.06, Z:7.51 [[ 9.97034248e-01 -7.60129895e-02 -1.20305122e-02 2.25112750e+02] [ 7.60124777e-02 9.97106741e-01 -5.00452034e-04 3.50625309e+01] [ 1.20337457e-02 -4.15501223e-04 9.99927506e-01 7.50630336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15439141800002 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:225.15, Y:35.06, Z:7.51 [[ 9.97123332e-01 -7.48424057e-02 -1.19864675e-02 2.25145814e+02] [ 7.48418289e-02 9.97195293e-01 -4.97302927e-04 3.50641385e+01] [ 1.19900683e-02 -4.01216798e-04 9.99928036e-01 7.50659082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.184391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:225.18, Y:35.07, Z:7.51 [[ 9.97221817e-01 -7.35447928e-02 -1.18241917e-02 2.25177538e+02] [ 7.35441559e-02 9.97291842e-01 -4.89262528e-04 3.50657102e+01] [ 1.18281526e-02 -3.81696930e-04 9.99929972e-01 7.50685640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.214391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:225.21, Y:35.07, Z:7.51 [[ 9.97429664e-01 -7.07020345e-02 -1.16312872e-02 2.25210340e+02] [ 7.07012395e-02 9.97497421e-01 -4.80032109e-04 3.50678250e+01] [ 1.16361182e-02 -3.43548155e-04 9.99932239e-01 7.50678990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.244391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:225.24, Y:35.07, Z:7.51 [[ 9.97526430e-01 -6.92637572e-02 -1.19813684e-02 2.25243436e+02] [ 6.92628278e-02 9.97598325e-01 -4.93000803e-04 3.50697464e+01] [ 1.19867401e-02 -3.38082122e-04 9.99928099e-01 7.50691844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.274391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:225.28, Y:35.07, Z:7.51 [[ 9.97648352e-01 -6.74265113e-02 -1.23057760e-02 2.25275167e+02] [ 6.74254087e-02 9.97724190e-01 -5.04926163e-04 3.50723855e+01] [ 1.23118158e-02 -3.25983225e-04 9.99924154e-01 7.50691489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.304391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:225.31, Y:35.07, Z:7.51 [[ 9.97681927e-01 -6.68485119e-02 -1.27298244e-02 2.25307267e+02] [ 6.68473017e-02 9.97763082e-01 -5.21013972e-04 3.50742827e+01] [ 1.27361778e-02 -3.31148190e-04 9.99918837e-01 7.50691006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.334391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:225.34, Y:35.08, Z:7.51 [[ 9.97672291e-01 -6.68313503e-02 -1.35488501e-02 2.25340266e+02] [ 6.68299989e-02 9.97764223e-01 -5.52982949e-04 3.50762974e+01] [ 1.35555145e-02 -3.53773870e-04 9.99908057e-01 7.50738044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.364391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:225.37, Y:35.08, Z:7.51 [[ 9.97593744e-01 -6.78481633e-02 -1.42600559e-02 2.25373657e+02] [ 6.78467956e-02 9.97695583e-01 -5.80223080e-04 3.50789837e+01] [ 1.42665619e-02 -3.88672185e-04 9.99898152e-01 7.50688046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.394391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:225.41, Y:35.08, Z:7.51 [[ 9.97525825e-01 -6.87306780e-02 -1.47757692e-02 2.25406015e+02] [ 6.87293309e-02 9.97635164e-01 -5.99543898e-04 3.50807214e+01] [ 1.47820340e-02 -4.17468208e-04 9.99890653e-01 7.50709472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.424391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:225.44, Y:35.08, Z:7.51 [[ 9.97392658e-01 -7.05868476e-02 -1.50127365e-02 2.25439413e+02] [ 7.05856924e-02 9.97505534e-01 -6.07469282e-04 3.50829287e+01] [ 1.50181671e-02 -4.53799001e-04 9.99887118e-01 7.50757617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.454391418 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:225.47, Y:35.08, Z:7.51 [[ 9.97353568e-01 -7.12387957e-02 -1.45222319e-02 2.25472628e+02] [ 7.12378090e-02 9.97459188e-01 -5.85882578e-04 3.50847317e+01] [ 1.45270712e-02 -4.50199901e-04 9.99894375e-01 7.50801519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.484391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:225.50, Y:35.09, Z:7.51 [[ 9.97374894e-01 -7.06425014e-02 -1.59046646e-02 2.25502375e+02] [ 7.05285794e-02 9.97480700e-01 -7.61394925e-03 3.50896640e+01] [ 1.64024644e-02 6.47222842e-03 9.99844523e-01 7.51119070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.514391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:225.54, Y:35.09, Z:7.51 [[ 9.97350248e-01 -7.13577844e-02 -1.41615131e-02 2.25536760e+02] [ 7.14522802e-02 9.97424235e-01 6.28222348e-03 3.50852175e+01] [ 1.36767508e-02 -7.27744955e-03 9.99879985e-01 7.50697694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.544391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:225.57, Y:35.09, Z:7.51 [[ 9.97393551e-01 -7.08983372e-02 -1.33989189e-02 2.25568855e+02] [ 7.08975440e-02 9.97483460e-01 -5.34788079e-04 3.50903606e+01] [ 1.34031156e-02 -4.16556262e-04 9.99910087e-01 7.50991921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.574391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:225.60, Y:35.09, Z:7.51 [[ 9.97525620e-01 -6.93049211e-02 -1.18095402e-02 2.25601454e+02] [ 6.93042147e-02 9.97595462e-01 -4.69541891e-04 3.50930253e+01] [ 1.18136852e-02 -3.50070840e-04 9.99930155e-01 7.51022364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.604391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:225.63, Y:35.10, Z:7.51 [[ 9.97638993e-01 -6.77496097e-02 -1.12441358e-02 2.25633799e+02] [ 6.77488844e-02 9.97702305e-01 -4.45829855e-04 3.50957244e+01] [ 1.12485050e-02 -3.17000411e-04 9.99936683e-01 7.51059868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.634391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:225.67, Y:35.10, Z:7.51 [[ 9.97720312e-01 -6.66647456e-02 -1.04876833e-02 2.25666379e+02] [ 6.66640660e-02 9.97775391e-01 -4.14765538e-04 3.50974449e+01] [ 1.04920025e-02 -2.85331608e-04 9.99944917e-01 7.51075244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.664391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:225.70, Y:35.10, Z:7.51 [[ 9.97785392e-01 -6.57621499e-02 -9.98257982e-03 2.25699316e+02] [ 6.57615005e-02 9.97835292e-01 -3.93641884e-04 3.50992103e+01] [ 9.98685718e-03 -2.63699305e-04 9.99950095e-01 7.51101107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.694391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:225.73, Y:35.10, Z:7.51 [[ 9.97858747e-01 -6.46622542e-02 -9.83435950e-03 2.25732815e+02] [ 6.46615821e-02 9.97907175e-01 -3.86618372e-04 3.51007985e+01] [ 9.83877752e-03 -2.50114720e-04 9.99951567e-01 7.51141955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.724391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:225.77, Y:35.10, Z:7.51 [[ 9.98028232e-01 -6.20453077e-02 -9.48833783e-03 2.25765676e+02] [ 6.20445745e-02 9.98073310e-01 -3.71895225e-04 3.51027643e+01] [ 9.49313110e-03 -2.17537950e-04 9.99954916e-01 7.51171113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.754391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:225.80, Y:35.10, Z:7.51 [[ 9.98097816e-01 -6.09744764e-02 -9.10293964e-03 2.25798828e+02] [ 6.09737668e-02 9.98139306e-01 -3.55711764e-04 3.51044413e+01] [ 9.10769119e-03 -2.00005384e-04 9.99958504e-01 7.51152831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.784391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:225.83, Y:35.11, Z:7.51 [[ 9.98199880e-01 -5.92915007e-02 -9.02870800e-03 2.25830948e+02] [ 5.92907474e-02 9.98240694e-01 -3.51304885e-04 3.51056517e+01] [ 9.03365314e-03 -1.84646352e-04 9.99959179e-01 7.51176103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.814391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:225.86, Y:35.11, Z:7.51 [[ 9.98287387e-01 -5.77823810e-02 -9.13723910e-03 2.25863942e+02] [ 5.77815680e-02 9.98329187e-01 -3.53159986e-04 3.51069781e+01] [ 9.14237891e-03 -1.75408843e-04 9.99958192e-01 7.51154280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84439141800001 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:225.90, Y:35.11, Z:7.51 [[ 9.98303708e-01 -5.74522648e-02 -9.43105384e-03 2.25897417e+02] [ 5.74513949e-02 9.98348238e-01 -3.63358343e-04 3.51081879e+01] [ 9.43635175e-03 -1.79085218e-04 9.99955461e-01 7.51139553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87439141800002 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:225.93, Y:35.11, Z:7.51 [[ 9.98341913e-01 -5.67101897e-02 -9.86808677e-03 2.25930951e+02] [ 5.67092132e-02 9.98390666e-01 -3.78969082e-04 3.51090035e+01] [ 9.87369713e-03 -1.81270718e-04 9.99951237e-01 7.51097233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90439141800002 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:225.96, Y:35.11, Z:7.51 [[ 9.98332884e-01 -5.65647288e-02 -1.14840987e-02 2.25963798e+02] [ 5.65634145e-02 9.98398912e-01 -4.39477060e-04 3.51095503e+01] [ 1.14905705e-02 -2.10835431e-04 9.99933959e-01 7.51061355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.934391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:226.00, Y:35.11, Z:7.51 [[ 9.98336240e-01 -5.64286017e-02 -1.18560427e-02 2.25996145e+02] [ 5.64272077e-02 9.98406613e-01 -4.52325694e-04 3.51102155e+01] [ 1.18626755e-02 -2.17430249e-04 9.99929612e-01 7.51028438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.964391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:226.03, Y:35.11, Z:7.51 [[ 9.98321879e-01 -5.65946935e-02 -1.22665062e-02 2.26028753e+02] [ 5.65932306e-02 9.98397210e-01 -4.66615064e-04 3.51111094e+01] [ 1.22732535e-02 -2.28369188e-04 9.99924655e-01 7.51039894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.994391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:226.06, Y:35.11, Z:7.51 [[ 9.98329718e-01 -5.64562339e-02 -1.22665657e-02 2.26062288e+02] [ 5.64547799e-02 9.98405049e-01 -4.65047892e-04 3.51122626e+01] [ 1.22732560e-02 -2.28235134e-04 9.99924655e-01 7.51062686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.024391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:226.10, Y:35.11, Z:7.51 [[ 9.98331145e-01 -5.64437501e-02 -1.22077273e-02 2.26095357e+02] [ 5.64423284e-02 9.98405755e-01 -4.61232588e-04 3.51128905e+01] [ 1.22142989e-02 -2.28569694e-04 9.99925377e-01 7.51053712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.054391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:226.13, Y:35.11, Z:7.51 [[ 9.98309748e-01 -5.67433442e-02 -1.25634488e-02 2.26128470e+02] [ 5.67418816e-02 9.98388769e-01 -4.73131320e-04 3.51131556e+01] [ 1.25700532e-02 -2.40542114e-04 9.99920965e-01 7.51139314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.084391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:226.16, Y:35.11, Z:7.51 [[ 9.98295858e-01 -5.71256004e-02 -1.19182848e-02 2.26160785e+02] [ 5.71243269e-02 9.98366972e-01 -4.47524942e-04 3.51137631e+01] [ 1.19243870e-02 -2.34061701e-04 9.99928875e-01 7.51156398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.114391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:226.19, Y:35.11, Z:7.51 [[ 9.98279303e-01 -5.75163050e-02 -1.14152056e-02 2.26193903e+02] [ 5.75151762e-02 9.98344541e-01 -4.27422499e-04 3.51141686e+01] [ 1.14208920e-02 -2.29860527e-04 9.99934753e-01 7.51229833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.144391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:226.23, Y:35.11, Z:7.51 [[ 9.98270989e-01 -5.77695719e-02 -1.08494252e-02 2.26226489e+02] [ 5.77685807e-02 9.98329919e-01 -4.04982882e-04 3.51146705e+01] [ 1.08547014e-02 -2.22473233e-04 9.99941061e-01 7.51231181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.174391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:226.26, Y:35.12, Z:7.51 [[ 9.98254904e-01 -5.81063162e-02 -1.05263216e-02 2.26259240e+02] [ 5.81054149e-02 9.98310376e-01 -3.91693274e-04 3.51150194e+01] [ 1.05312959e-02 -2.20626549e-04 9.99944520e-01 7.51251490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.204391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:226.29, Y:35.11, Z:7.51 [[ 9.98172205e-01 -5.96069236e-02 -9.96315990e-03 2.26292677e+02] [ 5.96062021e-02 9.98221901e-01 -3.69600055e-04 3.51144922e+01] [ 9.96747514e-03 -2.24941621e-04 9.99950298e-01 7.51268453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.234391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:226.33, Y:35.11, Z:7.51 [[ 9.98132518e-01 -6.03528963e-02 -9.43423451e-03 2.26325080e+02] [ 6.03522923e-02 9.98177078e-01 -3.48962206e-04 3.51148573e+01] [ 9.43809751e-03 -2.21067153e-04 9.99955436e-01 7.51279302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.264391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:226.36, Y:35.12, Z:7.51 [[ 9.98072350e-01 -6.14212027e-02 -8.88935140e-03 2.26358348e+02] [ 6.14207166e-02 9.98111912e-01 -3.27930551e-04 3.51153780e+01] [ 8.89270941e-03 -2.18691918e-04 9.99960435e-01 7.51280260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.294391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:226.39, Y:35.12, Z:7.51 [[ 9.97999480e-01 -6.26171085e-02 -8.72554667e-03 2.26391284e+02] [ 6.26166949e-02 9.98037598e-01 -3.20850781e-04 3.51160452e+01] [ 8.72851438e-03 -2.26155981e-04 9.99961880e-01 7.51271120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.324391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:226.42, Y:35.12, Z:7.51 [[ 9.97841043e-01 -6.50596107e-02 -8.97212816e-03 2.26423345e+02] [ 6.50592855e-02 9.97881346e-01 -3.28417713e-04 3.51156020e+01] [ 8.97448605e-03 -2.56011574e-04 9.99959696e-01 7.51244227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.354391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:226.46, Y:35.12, Z:7.51 [[ 9.97736210e-01 -6.66004685e-02 -9.31841738e-03 2.26456122e+02] [ 6.66002074e-02 9.97779684e-01 -3.38681543e-04 3.51159203e+01] [ 9.32028390e-03 -2.82693691e-04 9.99956525e-01 7.51253850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.384391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:226.49, Y:35.12, Z:7.51 [[ 9.97641440e-01 -6.78729146e-02 -1.02383662e-02 2.26488091e+02] [ 6.78726787e-02 9.97693922e-01 -3.70900542e-04 3.51159135e+01] [ 1.02399299e-02 -3.24879591e-04 9.99947518e-01 7.51287813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.414391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:226.52, Y:35.12, Z:7.51 [[ 9.97413127e-01 -7.10949224e-02 -1.06096907e-02 2.26521076e+02] [ 7.10948631e-02 9.97469485e-01 -3.83226124e-04 3.51156226e+01] [ 1.06100881e-02 -3.72059738e-04 9.99943642e-01 7.51289830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.444391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:226.55, Y:35.12, Z:7.51 [[ 9.97334896e-01 -7.21312623e-02 -1.09629128e-02 2.26552898e+02] [ 7.21312790e-02 9.97395069e-01 -3.94387960e-04 3.51158020e+01] [ 1.09628028e-02 -3.97432045e-04 9.99939828e-01 7.51311278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.474391418 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:226.59, Y:35.12, Z:7.51 [[ 9.97263472e-01 -7.31069787e-02 -1.09971373e-02 2.26586010e+02] [ 7.31070740e-02 9.97324020e-01 -3.93867817e-04 3.51163954e+01] [ 1.09965036e-02 -4.11178541e-04 9.99939452e-01 7.51350888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.504391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:226.62, Y:35.12, Z:7.51 [[ 9.97186563e-01 -7.40675556e-02 -1.15306550e-02 2.26619241e+02] [ 7.40677401e-02 9.97253128e-01 -4.11617253e-04 3.51168972e+01] [ 1.15294692e-02 -4.43590363e-04 9.99933435e-01 7.51377186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.534391418 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:226.65, Y:35.12, Z:7.51 [[ 9.97187433e-01 -7.40227929e-02 -1.17409676e-02 2.26652544e+02] [ 7.40229983e-02 9.97256447e-01 -4.17667482e-04 3.51179984e+01] [ 1.17396726e-02 -4.52608864e-04 9.99930985e-01 7.51424204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.564391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:226.68, Y:35.12, Z:7.51 [[ 9.97287293e-01 -7.26634823e-02 -1.17504450e-02 2.26684455e+02] [ 7.26636096e-02 9.97356419e-01 -4.16658058e-04 3.51192203e+01] [ 1.17496575e-02 -4.38301960e-04 9.99930874e-01 7.51460005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59439141800001 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:226.72, Y:35.12, Z:7.52 [[ 9.97365660e-01 -7.15970227e-02 -1.16450007e-02 2.26717764e+02] [ 7.15970902e-02 9.97433550e-01 -4.11625297e-04 3.51206726e+01] [ 1.16445855e-02 -4.23207229e-04 9.99932110e-01 7.51515042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62439141800002 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:226.75, Y:35.12, Z:7.52 [[ 9.97477793e-01 -7.00231972e-02 -1.16105557e-02 2.26749449e+02] [ 7.00231734e-02 9.97545281e-01 -4.09063961e-04 3.51219973e+01] [ 1.16106991e-02 -4.04975741e-04 9.99932512e-01 7.51584601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65439141800002 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:226.78, Y:35.12, Z:7.52 [[ 9.97676732e-01 -6.71579858e-02 -1.14430544e-02 2.26781497e+02] [ 6.71577878e-02 9.97742286e-01 -4.01995953e-04 3.51243313e+01] [ 1.14442165e-02 -3.67428214e-04 9.99934445e-01 7.51590127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.684391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:226.81, Y:35.13, Z:7.52 [[ 9.97752407e-01 -6.59472386e-02 -1.18783822e-02 2.26814645e+02] [ 6.59469553e-02 9.97823043e-01 -4.15959562e-04 3.51260577e+01] [ 1.18799548e-02 -3.68318484e-04 9.99929363e-01 7.51658648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.714391418 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:226.85, Y:35.13, Z:7.52 [[ 9.97846669e-01 -6.44464282e-02 -1.21936078e-02 2.26847913e+02] [ 6.44460360e-02 9.97921103e-01 -4.25504294e-04 3.51273441e+01] [ 1.21956807e-02 -3.61241642e-04 9.99925565e-01 7.51705019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.744391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:226.88, Y:35.13, Z:7.52 [[ 9.97898541e-01 -6.36147700e-02 -1.23151499e-02 2.26881351e+02] [ 6.36143253e-02 9.97974466e-01 -4.28222531e-04 3.51290476e+01] [ 1.23174465e-02 -3.56097316e-04 9.99924074e-01 7.51719651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.774391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:226.91, Y:35.13, Z:7.52 [[ 9.98000641e-01 -6.20094923e-02 -1.22287791e-02 2.26913778e+02] [ 6.20089573e-02 9.98075503e-01 -4.23268666e-04 3.51307199e+01] [ 1.22314916e-02 -3.35871444e-04 9.99925136e-01 7.51739542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.804391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:226.95, Y:35.13, Z:7.52 [[ 9.98043163e-01 -6.13400182e-02 -1.21345696e-02 2.26947220e+02] [ 6.13394666e-02 9.98116874e-01 -4.17978418e-04 3.51321609e+01] [ 1.21373575e-02 -3.27167527e-04 9.99926286e-01 7.51777970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.834391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:226.98, Y:35.13, Z:7.52 [[ 9.98105246e-01 -6.04015707e-02 -1.17289243e-02 2.26978789e+02] [ 6.04010116e-02 9.98174111e-01 -4.02217185e-04 3.51332310e+01] [ 1.17318032e-02 -3.06983813e-04 9.99931133e-01 7.51777361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.864391418 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:227.01, Y:35.14, Z:7.52 [[ 9.98216938e-01 -5.84936714e-02 -1.18926220e-02 2.27011739e+02] [ 5.84929849e-02 9.98287737e-01 -4.05838929e-04 3.51354801e+01] [ 1.18959977e-02 -2.90519664e-04 9.99929198e-01 7.51864891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.894391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:227.05, Y:35.14, Z:7.52 [[ 9.98320687e-01 -5.67755450e-02 -1.15040665e-02 2.27045224e+02] [ 5.67748043e-02 9.98386933e-01 -3.91226420e-04 3.51373400e+01] [ 1.15077218e-02 -2.62571696e-04 9.99933750e-01 7.51926525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.924391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:227.08, Y:35.14, Z:7.52 [[ 9.98540135e-01 -5.27090964e-02 -1.18046639e-02 2.27078170e+02] [ 5.27080493e-02 9.98609885e-01 -4.00014507e-04 3.51397462e+01] [ 1.18093384e-02 -2.22770265e-04 9.99930243e-01 7.51908738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.954391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:227.11, Y:35.14, Z:7.52 [[ 9.98669242e-01 -5.01306505e-02 -1.21104255e-02 2.27110633e+02] [ 5.01293753e-02 9.98742649e-01 -4.09021672e-04 3.51410065e+01] [ 1.21157029e-02 -1.98610700e-04 9.99926582e-01 7.51930401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.984391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:227.14, Y:35.14, Z:7.52 [[ 9.98790088e-01 -4.76385704e-02 -1.22035579e-02 2.27143766e+02] [ 4.76371054e-02 9.98864624e-01 -4.10861742e-04 3.51423661e+01] [ 1.22092752e-02 -1.70977539e-04 9.99925449e-01 7.51929186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.014391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:227.18, Y:35.14, Z:7.52 [[ 9.98906356e-01 -4.51075483e-02 -1.23045365e-02 2.27176726e+02] [ 4.51058847e-02 9.98982126e-01 -4.12820890e-04 3.51437361e+01] [ 1.23106334e-02 -1.42637594e-04 9.99924211e-01 7.51963560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.044391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:227.21, Y:35.15, Z:7.52 [[ 9.99101381e-01 -4.04131684e-02 -1.27751846e-02 2.27209587e+02] [ 4.04110108e-02 9.99183050e-01 -4.27083283e-04 3.51452174e+01] [ 1.27820077e-02 -8.95586244e-05 9.99918303e-01 7.52070384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.074391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:227.24, Y:35.15, Z:7.52 [[ 9.99197376e-01 -3.81112080e-02 -1.23344522e-02 2.27242069e+02] [ 3.81090363e-02 9.99273502e-01 -4.11141676e-04 3.51461802e+01] [ 1.23411603e-02 -5.92424012e-05 9.99923843e-01 7.52113352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.104391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:227.27, Y:35.15, Z:7.52 [[ 9.99325374e-01 -3.47193757e-02 -1.19733962e-02 2.27274619e+02] [ 3.47170968e-02 9.99397101e-01 -3.98192810e-04 3.51467945e+01] [ 1.19800024e-02 -1.77573742e-05 9.99928237e-01 7.52124733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.134391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:227.31, Y:35.15, Z:7.52 [[ 9.99371557e-01 -3.34275613e-02 -1.17935672e-02 2.27306584e+02] [ 3.34252713e-02 9.99441143e-01 -3.91283778e-04 3.51471139e+01] [ 1.18000559e-02 -3.16530387e-06 9.99930377e-01 7.52152537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.164391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:227.34, Y:35.15, Z:7.52 [[ 9.99403010e-01 -3.25476974e-02 -1.15875303e-02 2.27337407e+02] [ 3.25454373e-02 9.99470183e-01 -3.83605263e-04 3.51472172e+01] [ 1.15938765e-02 6.25501379e-06 9.99932789e-01 7.52160763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.194391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:227.37, Y:35.15, Z:7.52 [[ 9.99415166e-01 -3.22909772e-02 -1.12524982e-02 2.27369447e+02] [ 3.22888383e-02 9.99478510e-01 -3.71750633e-04 3.51465423e+01] [ 1.12586343e-02 8.20312578e-06 9.99936620e-01 7.52182739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.224391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:227.40, Y:35.15, Z:7.52 [[ 9.99387061e-01 -3.30810590e-02 -1.14518617e-02 2.27401481e+02] [ 3.30789062e-02 9.99452672e-01 -3.77401727e-04 3.51466646e+01] [ 1.14580786e-02 -1.64465526e-06 9.99934354e-01 7.52208149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.254391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:227.43, Y:35.15, Z:7.52 [[ 9.99285504e-01 -3.57581328e-02 -1.22408015e-02 2.27432326e+02] [ 3.57558852e-02 9.99360473e-01 -4.02482585e-04 3.51450015e+01] [ 1.22473652e-02 -3.54856816e-05 9.99924998e-01 7.52202264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.284391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:227.46, Y:35.14, Z:7.52 [[ 9.99198880e-01 -3.79312509e-02 -1.27600368e-02 2.27464985e+02] [ 3.79289976e-02 9.99280349e-01 -4.18633382e-04 3.51446077e+01] [ 1.27667333e-02 -6.56773978e-05 9.99918500e-01 7.52201329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.314391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:227.50, Y:35.14, Z:7.52 [[ 9.99100321e-01 -4.03418518e-02 -1.30798549e-02 2.27496442e+02] [ 4.03397032e-02 9.99185931e-01 -4.28162764e-04 3.51439418e+01] [ 1.30864799e-02 -9.98599084e-05 9.99914363e-01 7.52219973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34439141800001 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:227.53, Y:35.14, Z:7.52 [[ 9.99003100e-01 -4.25745649e-02 -1.34243629e-02 2.27528866e+02] [ 4.25725161e-02 9.99093283e-01 -4.38478154e-04 3.51430063e+01] [ 1.34308589e-02 -1.33467873e-04 9.99909793e-01 7.52218157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37439141800002 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:227.56, Y:35.14, Z:7.52 [[ 9.98813828e-01 -4.67653731e-02 -1.35623506e-02 2.27562109e+02] [ 4.67636867e-02 9.98905883e-01 -4.41621623e-04 3.51411264e+01] [ 1.35681644e-02 -1.93127731e-04 9.99907930e-01 7.52259898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40439141800002 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:227.59, Y:35.14, Z:7.52 [[ 9.98741720e-01 -4.82197089e-02 -1.37781499e-02 2.27594826e+02] [ 4.82181260e-02 9.98836730e-01 -4.47251504e-04 3.51406716e+01] [ 1.37836885e-02 -2.17667829e-04 9.99904977e-01 7.52299463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.434391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:227.63, Y:35.14, Z:7.52 [[ 9.98665593e-01 -4.96915881e-02 -1.40633961e-02 2.27626643e+02] [ 4.96901031e-02 9.98764580e-01 -4.55209915e-04 3.51394178e+01] [ 1.40686421e-02 -2.44209125e-04 9.99901002e-01 7.52352978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.464391418 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:227.66, Y:35.14, Z:7.52 [[ 9.98661273e-01 -4.98006206e-02 -1.39842561e-02 2.27658530e+02] [ 4.97991808e-02 9.98759149e-01 -4.51376674e-04 3.51392826e+01] [ 1.39893825e-02 -2.45632091e-04 9.99902114e-01 7.52324562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.494391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:227.69, Y:35.14, Z:7.52 [[ 9.98670280e-01 -4.95635868e-02 -1.41817743e-02 2.27690794e+02] [ 4.95620987e-02 9.98770940e-01 -4.56583107e-04 3.51395779e+01] [ 1.41869740e-02 -2.46902521e-04 9.99899329e-01 7.52402547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.524391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:227.72, Y:35.14, Z:7.52 [[ 9.98720971e-01 -4.85881200e-02 -1.39863178e-02 2.27723094e+02] [ 4.85866052e-02 9.98818873e-01 -4.48276461e-04 3.51389501e+01] [ 1.39915791e-02 -2.31844600e-04 9.99902086e-01 7.52407801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.554391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:227.76, Y:35.14, Z:7.52 [[ 9.98753769e-01 -4.79853706e-02 -1.37227472e-02 2.27755001e+02] [ 4.79838816e-02 9.98848014e-01 -4.37921265e-04 3.51393135e+01] [ 1.37279526e-02 -2.21095162e-04 9.99905743e-01 7.52446859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.584391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:227.79, Y:35.14, Z:7.52 [[ 9.98792620e-01 -4.73527128e-02 -1.30775491e-02 2.27786513e+02] [ 4.73513179e-02 9.98878210e-01 -4.16445764e-04 3.51396855e+01] [ 1.30825987e-02 -2.03296232e-04 9.99914398e-01 7.52461936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.614391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:227.82, Y:35.14, Z:7.52 [[ 9.98832839e-01 -4.66412989e-02 -1.25518493e-02 2.27818459e+02] [ 4.66399685e-02 9.98911685e-01 -3.98850454e-04 3.51400433e+01] [ 1.25567919e-02 -1.87032926e-04 9.99921143e-01 7.52480491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.644391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:227.85, Y:35.14, Z:7.53 [[ 9.98878698e-01 -4.55406043e-02 -1.29382839e-02 2.27851153e+02] [ 4.55391123e-02 9.98962472e-01 -4.10057933e-04 3.51392272e+01] [ 1.29435344e-02 -1.79599831e-04 9.99916213e-01 7.52517827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.674391418 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:227.88, Y:35.14, Z:7.53 [[ 9.98874787e-01 -4.56056630e-02 -1.30109208e-02 2.27882340e+02] [ 4.56041719e-02 9.98959504e-01 -4.11425262e-04 3.51392529e+01] [ 1.30161463e-02 -1.82389949e-04 9.99915270e-01 7.52517793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.704391418 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:227.91, Y:35.14, Z:7.53 [[ 9.98835866e-01 -4.63238541e-02 -1.34541258e-02 2.27913660e+02] [ 4.63223358e-02 9.98926454e-01 -4.24617058e-04 3.51380387e+01] [ 1.34593521e-02 -1.99103788e-04 9.99909399e-01 7.52502268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.734391418 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:227.95, Y:35.14, Z:7.52 [[ 9.98791645e-01 -4.71252995e-02 -1.39447830e-02 2.27946122e+02] [ 4.71237606e-02 9.98888962e-01 -4.39103614e-04 3.51377649e+01] [ 1.39499827e-02 -2.18557594e-04 9.99902670e-01 7.52494612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.764391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:227.98, Y:35.14, Z:7.53 [[ 9.98750337e-01 -4.78392037e-02 -1.44628474e-02 2.27978802e+02] [ 4.78376403e-02 9.98855021e-01 -4.54229667e-04 3.51375643e+01] [ 1.44680178e-02 -2.38206460e-04 9.99895304e-01 7.52531698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.794391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:228.01, Y:35.14, Z:7.52 [[ 9.98627808e-01 -5.00795563e-02 -1.53146480e-02 2.28011035e+02] [ 5.00780861e-02 9.98745190e-01 -4.79714592e-04 3.51367739e+01] [ 1.53194549e-02 -2.87871928e-04 9.99882609e-01 7.52498881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.824391418 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:228.04, Y:35.14, Z:7.52 [[ 9.98571410e-01 -5.09508013e-02 -1.60982898e-02 2.28042188e+02] [ 5.09493083e-02 9.98701114e-01 -5.03123744e-04 3.51368991e+01] [ 1.61030145e-02 -3.17791742e-04 9.99870288e-01 7.52493676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.854391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:228.07, Y:35.14, Z:7.53 [[ 9.98527805e-01 -5.16193967e-02 -1.66631598e-02 2.28074702e+02] [ 5.16179103e-02 9.98666772e-01 -5.19564965e-04 3.51375259e+01] [ 1.66677636e-02 -3.41317424e-04 9.99861025e-01 7.52529526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.884391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:228.11, Y:35.14, Z:7.53 [[ 9.98486983e-01 -5.22102088e-02 -1.72580347e-02 2.28105760e+02] [ 5.22087232e-02 9.98636050e-01 -5.36926992e-04 3.51377032e+01] [ 1.72625287e-02 -3.64905345e-04 9.99850925e-01 7.52586234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.914391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:228.14, Y:35.14, Z:7.53 [[ 9.98492106e-01 -5.21121194e-02 -1.72580792e-02 2.28138447e+02] [ 5.21106438e-02 9.98641174e-01 -5.35494956e-04 3.51386380e+01] [ 1.72625343e-02 -3.64642131e-04 9.99850925e-01 7.52608461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.944391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:228.17, Y:35.14, Z:7.53 [[ 9.98482359e-01 -5.23039964e-02 -1.72415442e-02 2.28170642e+02] [ 5.23025784e-02 9.98631141e-01 -5.33465878e-04 3.51393585e+01] [ 1.72458453e-02 -3.69120946e-04 9.99851211e-01 7.52653949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.974391418 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:228.20, Y:35.14, Z:7.53 [[ 9.98494166e-01 -5.21179720e-02 -1.71206710e-02 2.28202372e+02] [ 5.21165703e-02 9.98640868e-01 -5.28332640e-04 3.51402578e+01] [ 1.71249374e-02 -3.64733595e-04 9.99853291e-01 7.52714438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.004391418 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:228.23, Y:35.14, Z:7.53 [[ 9.98545620e-01 -5.11352025e-02 -1.70832279e-02 2.28233993e+02] [ 5.11336834e-02 9.98691679e-01 -5.25993720e-04 3.51415747e+01] [ 1.70877743e-02 -3.48299640e-04 9.99853933e-01 7.52840935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.034391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:228.27, Y:35.14, Z:7.53 [[ 9.98590218e-01 -5.03162206e-02 -1.69072575e-02 2.28266544e+02] [ 5.03146360e-02 9.98733282e-01 -5.19351169e-04 3.51429431e+01] [ 1.69119725e-02 -3.32063510e-04 9.99856927e-01 7.52942645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.064391418 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:228.30, Y:35.14, Z:7.53 [[ 9.98644735e-01 -4.93428700e-02 -1.65521521e-02 2.28298369e+02] [ 4.93412394e-02 9.98781851e-01 -5.07126714e-04 3.51442655e+01] [ 1.65570122e-02 -3.10264278e-04 9.99862875e-01 7.53001432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09439141800001 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:228.33, Y:35.15, Z:7.53 [[ 9.98775983e-01 -4.69863389e-02 -1.54538182e-02 2.28329135e+02] [ 4.69846513e-02 9.98895500e-01 -4.72451870e-04 3.51457440e+01] [ 1.54589482e-02 -2.54218679e-04 9.99880471e-01 7.53099742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12439141800002 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:228.36, Y:35.15, Z:7.53 [[ 9.98877101e-01 -4.56194965e-02 -1.27827567e-02 2.28360072e+02] [ 4.55608410e-02 9.98949826e-01 -4.84303157e-03 3.51496935e+01] [ 1.29902692e-02 4.25520019e-03 9.99906569e-01 7.53105180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15439141800002 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:228.39, Y:35.15, Z:7.53 [[ 9.98858364e-01 -4.56815241e-02 -1.39702077e-02 2.28393171e+02] [ 4.57416132e-02 9.98945247e-01 4.01221826e-03 3.51450533e+01] [ 1.37721884e-02 -4.64665761e-03 9.99894362e-01 7.52961428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.184391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:228.43, Y:35.15, Z:7.53 [[ 9.98840103e-01 -4.60606555e-02 -1.40308363e-02 2.28425274e+02] [ 4.60592355e-02 9.98938620e-01 -4.24495063e-04 3.51478870e+01] [ 1.40354968e-02 -2.22246903e-04 9.99901473e-01 7.53140463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.214391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:228.46, Y:35.15, Z:7.53 [[ 9.98792234e-01 -4.70695631e-02 -1.40900438e-02 2.28457065e+02] [ 4.70682478e-02 9.98891585e-01 -4.25130128e-04 3.51488192e+01] [ 1.40944369e-02 -2.38577004e-04 9.99900640e-01 7.53145345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.244391418 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:228.49, Y:35.15, Z:7.53 [[ 9.98732687e-01 -4.82947280e-02 -1.41646825e-02 2.28488349e+02] [ 4.82935362e-02 9.98833095e-01 -4.26372477e-04 3.51495464e+01] [ 1.41687452e-02 -2.58230476e-04 9.99899585e-01 7.53108213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.274391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:228.52, Y:35.15, Z:7.53 [[ 9.98610635e-01 -5.04720701e-02 -1.51449534e-02 2.28520543e+02] [ 5.04709750e-02 9.98725425e-01 -4.54757097e-04 3.51495705e+01] [ 1.51486025e-02 -3.10255291e-04 9.99885205e-01 7.53072179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.304391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:228.55, Y:35.15, Z:7.53 [[ 9.98569645e-01 -5.12292999e-02 -1.53043372e-02 2.28551317e+02] [ 5.12282870e-02 9.98686864e-01 -4.58465808e-04 3.51500746e+01] [ 1.53077274e-02 -3.26204937e-04 9.99882777e-01 7.53072584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.334391418 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:228.58, Y:35.15, Z:7.53 [[ 9.98525942e-01 -5.18262974e-02 -1.61238476e-02 2.28583220e+02] [ 5.18252699e-02 9.98656052e-01 -4.81837931e-04 3.51506469e+01] [ 1.61271498e-02 -3.54495079e-04 9.99869886e-01 7.53057934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.364391418 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:228.62, Y:35.15, Z:7.53 [[ 9.98558740e-01 -5.14011025e-02 -1.54391927e-02 2.28615009e+02] [ 5.14001284e-02 9.98678034e-01 -4.60161145e-04 3.51515226e+01] [ 1.54424354e-02 -3.34078553e-04 9.99880703e-01 7.53053944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.394391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:228.65, Y:35.15, Z:7.53 [[ 9.98601915e-01 -5.05903595e-02 -1.53242066e-02 2.28646264e+02] [ 5.05893207e-02 9.98719437e-01 -4.55675357e-04 3.51528576e+01] [ 1.53276358e-02 -3.20202919e-04 9.99882474e-01 7.53116909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.424391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:228.68, Y:35.15, Z:7.53 [[ 9.98721173e-01 -4.85451039e-02 -1.41206149e-02 2.28678467e+02] [ 4.85440310e-02 9.98820956e-01 -4.18923712e-04 3.51547758e+01] [ 1.41243028e-02 -2.67083588e-04 9.99900211e-01 7.53132992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.454391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:228.71, Y:35.16, Z:7.53 [[ 9.98782409e-01 -4.73087238e-02 -1.39851412e-02 2.28710245e+02] [ 4.73075657e-02 9.98880285e-01 -4.13794746e-04 3.51559480e+01] [ 1.39890579e-02 -2.48312073e-04 9.99902118e-01 7.53189895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.484391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:228.74, Y:35.16, Z:7.53 [[ 9.98846260e-01 -4.60730796e-02 -1.35432824e-02 2.28741182e+02] [ 4.60718925e-02 9.98938047e-01 -3.99798599e-04 3.51568388e+01] [ 1.35473201e-02 -2.24627317e-04 9.99908206e-01 7.53160011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.514391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:228.77, Y:35.16, Z:7.53 [[ 9.98891939e-01 -4.51429248e-02 -1.33045199e-02 2.28773739e+02] [ 4.51417091e-02 9.98980517e-01 -3.91826223e-04 3.51578862e+01] [ 1.33086443e-02 -2.09196711e-04 9.99911414e-01 7.53156209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.544391418 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:228.80, Y:35.16, Z:7.53 [[ 9.98940696e-01 -4.39417145e-02 -1.36605635e-02 2.28804872e+02] [ 4.39403340e-02 9.99034076e-01 -4.01325638e-04 3.51589807e+01] [ 1.36650034e-02 -1.99349212e-04 9.99906610e-01 7.53139479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.574391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:228.84, Y:35.16, Z:7.53 [[ 9.98944617e-01 -4.38503767e-02 -1.36673433e-02 2.28837050e+02] [ 4.38489994e-02 9.99038090e-01 -4.00564129e-04 3.51597254e+01] [ 1.36717615e-02 -1.99157950e-04 9.99906517e-01 7.53134802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.604391418 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:228.87, Y:35.16, Z:7.53 [[ 9.98879743e-01 -4.52790696e-02 -1.37501127e-02 2.28868615e+02] [ 4.52778241e-02 9.98974353e-01 -4.02028393e-04 3.51604237e+01] [ 1.37542134e-02 -2.20997165e-04 9.99905382e-01 7.53114215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.634391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:228.90, Y:35.16, Z:7.53 [[ 9.98834663e-01 -4.63124820e-02 -1.35819925e-02 2.28901185e+02] [ 4.63113749e-02 9.98926974e-01 -3.96183738e-04 3.51610923e+01] [ 1.35857669e-02 -2.33278696e-04 9.99907682e-01 7.53139436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.664391418 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:228.93, Y:35.16, Z:7.53 [[ 9.98792750e-01 -4.73011036e-02 -1.32532364e-02 2.28933018e+02] [ 4.73001501e-02 9.98880647e-01 -3.85569849e-04 3.51614247e+01] [ 1.32566393e-02 -2.41775704e-04 9.99912098e-01 7.53150056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.694391418 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:228.97, Y:35.16, Z:7.53 [[ 9.98700482e-01 -4.94238859e-02 -1.24348794e-02 2.28965656e+02] [ 4.94232228e-02 9.98777861e-01 -3.60804746e-04 3.51607886e+01] [ 1.24375146e-02 -2.54235942e-04 9.99922619e-01 7.53153125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.724391418 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:229.00, Y:35.16, Z:7.53 [[ 9.98663954e-01 -5.02882779e-02 -1.18910465e-02 2.28997766e+02] [ 5.02877452e-02 9.98734712e-01 -3.43982204e-04 3.51608972e+01] [ 1.18932992e-02 -2.54451291e-04 9.99929240e-01 7.53123837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.754391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:229.03, Y:35.16, Z:7.53 [[ 9.98654482e-01 -5.04430769e-02 -1.20300070e-02 2.29029641e+02] [ 5.04425576e-02 9.98726904e-01 -3.46782452e-04 3.51605745e+01] [ 1.20321845e-02 -2.60508473e-04 9.99927577e-01 7.53119006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.784391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:229.06, Y:35.16, Z:7.53 [[ 9.98668377e-01 -5.00768308e-02 -1.24009742e-02 2.29062229e+02] [ 5.00762679e-02 9.98745333e-01 -3.56094342e-04 3.51613414e+01] [ 1.24032472e-02 -2.65374348e-04 9.99923042e-01 7.53157200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.814391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:229.09, Y:35.16, Z:7.53 [[ 9.98705918e-01 -4.92481994e-02 -1.26926967e-02 2.29094853e+02] [ 4.92475596e-02 9.98786537e-01 -3.63146522e-04 3.51621030e+01] [ 1.26951789e-02 -2.62407758e-04 9.99919379e-01 7.53180856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84439141800001 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:229.13, Y:35.16, Z:7.53 [[ 9.98748792e-01 -4.83311992e-02 -1.28431260e-02 2.29126095e+02] [ 4.83304801e-02 9.98831332e-01 -3.66533633e-04 3.51628709e+01] [ 1.28458317e-02 -2.54639423e-04 9.99917456e-01 7.53179560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87439141800002 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:229.16, Y:35.16, Z:7.53 [[ 9.98860061e-01 -4.59788315e-02 -1.28267464e-02 2.29158291e+02] [ 4.59779319e-02 9.98942389e-01 -3.65167853e-04 3.51633050e+01] [ 1.28299707e-02 -2.24995687e-04 9.99917667e-01 7.53198185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90439141800002 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:229.19, Y:35.16, Z:7.53 [[ 9.98918116e-01 -4.48419280e-02 -1.23206709e-02 2.29189599e+02] [ 4.48410222e-02 9.98994074e-01 -3.49890128e-04 3.51637859e+01] [ 1.23239670e-02 -2.02959892e-04 9.99924036e-01 7.53268491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.934391418 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:229.22, Y:35.16, Z:7.53 [[ 9.98973808e-01 -4.38325161e-02 -1.14035482e-02 2.29222152e+02] [ 4.38316831e-02 9.99038878e-01 -3.23090646e-04 3.51643629e+01] [ 1.14067499e-02 -1.77077617e-04 9.99934925e-01 7.53314941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.964391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:229.25, Y:35.16, Z:7.53 [[ 9.99082472e-01 -4.15223345e-02 -1.04933523e-02 2.29253618e+02] [ 4.15215093e-02 9.99137566e-01 -2.96572471e-04 3.51648874e+01] [ 1.04966168e-02 -1.39399467e-04 9.99944899e-01 7.53374676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.994391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:229.29, Y:35.17, Z:7.53 [[ 9.99129822e-01 -4.03314156e-02 -1.06290150e-02 2.29286148e+02] [ 4.03305094e-02 9.99186349e-01 -2.99680084e-04 3.51657533e+01] [ 1.06324532e-02 -1.29254279e-04 9.99943466e-01 7.53421317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.024391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:229.32, Y:35.17, Z:7.53 [[ 9.99218308e-01 -3.77475372e-02 -1.17429573e-02 2.29317067e+02] [ 3.77462633e-02 9.99287301e-01 -3.30171137e-04 3.51662045e+01] [ 1.17470512e-02 -1.13339713e-04 9.99930995e-01 7.53396747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.054391418 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:229.35, Y:35.17, Z:7.53 [[ 9.99257401e-01 -3.64524112e-02 -1.24847332e-02 2.29348611e+02] [ 3.64508850e-02 9.99335384e-01 -3.49844767e-04 3.51664504e+01] [ 1.24891883e-02 -1.05494602e-04 9.99922001e-01 7.53386364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.084391418 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:229.38, Y:35.17, Z:7.53 [[ 9.99285126e-01 -3.55278509e-02 -1.29232038e-02 2.29381074e+02] [ 3.55261567e-02 9.99368682e-01 -3.60708912e-04 3.51664447e+01] [ 1.29278603e-02 -9.86607130e-05 9.99916427e-01 7.53363153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.114391418 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:229.41, Y:35.17, Z:7.53 [[ 9.99321565e-01 -3.44498317e-02 -1.30237687e-02 2.29412296e+02] [ 3.44480375e-02 9.99406425e-01 -3.62132559e-04 3.51662755e+01] [ 1.30285136e-02 -8.67563984e-05 9.99915122e-01 7.53368124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.144391418 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:229.44, Y:35.17, Z:7.53 [[ 9.99377119e-01 -3.28187901e-02 -1.29730703e-02 2.29444464e+02] [ 3.28168907e-02 9.99461316e-01 -3.59315445e-04 3.51654432e+01] [ 1.29778742e-02 -6.66441962e-05 9.99915782e-01 7.53448268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.174391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:229.48, Y:35.17, Z:7.53 [[ 9.99403799e-01 -3.21364296e-02 -1.26212519e-02 2.29476525e+02] [ 3.21345902e-02 9.99483490e-01 -3.48566173e-04 3.51654128e+01] [ 1.26259345e-02 -5.72203993e-05 9.99920288e-01 7.53476817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.204391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:229.51, Y:35.17, Z:7.54 [[ 9.99413967e-01 -3.17598227e-02 -1.27685997e-02 2.29507814e+02] [ 3.17579210e-02 9.99495528e-01 -3.51723608e-04 3.51653371e+01] [ 1.27733290e-02 -5.39866932e-05 9.99918416e-01 7.53512073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.234391418 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:229.54, Y:35.16, Z:7.54 [[ 9.99418763e-01 -3.14402286e-02 -1.31775686e-02 2.29538729e+02] [ 3.14381919e-02 9.99505632e-01 -3.61727468e-04 3.51640542e+01] [ 1.31824268e-02 -5.27617112e-05 9.99913107e-01 7.53501793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.264391418 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:229.57, Y:35.16, Z:7.53 [[ 9.99410062e-01 -3.15616847e-02 -1.35421149e-02 2.29571352e+02] [ 3.15595650e-02 9.99501804e-01 -3.70253829e-04 3.51633793e+01] [ 1.35470542e-02 -5.73478548e-05 9.99908233e-01 7.53495099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.294391418 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:229.60, Y:35.16, Z:7.53 [[ 9.99407668e-01 -3.16510125e-02 -1.35102119e-02 2.29602225e+02] [ 3.16489240e-02 9.99498979e-01 -3.68415689e-04 3.51622260e+01] [ 1.35151037e-02 -5.93862039e-05 9.99908665e-01 7.53440439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.324391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:229.63, Y:35.16, Z:7.53 [[ 9.99376691e-01 -3.24877642e-02 -1.38121153e-02 2.29633149e+02] [ 3.24856710e-02 9.99472131e-01 -3.75941162e-04 3.51601278e+01] [ 1.38170378e-02 -7.29889982e-05 9.99904538e-01 7.53469691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.354391418 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:229.66, Y:35.16, Z:7.54 [[ 9.99358149e-01 -3.29849451e-02 -1.39743609e-02 2.29664587e+02] [ 3.29828610e-02 9.99455845e-01 -3.79648608e-04 3.51596989e+01] [ 1.39792794e-02 -8.15094716e-05 9.99902282e-01 7.53502688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.384391418 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:229.70, Y:35.16, Z:7.54 [[ 9.99317904e-01 -3.43251511e-02 -1.36202386e-02 2.29695522e+02] [ 3.43233134e-02 9.99410713e-01 -3.68728632e-04 3.51578928e+01] [ 1.36248690e-02 -9.90145923e-05 9.99907172e-01 7.53524661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.414391418 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:229.73, Y:35.16, Z:7.54 [[ 9.99295226e-01 -3.50081205e-02 -1.35455516e-02 2.29727591e+02] [ 3.50063850e-02 9.99387022e-01 -3.65280087e-04 3.51572281e+01] [ 1.35500362e-02 -1.09158146e-04 9.99908188e-01 7.53566628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.444391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:229.76, Y:35.16, Z:7.54 [[ 9.99259305e-01 -3.59887898e-02 -1.36252765e-02 2.29759414e+02] [ 3.59871395e-02 9.99352186e-01 -3.66359142e-04 3.51564639e+01] [ 1.36296347e-02 -1.24246945e-04 9.99907104e-01 7.53588856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.474391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:229.79, Y:35.15, Z:7.54 [[ 9.99157050e-01 -3.87660916e-02 -1.35048167e-02 2.29791930e+02] [ 3.87647385e-02 9.99248299e-01 -3.62049188e-04 3.51544330e+01] [ 1.35087004e-02 -1.61766690e-04 9.99908740e-01 7.53612536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.504391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:229.82, Y:35.15, Z:7.54 [[ 9.99094057e-01 -4.04018511e-02 -1.33699383e-02 2.29822886e+02] [ 4.04006903e-02 9.99183495e-01 -3.57006931e-04 3.51538383e+01] [ 1.33734454e-02 -1.83471234e-04 9.99910555e-01 7.53647399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.534391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:229.86, Y:35.15, Z:7.54 [[ 9.99017437e-01 -4.23041913e-02 -1.32104568e-02 2.29855564e+02] [ 4.23032431e-02 9.99104755e-01 -3.51327475e-04 3.51531995e+01] [ 1.32134929e-02 -2.07862894e-04 9.99912676e-01 7.53671012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.564391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:229.89, Y:35.15, Z:7.54 [[ 9.98945449e-01 -4.41632437e-02 -1.25537921e-02 2.29887573e+02] [ 4.41625465e-02 9.99024303e-01 -3.32881812e-04 3.51525392e+01] [ 1.25562445e-02 -2.21876656e-04 9.99921143e-01 7.53704993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59439141800001 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:229.92, Y:35.15, Z:7.54 [[ 9.98775670e-01 -4.81317495e-02 -1.14234830e-02 2.29920194e+02] [ 4.81314416e-02 9.98840965e-01 -3.02032974e-04 3.51502574e+01] [ 1.14247801e-02 -2.48165519e-04 9.99934704e-01 7.53710237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62439141800002 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:229.95, Y:35.15, Z:7.54 [[ 9.98692988e-01 -4.98131737e-02 -1.14438932e-02 2.29952128e+02] [ 4.98129857e-02 9.98758517e-01 -3.01636437e-04 3.51495403e+01] [ 1.14447112e-02 -2.68812292e-04 9.99934471e-01 7.53712295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65439141800002 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:229.98, Y:35.15, Z:7.54 [[ 9.98601023e-01 -5.16182491e-02 -1.14696594e-02 2.29983986e+02] [ 5.16181900e-02 9.98666847e-01 -3.01382270e-04 3.51492108e+01] [ 1.14699255e-02 -2.91082417e-04 9.99934176e-01 7.53743561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.684391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:230.02, Y:35.15, Z:7.54 [[ 9.98393494e-01 -5.54144621e-02 -1.18181858e-02 2.30015995e+02] [ 5.54146766e-02 9.98463378e-01 -3.09567913e-04 3.51480962e+01] [ 1.18171803e-02 -3.45830355e-04 9.99930115e-01 7.53774194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.714391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:230.05, Y:35.15, Z:7.54 [[ 9.98283272e-01 -5.72936546e-02 -1.21633403e-02 2.30048621e+02] [ 5.72940333e-02 9.98357297e-01 -3.17607432e-04 3.51478591e+01] [ 1.21615565e-02 -3.79824639e-04 9.99925973e-01 7.53806290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.744391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:230.08, Y:35.15, Z:7.54 [[ 9.98026524e-01 -6.14933060e-02 -1.27134280e-02 2.30080144e+02] [ 6.14940719e-02 9.98107394e-01 -3.31029957e-04 3.51466985e+01] [ 1.27097226e-02 -4.51423777e-04 9.99919126e-01 7.53790518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.774391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:230.11, Y:35.15, Z:7.54 [[ 9.97895139e-01 -6.35341533e-02 -1.29885531e-02 2.30113589e+02] [ 6.35351405e-02 9.97979545e-01 -3.37030359e-04 3.51465476e+01] [ 1.29837233e-02 -4.88908591e-04 9.99915588e-01 7.53783429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.804391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:230.15, Y:35.15, Z:7.54 [[ 9.97901474e-01 -6.34345733e-02 -1.29885903e-02 2.30146277e+02] [ 6.34355708e-02 9.97985880e-01 -3.35595103e-04 3.51473117e+01] [ 1.29837180e-02 -4.89047788e-04 9.99915588e-01 7.53805808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.834391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:230.18, Y:35.15, Z:7.54 [[ 9.97765695e-01 -6.54628037e-02 -1.33506216e-02 2.30179766e+02] [ 6.54640586e-02 9.97854869e-01 -3.43459494e-04 3.51472105e+01] [ 1.33444665e-02 -5.31293771e-04 9.99910817e-01 7.53844464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.864391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:230.21, Y:35.15, Z:7.54 [[ 9.97635202e-01 -6.73695670e-02 -1.36141288e-02 2.30212159e+02] [ 6.73710699e-02 9.97727928e-01 -3.48717242e-04 3.51470528e+01] [ 1.36066894e-02 -5.69305826e-04 9.99907263e-01 7.53835289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.894391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:230.25, Y:35.15, Z:7.54 [[ 9.97394440e-01 -7.07037423e-02 -1.43286795e-02 2.30245449e+02] [ 7.07057736e-02 9.97497148e-01 -3.65406819e-04 3.51463838e+01] [ 1.43186526e-02 -6.48665642e-04 9.99897272e-01 7.53852856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.924391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:230.28, Y:35.15, Z:7.54 [[ 9.97320067e-01 -7.17567321e-02 -1.42707596e-02 2.30277040e+02] [ 7.17588860e-02 9.97421943e-01 -3.61727040e-04 3.51466555e+01] [ 1.42599251e-02 -6.63296175e-04 9.99898102e-01 7.53900933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.954391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:230.31, Y:35.15, Z:7.54 [[ 9.97262981e-01 -7.25935363e-02 -1.40259051e-02 2.30309668e+02] [ 7.25957293e-02 9.97361386e-01 -3.53393237e-04 3.51472050e+01] [ 1.40145502e-02 -6.65794816e-04 9.99901570e-01 7.53881364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.984391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:230.34, Y:35.15, Z:7.54 [[ 9.97243211e-01 -7.27537246e-02 -1.45902127e-02 2.30343098e+02] [ 7.27561410e-02 9.97349693e-01 -3.65809226e-04 3.51483185e+01] [ 1.45781581e-02 -6.96726802e-04 9.99893490e-01 7.53937234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.014391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:230.38, Y:35.15, Z:7.54 [[ 9.97301029e-01 -7.19058549e-02 -1.48393549e-02 2.30375264e+02] [ 7.19082971e-02 9.97411179e-01 -3.69610951e-04 3.51495218e+01] [ 1.48275157e-02 -6.98459359e-04 9.99889822e-01 7.53974321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.044391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:230.41, Y:35.15, Z:7.54 [[ 9.97536800e-01 -6.85705294e-02 -1.47788615e-02 2.30407621e+02] [ 6.85726160e-02 9.97646061e-01 -3.66102133e-04 3.51513787e+01] [ 1.47691768e-02 -6.48224845e-04 9.99890720e-01 7.53975830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.074391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:230.44, Y:35.15, Z:7.54 [[ 9.97713028e-01 -6.59648479e-02 -1.47428827e-02 2.30439801e+02] [ 6.59666578e-02 9.97821761e-01 -3.64029369e-04 3.51529800e+01] [ 1.47347824e-02 -6.09341856e-04 9.99891252e-01 7.54021465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.104391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:230.47, Y:35.16, Z:7.54 [[ 9.98099770e-01 -6.00501666e-02 -1.38140225e-02 2.30472033e+02] [ 6.00512045e-02 9.98195240e-01 -3.40020738e-04 3.51563934e+01] [ 1.38095098e-02 -4.90174071e-04 9.99904524e-01 7.54103692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.134391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:230.50, Y:35.16, Z:7.54 [[ 9.98302146e-01 -5.66281619e-02 -1.36409909e-02 2.30503828e+02] [ 5.66288696e-02 9.98395242e-01 -3.34678720e-04 3.51585146e+01] [ 1.36380526e-02 -4.38363408e-04 9.99906901e-01 7.54149750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.164391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:230.54, Y:35.16, Z:7.54 [[ 9.98502796e-01 -5.31037625e-02 -1.31208223e-02 2.30535230e+02] [ 5.31041249e-02 9.98588929e-01 -3.21021389e-04 3.51605741e+01] [ 1.31193554e-02 -3.76229034e-04 9.99913867e-01 7.54199815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.194391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:230.57, Y:35.16, Z:7.54 [[ 9.98678766e-01 -4.98082066e-02 -1.26437914e-02 2.30567818e+02] [ 4.98082895e-02 9.98758749e-01 -3.08529800e-04 3.51630872e+01] [ 1.26434646e-02 -3.21643464e-04 9.99920016e-01 7.54228911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.224391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:230.60, Y:35.17, Z:7.54 [[ 9.99007608e-01 -4.27972162e-02 -1.23368275e-02 2.30600293e+02] [ 4.27967723e-02 9.99083753e-01 -3.00096205e-04 3.51667107e+01] [ 1.23383672e-02 -2.28178007e-04 9.99923853e-01 7.54275654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.254391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:230.63, Y:35.17, Z:7.54 [[ 9.99149013e-01 -3.93775219e-02 -1.22744233e-02 2.30631858e+02] [ 3.93768354e-02 9.99224387e-01 -2.97692742e-04 3.51687586e+01] [ 1.22766255e-02 -1.85888536e-04 9.99924622e-01 7.54323393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.284391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:230.66, Y:35.17, Z:7.54 [[ 9.99277810e-01 -3.59346660e-02 -1.23514397e-02 2.30663779e+02] [ 3.59337182e-02 9.99354131e-01 -2.98730581e-04 3.51704462e+01] [ 1.23541971e-02 -1.45318313e-04 9.99923673e-01 7.54363255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.314391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:230.69, Y:35.17, Z:7.54 [[ 9.99483529e-01 -2.96740787e-02 -1.23338909e-02 2.30694548e+02] [ 2.96726669e-02 9.99559625e-01 -2.97487980e-04 3.51732277e+01] [ 1.23372871e-02 -6.86451015e-05 9.99923890e-01 7.54371225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34439141800001 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:230.73, Y:35.17, Z:7.54 [[ 9.99561169e-01 -2.68350428e-02 -1.25439339e-02 2.30725512e+02] [ 2.68333667e-02 9.99639875e-01 -3.01935522e-04 3.51745451e+01] [ 1.25475189e-02 -3.47929531e-05 9.99921276e-01 7.54370253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37439141800002 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:230.76, Y:35.18, Z:7.54 [[ 9.99663617e-01 -2.22141072e-02 -1.33860616e-02 2.30755710e+02] [ 2.22117899e-02 9.99753236e-01 -3.21779665e-04 3.51758806e+01] [ 1.33899065e-02 2.43430356e-05 9.99910351e-01 7.54356666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.404391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:230.79, Y:35.18, Z:7.54 [[ 9.99705048e-01 -2.05043600e-02 -1.30149298e-02 2.30785794e+02] [ 2.05020263e-02 9.99789762e-01 -3.12724867e-04 3.51768081e+01] [ 1.30186058e-02 4.58001951e-05 9.99915253e-01 7.54362356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.434391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:230.82, Y:35.18, Z:7.54 [[ 9.99728203e-01 -1.92334705e-02 -1.31754638e-02 2.30815499e+02] [ 1.92309651e-02 9.99815018e-01 -3.16832132e-04 3.51776224e+01] [ 1.31791203e-02 6.33691338e-05 9.99913150e-01 7.54379701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.464391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:230.85, Y:35.18, Z:7.54 [[ 9.99742637e-01 -1.86897272e-02 -1.28589958e-02 2.30845549e+02] [ 1.86872894e-02 9.99825329e-01 -3.09721082e-04 3.51780655e+01] [ 1.28625383e-02 6.93415959e-05 9.99917272e-01 7.54359140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.494391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:230.87, Y:35.18, Z:7.54 [[ 9.99731530e-01 -1.95557924e-02 -1.24273414e-02 2.30874711e+02] [ 1.95535751e-02 9.99808766e-01 -2.99908809e-04 3.51772777e+01] [ 1.24308298e-02 5.68293387e-05 9.99922733e-01 7.54314780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.524391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:230.90, Y:35.18, Z:7.54 [[ 9.99707585e-01 -2.08935609e-02 -1.21738575e-02 2.30904685e+02] [ 2.08915251e-02 9.99781705e-01 -2.94391535e-04 3.51769271e+01] [ 1.21773509e-02 3.99749998e-05 9.99925853e-01 7.54317533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.554391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:230.93, Y:35.18, Z:7.54 [[ 9.99664555e-01 -2.29172700e-02 -1.20654966e-02 2.30934327e+02] [ 2.29154132e-02 9.99737365e-01 -2.92137638e-04 3.51765731e+01] [ 1.20690228e-02 1.55538020e-05 9.99927167e-01 7.54366140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.584391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:230.96, Y:35.18, Z:7.55 [[ 9.99538428e-01 -2.75741108e-02 -1.27514121e-02 2.30964687e+02] [ 2.75019348e-02 9.99604916e-01 -5.80139607e-03 3.51768511e+01] [ 1.29063425e-02 5.44802981e-03 9.99901868e-01 7.54553479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.614391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:231.00, Y:35.17, Z:7.54 [[ 9.99425951e-01 -3.20326037e-02 -1.10309445e-02 2.30996111e+02] [ 3.20905359e-02 9.99471876e-01 5.11541816e-03 3.51707648e+01] [ 1.08612586e-02 -5.46647058e-03 9.99926073e-01 7.54276701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.644391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:231.03, Y:35.17, Z:7.54 [[ 9.99173957e-01 -3.94932321e-02 -9.57536212e-03 2.31026854e+02] [ 3.94928142e-02 9.99219827e-01 -2.32803193e-04 3.51700942e+01] [ 9.57708583e-03 -1.45547109e-04 9.99954128e-01 7.54456736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.674391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:231.06, Y:35.17, Z:7.54 [[ 9.99026208e-01 -4.31543019e-02 -9.18376282e-03 2.31059203e+02] [ 4.31540774e-02 9.99068404e-01 -2.22706040e-04 3.51687230e+01] [ 9.18481799e-03 -1.73827641e-04 9.99957804e-01 7.54474325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.704391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:231.09, Y:35.17, Z:7.54 [[ 9.98877468e-01 -4.64998197e-02 -9.03160937e-03 2.31091241e+02] [ 4.64997456e-02 9.98918278e-01 -2.18304164e-04 3.51669978e+01] [ 9.03199079e-03 -2.01908428e-04 9.99959190e-01 7.54484379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.734391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:231.12, Y:35.16, Z:7.54 [[ 9.98552819e-01 -5.29112881e-02 -9.62620583e-03 2.31123194e+02] [ 5.29115101e-02 9.98599178e-01 -2.31792108e-04 3.51638792e+01] [ 9.62498565e-03 -2.77880425e-04 9.99953640e-01 7.54466154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.764391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:231.16, Y:35.16, Z:7.54 [[ 9.98398723e-01 -5.57196761e-02 -9.76253133e-03 2.31155271e+02] [ 5.57200478e-02 9.98446404e-01 -2.34123280e-04 3.51630496e+01] [ 9.76040957e-03 -3.10220329e-04 9.99952318e-01 7.54471335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.794391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:231.19, Y:35.16, Z:7.54 [[ 9.98267061e-01 -5.80180858e-02 -9.83752100e-03 2.31186914e+02] [ 5.80185833e-02 9.98315476e-01 -2.35050128e-04 3.51620954e+01] [ 9.83458661e-03 -3.36116231e-04 9.99951583e-01 7.54449621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.824391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:231.22, Y:35.16, Z:7.54 [[ 9.98162488e-01 -5.97221442e-02 -1.02427472e-02 2.31218771e+02] [ 5.97227840e-02 9.98214972e-01 -2.43674257e-04 3.51611199e+01] [ 1.02390164e-02 -3.68498877e-04 9.99947512e-01 7.54465250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.854391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:231.25, Y:35.16, Z:7.54 [[ 9.98045227e-01 -6.15995782e-02 -1.05459327e-02 2.31252260e+02] [ 6.16003730e-02 9.98100862e-01 -2.49757283e-04 3.51597484e+01] [ 1.05412895e-02 -4.00364326e-04 9.99944359e-01 7.54450003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.884391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:231.28, Y:35.16, Z:7.54 [[ 9.98062392e-01 -6.12697300e-02 -1.08388887e-02 2.31284471e+02] [ 6.12705676e-02 9.98121161e-01 -2.55073079e-04 3.51595754e+01] [ 1.08341524e-02 -4.09526014e-04 9.99941225e-01 7.54463254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.914391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:231.32, Y:35.16, Z:7.54 [[ 9.98019148e-01 -6.18325379e-02 -1.15981353e-02 2.31316570e+02] [ 6.18719669e-02 9.98079367e-01 3.07182046e-03 3.51597085e+01] [ 1.13859211e-02 -3.78333508e-03 9.99928021e-01 7.54491625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.944391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:231.35, Y:35.16, Z:7.55 [[ 9.98189492e-01 -5.90230631e-02 -1.15765089e-02 2.31349526e+02] [ 5.90119504e-02 9.98256431e-01 -1.29948280e-03 3.51615852e+01] [ 1.16330239e-02 6.13977705e-04 9.99932146e-01 7.54557737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.974391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:231.38, Y:35.16, Z:7.55 [[ 9.98316677e-01 -5.66975942e-02 -1.22145481e-02 2.31381551e+02] [ 5.66689349e-02 9.98389428e-01 -2.68006475e-03 3.51623189e+01] [ 1.23468289e-02 1.98336791e-03 9.99921808e-01 7.54515544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.004391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:231.41, Y:35.16, Z:7.55 [[ 9.98521321e-01 -5.30770676e-02 -1.17471940e-02 2.31414230e+02] [ 5.30775863e-02 9.98590356e-01 -2.67825897e-04 3.51630567e+01] [ 1.17448501e-02 -3.56082836e-04 9.99930963e-01 7.54508037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.034391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:231.45, Y:35.16, Z:7.55 [[ 9.98629626e-01 -5.08987385e-02 -1.21732631e-02 2.31445820e+02] [ 5.09080515e-02 9.98703240e-01 4.56194411e-04 3.51636830e+01] [ 1.21342576e-02 -1.07528636e-03 9.99925799e-01 7.54551103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.064391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:231.48, Y:35.17, Z:7.55 [[ 9.98745309e-01 -4.86060211e-02 -1.20524698e-02 2.31477933e+02] [ 4.85973581e-02 9.98817939e-01 -1.01077423e-03 3.51656889e+01] [ 1.20873528e-02 4.23787827e-04 9.99926855e-01 7.54560853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09439141800001 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:231.51, Y:35.17, Z:7.55 [[ 9.98965188e-01 -4.37132567e-02 -1.25580426e-02 2.31510519e+02] [ 4.37131201e-02 9.99044084e-01 -2.85499048e-04 3.51677460e+01] [ 1.25585183e-02 -2.63747614e-04 9.99921104e-01 7.54560497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12439141800002 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:231.54, Y:35.17, Z:7.55 [[ 9.99065964e-01 -4.11182678e-02 -1.32848897e-02 2.31541819e+02] [ 4.11178985e-02 9.99154256e-01 -3.01050954e-04 3.51693009e+01] [ 1.32860328e-02 -2.45476985e-04 9.99911707e-01 7.54601515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.154391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:231.57, Y:35.17, Z:7.55 [[ 9.99155620e-01 -3.86712181e-02 -1.38774561e-02 2.31573428e+02] [ 3.86705888e-02 9.99251964e-01 -3.13776772e-04 3.51708214e+01] [ 1.38792094e-02 -2.23137574e-04 9.99903654e-01 7.54615340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.184391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:231.60, Y:35.17, Z:7.55 [[ 9.99235161e-01 -3.63410072e-02 -1.44368852e-02 2.31604088e+02] [ 3.63400943e-02 9.99339428e-01 -3.25651146e-04 3.51722037e+01] [ 1.44391831e-02 -1.99235693e-04 9.99895730e-01 7.54639484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.214391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:231.63, Y:35.17, Z:7.55 [[ 9.99365871e-01 -3.22806373e-02 -1.50272096e-02 2.31634452e+02] [ 3.22791985e-02 9.99478834e-01 -3.38347770e-04 3.51739284e+01] [ 1.50303001e-02 -1.46933069e-04 9.99887028e-01 7.54695952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.244391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:231.66, Y:35.18, Z:7.55 [[ 9.99415445e-01 -3.06215586e-02 -1.52015821e-02 2.31664868e+02] [ 3.06198963e-02 9.99531042e-01 -3.42143277e-04 3.51753615e+01] [ 1.52049301e-02 -1.23527591e-04 9.99884391e-01 7.54749049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.274391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:231.70, Y:35.18, Z:7.55 [[ 9.99490576e-01 -2.80707316e-02 -1.51862741e-02 2.31695046e+02] [ 2.80687782e-02 9.99605936e-01 -3.41798738e-04 3.51771868e+01] [ 1.51898842e-02 -8.46355408e-05 9.99884623e-01 7.54846286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.304391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:231.73, Y:35.18, Z:7.55 [[ 9.99512000e-01 -2.72630582e-02 -1.52475577e-02 2.31725110e+02] [ 2.72609951e-02 9.99628291e-01 -3.43178055e-04 3.51783402e+01] [ 1.52512462e-02 -7.26530121e-05 9.99883690e-01 7.54915774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.334391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:231.75, Y:35.18, Z:7.55 [[ 9.99522677e-01 -2.69773761e-02 -1.50545459e-02 2.31754890e+02] [ 2.69753273e-02 9.99636042e-01 -3.39171217e-04 3.51797730e+01] [ 1.50582166e-02 -6.70919806e-05 9.99886616e-01 7.54926615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.364391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:231.79, Y:35.18, Z:7.55 [[ 9.99527194e-01 -2.67909595e-02 -1.50875359e-02 2.31785285e+02] [ 2.67888763e-02 9.99641056e-01 -3.40192545e-04 3.51813130e+01] [ 1.50912344e-02 -6.41464342e-05 9.99886119e-01 7.54966787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.394391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:231.81, Y:35.18, Z:7.55 [[ 9.99512620e-01 -2.72387802e-02 -1.52503205e-02 2.31814541e+02] [ 2.72366987e-02 9.99628953e-01 -3.44205253e-04 3.51821751e+01] [ 1.52540377e-02 -7.13308910e-05 9.99883648e-01 7.54993280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.424391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:231.84, Y:35.18, Z:7.55 [[ 9.99485253e-01 -2.82383770e-02 -1.52257430e-02 2.31844473e+02] [ 2.82364146e-02 9.99601214e-01 -3.43887453e-04 3.51829428e+01] [ 1.52293820e-02 -8.62099529e-05 9.99884023e-01 7.55010708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.454391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:231.87, Y:35.18, Z:7.55 [[ 9.99401821e-01 -3.13713803e-02 -1.45545959e-02 2.31874886e+02] [ 3.13699197e-02 9.99507789e-01 -3.28699961e-04 3.51832181e+01] [ 1.45577438e-02 -1.28073166e-04 9.99894022e-01 7.55058769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.484391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:231.90, Y:35.18, Z:7.55 [[ 9.99332480e-01 -3.35893644e-02 -1.43648752e-02 2.31904852e+02] [ 3.35881729e-02 9.99435706e-01 -3.24264001e-04 3.51837102e+01] [ 1.43676610e-02 -1.58442364e-04 9.99896767e-01 7.55129692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.514391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:231.94, Y:35.18, Z:7.55 [[ 9.99144903e-01 -3.90543562e-02 -1.35727960e-02 2.31936461e+02] [ 3.90538020e-02 9.99237062e-01 -3.05982907e-04 3.51835034e+01] [ 1.35743908e-02 -2.24348027e-04 9.99907839e-01 7.55190483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.544391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:231.97, Y:35.18, Z:7.55 [[ 9.99012409e-01 -4.23712127e-02 -1.33748294e-02 2.31968430e+02] [ 4.23709823e-02 9.99101901e-01 -3.00715452e-04 3.51837530e+01] [ 1.33755592e-02 -2.66286193e-04 9.99910508e-01 7.55224363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.574391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:232.00, Y:35.18, Z:7.55 [[ 9.98866504e-01 -4.56173897e-02 -1.35927160e-02 2.32000050e+02] [ 4.56174722e-02 9.98958935e-01 -3.04132913e-04 3.51838477e+01] [ 1.35924389e-02 -3.16277166e-04 9.99907569e-01 7.55285743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.604391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:232.03, Y:35.18, Z:7.55 [[ 9.98527234e-01 -5.26356483e-02 -1.31473011e-02 2.32032161e+02] [ 5.26363516e-02 9.98613703e-01 -2.92762018e-04 3.51830292e+01] [ 1.31444848e-02 -3.99695116e-04 9.99913528e-01 7.55278589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.634391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:232.06, Y:35.18, Z:7.55 [[ 9.98333715e-01 -5.61967417e-02 -1.31042175e-02 2.32063943e+02] [ 5.61977609e-02 9.98419615e-01 -2.90733357e-04 3.51831884e+01] [ 1.30998461e-02 -4.46178772e-04 9.99914094e-01 7.55298463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.664391418 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:232.09, Y:35.18, Z:7.55 [[ 9.98254282e-01 -5.76355389e-02 -1.29047387e-02 2.32094812e+02] [ 5.76366610e-02 9.98337585e-01 -2.85246472e-04 3.51828235e+01] [ 1.28997260e-02 -4.59037537e-04 9.99916690e-01 7.55257192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.694391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:232.13, Y:35.18, Z:7.55 [[ 9.97718858e-01 -6.60852162e-02 -1.37776598e-02 2.32127481e+02] [ 6.60873154e-02 9.97813798e-01 -3.03370571e-04 3.51830861e+01] [ 1.37675874e-02 -6.07850008e-04 9.99905038e-01 7.55301831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.724391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:232.16, Y:35.18, Z:7.55 [[ 9.97725349e-01 -6.59871497e-02 -1.37776869e-02 2.32160171e+02] [ 6.59892566e-02 9.97820288e-01 -3.02134332e-04 3.51837214e+01] [ 1.37675925e-02 -6.07732236e-04 9.99905038e-01 7.55324040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.754391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:232.19, Y:35.18, Z:7.55 [[ 9.97499819e-01 -6.91784803e-02 -1.44377677e-02 2.32192416e+02] [ 6.91811462e-02 9.97604065e-01 -3.15309904e-04 3.51841778e+01] [ 1.44249884e-02 -6.84299747e-04 9.99895720e-01 7.55322223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.784391418 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:232.23, Y:35.18, Z:7.55 [[ 9.97046260e-01 -7.53366511e-02 -1.49380411e-02 2.32225396e+02] [ 7.53402173e-02 9.97157834e-01 -3.24669304e-04 3.51845726e+01] [ 1.49200442e-02 -8.01724950e-04 9.99888369e-01 7.55268229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.814391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:232.26, Y:35.18, Z:7.55 [[ 9.96823730e-01 -7.82165674e-02 -1.49873197e-02 2.32258597e+02] [ 7.82205098e-02 9.96936030e-01 -3.23858891e-04 3.51849353e+01] [ 1.49667302e-02 -8.49485563e-04 9.99887631e-01 7.55295945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84439141800001 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:232.29, Y:35.19, Z:7.55 [[ 9.96620724e-01 -8.06556582e-02 -1.55498131e-02 2.32291000e+02] [ 8.06602260e-02 9.96741600e-01 -3.34211893e-04 3.51851575e+01] [ 1.55261017e-02 -9.21168939e-04 9.99879038e-01 7.55119545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87439141800002 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:232.32, Y:35.19, Z:7.55 [[ 9.96254307e-01 -8.52529939e-02 -1.44666195e-02 2.32323334e+02] [ 8.52574510e-02 9.96358907e-01 -3.09477804e-04 3.51878029e+01] [ 1.44403291e-02 -9.25068506e-04 9.99895305e-01 7.55370402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.904391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:232.36, Y:35.19, Z:7.55 [[ 9.96139822e-01 -8.65878013e-02 -1.44224658e-02 2.32356662e+02] [ 8.65923941e-02 9.96243777e-01 -3.06890241e-04 3.51891167e+01] [ 1.43948647e-02 -9.43170251e-04 9.99895944e-01 7.55390360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.934391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:232.39, Y:35.19, Z:7.55 [[ 9.96088282e-01 -8.71569938e-02 -1.45530731e-02 2.32388913e+02] [ 8.71617660e-02 9.96194124e-01 -3.07241293e-04 3.51905613e+01] [ 1.45244641e-02 -9.62432097e-04 9.99894051e-01 7.55405189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.964391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:232.42, Y:35.19, Z:7.55 [[ 9.96077271e-01 -8.72644875e-02 -1.46621565e-02 2.32421859e+02] [ 8.72693777e-02 9.96184702e-01 -3.07180290e-04 3.51925212e+01] [ 1.46330220e-02 -9.73581970e-04 9.99892458e-01 7.55435824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.994391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:232.45, Y:35.20, Z:7.55 [[ 9.96210487e-01 -8.57448213e-02 -1.45771062e-02 2.32454077e+02] [ 8.57495166e-02 9.96316681e-01 -3.03773775e-04 3.51958377e+01] [ 1.45494611e-02 -9.47357193e-04 9.99893702e-01 7.55408757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.024391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:232.49, Y:35.20, Z:7.55 [[ 9.96342642e-01 -8.42030675e-02 -1.45321359e-02 2.32485811e+02] [ 8.42075917e-02 9.96448188e-01 -3.01374831e-04 3.51982054e+01] [ 1.45058971e-02 -9.23443566e-04 9.99894358e-01 7.55435939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.054391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:232.52, Y:35.20, Z:7.56 [[ 9.96668892e-01 -8.02347667e-02 -1.46116836e-02 2.32518081e+02] [ 8.02389368e-02 9.96775613e-01 -3.01570859e-04 3.52030224e+01] [ 1.45887664e-02 -8.71859666e-04 9.99893198e-01 7.55506421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.084391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:232.55, Y:35.21, Z:7.56 [[ 9.96870711e-01 -7.76368110e-02 -1.48765050e-02 2.32551027e+02] [ 7.76408699e-02 9.96981345e-01 -3.05377203e-04 3.52058024e+01] [ 1.48553065e-02 -8.50603199e-04 9.99889292e-01 7.55562350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.114391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:232.58, Y:35.21, Z:7.56 [[ 9.97050923e-01 -7.51886789e-02 -1.53662135e-02 2.32583493e+02] [ 7.51927459e-02 9.97168969e-01 -3.13726049e-04 3.52086422e+01] [ 1.53462999e-02 -8.42626940e-04 9.99881884e-01 7.55633494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.144391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:232.62, Y:35.21, Z:7.56 [[ 9.97409170e-01 -7.01318319e-02 -1.60148152e-02 2.32616047e+02] [ 7.01356276e-02 9.97537412e-01 -3.25193379e-04 3.52141981e+01] [ 1.59981837e-02 -7.98858256e-04 9.99871702e-01 7.55693496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.174391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:232.65, Y:35.22, Z:7.56 [[ 9.97553571e-01 -6.79487234e-02 -1.64269489e-02 2.32648729e+02] [ 6.79524539e-02 9.97688506e-01 -3.31607520e-04 3.52174903e+01] [ 1.64115104e-02 -7.85455220e-04 9.99865014e-01 7.55743415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.204391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:232.68, Y:35.22, Z:7.56 [[ 9.97726286e-01 -6.53839116e-02 -1.63463256e-02 2.32680588e+02] [ 6.53872906e-02 9.97859907e-01 -3.28234039e-04 3.52204308e+01] [ 1.63328042e-02 -7.41354216e-04 9.99866336e-01 7.55757254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.234391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:232.71, Y:35.23, Z:7.56 [[ 9.98031326e-01 -6.06226829e-02 -1.60736403e-02 2.32711770e+02] [ 6.06253524e-02 9.98160540e-01 -3.21581258e-04 3.52266523e+01] [ 1.60635686e-02 -6.53521937e-04 9.99870759e-01 7.55865766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.264391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:232.74, Y:35.23, Z:7.56 [[ 9.98188964e-01 -5.80366457e-02 -1.58284771e-02 2.32744377e+02] [ 5.80389333e-02 9.98314271e-01 -3.15189112e-04 3.52302432e+01] [ 1.58200871e-02 -6.04049635e-04 9.99874672e-01 7.55886360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.294391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:232.78, Y:35.23, Z:7.56 [[ 9.98343135e-01 -5.54127825e-02 -1.55051211e-02 2.32776802e+02] [ 5.54146879e-02 9.98463378e-01 -3.07043756e-04 3.52334807e+01] [ 1.54983098e-02 -5.52676422e-04 9.99879741e-01 7.55948332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.324391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:232.81, Y:35.24, Z:7.56 [[ 9.98636945e-01 -4.99622320e-02 -1.51005847e-02 2.32808836e+02] [ 4.99634370e-02 9.98751003e-01 -2.97689943e-04 3.52395231e+01] [ 1.50965973e-02 -4.57192935e-04 9.99885935e-01 7.56016030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.354391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:232.84, Y:35.24, Z:7.56 [[ 9.98766507e-01 -4.74266474e-02 -1.47030125e-02 2.32840365e+02] [ 4.74275300e-02 9.98874640e-01 -2.88844789e-04 3.52429175e+01] [ 1.47001652e-02 -4.08839063e-04 9.99891863e-01 7.56021728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.384391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:232.87, Y:35.25, Z:7.56 [[ 9.99019859e-01 -4.20487621e-02 -1.38283131e-02 2.32872636e+02] [ 4.20490410e-02 9.99115511e-01 -2.70712120e-04 3.52483255e+01] [ 1.38274652e-02 -3.11020521e-04 9.99904348e-01 7.56048677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.414391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:232.90, Y:35.25, Z:7.56 [[ 9.99105463e-01 -3.98657961e-02 -1.41064376e-02 2.32904528e+02] [ 3.98658849e-02 9.99205002e-01 -2.75011953e-04 3.52514816e+01] [ 1.41061866e-02 -2.87599673e-04 9.99900461e-01 7.56097953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.444391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:232.94, Y:35.25, Z:7.56 [[ 9.99210386e-01 -3.72827323e-02 -1.37332492e-02 2.32937003e+02] [ 3.72825876e-02 9.99304727e-01 -2.66646035e-04 3.52542952e+01] [ 1.37336421e-02 -2.45575577e-04 9.99905659e-01 7.56101965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.474391418 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:232.97, Y:35.26, Z:7.56 [[ 9.99355375e-01 -3.33147351e-02 -1.33777165e-02 2.32969450e+02] [ 3.33142566e-02 9.99444893e-01 -2.58675968e-04 3.52587619e+01] [ 1.33789081e-02 -1.87159461e-04 9.99910481e-01 7.56129810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.504391418 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:233.00, Y:35.27, Z:7.56 [[ 9.99424586e-01 -3.19248014e-02 -1.14588209e-02 2.32999767e+02] [ 3.18522486e-02 9.99471716e-01 -6.45928294e-03 3.52655854e+01] [ 1.16589787e-02 6.09057697e-03 9.99913483e-01 7.56199653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.534391418 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:233.03, Y:35.26, Z:7.56 [[ 9.99487728e-01 -2.89518147e-02 -1.36408645e-02 2.33032764e+02] [ 2.90350061e-02 9.99560742e-01 5.94059249e-03 3.52617707e+01] [ 1.34628817e-02 -6.33361188e-03 9.99889312e-01 7.55974197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.564391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:233.07, Y:35.27, Z:7.56 [[ 9.99518861e-01 -2.79480765e-02 -1.34518376e-02 2.33065070e+02] [ 2.79471427e-02 9.99609369e-01 -2.57427954e-04 3.52664938e+01] [ 1.34537775e-02 -1.18636330e-04 9.99909487e-01 7.56214308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59439141800001 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:233.10, Y:35.27, Z:7.56 [[ 9.99537183e-01 -2.73660365e-02 -1.32860556e-02 2.33096599e+02] [ 2.73650867e-02 9.99625474e-01 -2.53311921e-04 3.52680396e+01] [ 1.32880118e-02 -1.10379380e-04 9.99911704e-01 7.56218493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62439141800002 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:233.13, Y:35.27, Z:7.56 [[ 9.99534394e-01 -2.71959664e-02 -1.38338454e-02 2.33127636e+02] [ 2.71949303e-02 9.99630115e-01 -2.63042927e-04 3.52701932e+01] [ 1.38358822e-02 -1.13290008e-04 9.99904273e-01 7.56209563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.654391418 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:233.16, Y:35.27, Z:7.56 [[ 9.99511326e-01 -2.80293824e-02 -1.38370214e-02 2.33158674e+02] [ 2.80284334e-02 9.99607092e-01 -2.62545186e-04 3.52714908e+01] [ 1.38389437e-02 -1.25413146e-04 9.99904229e-01 7.56148880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.684391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:233.19, Y:35.27, Z:7.56 [[ 9.99470481e-01 -2.92763979e-02 -1.42003308e-02 2.33189615e+02] [ 2.92755325e-02 9.99571344e-01 -2.68857134e-04 3.52724592e+01] [ 1.42021149e-02 -1.47007476e-04 9.99899134e-01 7.56161956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.714391418 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:233.22, Y:35.27, Z:7.56 [[ 9.99355556e-01 -3.29587041e-02 -1.42195731e-02 2.33221397e+02] [ 3.29582171e-02 9.99456694e-01 -2.68646366e-04 3.52733381e+01] [ 1.42207017e-02 -2.00178538e-04 9.99898861e-01 7.56103193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.744391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:233.25, Y:35.28, Z:7.56 [[ 9.99293023e-01 -3.44155436e-02 -1.51335377e-02 2.33251684e+02] [ 3.43636126e-02 9.99402628e-01 -3.67834202e-03 3.52754879e+01] [ 1.52510895e-02 3.15569849e-03 9.99878716e-01 7.56268390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.774391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:233.28, Y:35.27, Z:7.56 [[ 9.99108687e-01 -3.97086339e-02 -1.43197715e-02 2.33283560e+02] [ 3.97572256e-02 9.99204483e-01 3.12465985e-03 3.52732055e+01] [ 1.41843039e-02 -3.69118919e-03 9.99892585e-01 7.56048181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.804391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:233.32, Y:35.28, Z:7.56 [[ 9.99014811e-01 -4.21480517e-02 -1.38906269e-02 2.33315296e+02] [ 4.21485318e-02 9.99111322e-01 -2.58313228e-04 3.52754144e+01] [ 1.38891700e-02 -3.27410790e-04 9.99903487e-01 7.56163721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.834391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:233.35, Y:35.28, Z:7.56 [[ 9.98920126e-01 -4.43458944e-02 -1.38572774e-02 2.33347821e+02] [ 4.43465990e-02 9.99016173e-01 -2.56579318e-04 3.52760002e+01] [ 1.38550225e-02 -3.58220878e-04 9.99903950e-01 7.56221901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.864391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:233.38, Y:35.28, Z:7.56 [[ 9.98736633e-01 -4.85118199e-02 -1.31050272e-02 2.33380977e+02] [ 4.85128251e-02 9.98822531e-01 -2.41371129e-04 3.52764980e+01] [ 1.31013058e-02 -3.94695703e-04 9.99914096e-01 7.56244330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.894391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:233.41, Y:35.28, Z:7.56 [[ 9.98640747e-01 -5.05193249e-02 -1.28240453e-02 2.33413488e+02] [ 5.05204708e-02 9.98722998e-01 -2.34788242e-04 3.52770537e+01] [ 1.28195304e-02 -4.13407703e-04 9.99917741e-01 7.56260538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.924391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:233.45, Y:35.28, Z:7.56 [[ 9.98553002e-01 -5.23692142e-02 -1.22216183e-02 2.33446404e+02] [ 5.23704092e-02 9.98627704e-01 -2.22462511e-04 3.52775547e+01] [ 1.22164968e-02 -4.17910542e-04 9.99925288e-01 7.56276113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.954391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:233.48, Y:35.28, Z:7.56 [[ 9.98450333e-01 -5.42655532e-02 -1.23362506e-02 2.33479642e+02] [ 5.42669337e-02 9.98526439e-01 -2.23053994e-04 3.52780975e+01] [ 1.23301765e-02 -4.46742156e-04 9.99923881e-01 7.56311102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.984391418 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:233.51, Y:35.28, Z:7.56 [[ 9.98221021e-01 -5.84040436e-02 -1.19900319e-02 2.33513182e+02] [ 5.84056629e-02 9.98292909e-01 -2.15354416e-04 3.52786348e+01] [ 1.19821414e-02 -4.85314457e-04 9.99928094e-01 7.56311795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.014391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:233.55, Y:35.28, Z:7.56 [[ 9.98106135e-01 -6.03567777e-02 -1.18829037e-02 2.33546545e+02] [ 6.03585236e-02 9.98176740e-01 -2.11979317e-04 3.52789073e+01] [ 1.18740324e-02 -5.05656665e-04 9.99929373e-01 7.56326767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.044391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:233.58, Y:35.28, Z:7.56 [[ 9.97960612e-01 -6.27346211e-02 -1.17891441e-02 2.33578519e+02] [ 6.27365209e-02 9.98030102e-01 -2.08964151e-04 3.52793897e+01] [ 1.17790299e-02 -5.31071891e-04 9.99930484e-01 7.56325813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.074391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:233.61, Y:35.28, Z:7.56 [[ 9.97640666e-01 -6.75769889e-02 -1.21017751e-02 2.33611724e+02] [ 6.75793627e-02 9.97713879e-01 -2.13138037e-04 3.52806316e+01] [ 1.20885122e-02 -6.05195077e-04 9.99926748e-01 7.56369030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.104391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:233.65, Y:35.28, Z:7.56 [[ 9.97510510e-01 -6.95236425e-02 -1.18002724e-02 2.33645062e+02] [ 6.95260522e-02 9.97580115e-01 -2.06392138e-04 3.52813530e+01] [ 1.17860663e-02 -6.14548030e-04 9.99930353e-01 7.56388558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.134391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:233.68, Y:35.28, Z:7.56 [[ 9.97309593e-01 -7.21576306e-02 -1.29171325e-02 2.33677393e+02] [ 7.21607741e-02 9.97392988e-01 -2.23157374e-04 3.52829434e+01] [ 1.28995599e-02 -7.09553291e-04 9.99916545e-01 7.56440083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.164391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:233.71, Y:35.28, Z:7.56 [[ 9.97255934e-01 -7.28652961e-02 -1.30862820e-02 2.33710151e+02] [ 7.28686209e-02 9.97341523e-01 -2.23201238e-04 3.52842716e+01] [ 1.30677560e-02 -7.30990561e-04 9.99914346e-01 7.56464551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.194391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:233.74, Y:35.29, Z:7.57 [[ 9.97231105e-01 -7.31615012e-02 -1.33236244e-02 2.33742653e+02] [ 7.31649944e-02 9.97319825e-01 -2.25715890e-04 3.52857385e+01] [ 1.33044285e-02 -7.49732001e-04 9.99911211e-01 7.56514539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.224391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:233.77, Y:35.29, Z:7.57 [[ 9.97250582e-01 -7.28985139e-02 -1.33072509e-02 2.33774688e+02] [ 7.29019932e-02 9.97339084e-01 -2.24082200e-04 3.52873621e+01] [ 1.32881767e-02 -7.46659011e-04 9.99911430e-01 7.56532598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.254391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:233.81, Y:35.29, Z:7.57 [[ 9.97350141e-01 -7.14300703e-02 -1.38000562e-02 2.33807391e+02] [ 7.14336938e-02 9.97445324e-01 -2.30797763e-04 3.52902145e+01] [ 1.37812874e-02 -7.55602809e-04 9.99904748e-01 7.56592650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.284391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:233.84, Y:35.29, Z:7.57 [[ 9.97453940e-01 -6.99841386e-02 -1.37061245e-02 2.33839353e+02] [ 6.99875981e-02 9.97547836e-01 -2.27672789e-04 3.52917850e+01] [ 1.36884483e-02 -7.32165611e-04 9.99906041e-01 7.56612404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.314391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:233.87, Y:35.30, Z:7.57 [[ 9.97653421e-01 -6.69747497e-02 -1.42139181e-02 2.33871878e+02] [ 6.69781888e-02 9.97754412e-01 -2.34482169e-04 3.52953838e+01] [ 1.41977039e-02 -7.18090550e-04 9.99898950e-01 7.56649761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34439141800001 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:233.90, Y:35.30, Z:7.57 [[ 9.97797408e-01 -6.47144445e-02 -1.45730041e-02 2.33904934e+02] [ 6.47178450e-02 9.97903574e-01 -2.38622585e-04 3.52978147e+01] [ 1.45578952e-02 -7.05036423e-04 9.99893780e-01 7.56680912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37439141800002 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:233.94, Y:35.30, Z:7.57 [[ 9.97967756e-01 -6.19327757e-02 -1.49896579e-02 2.33936817e+02] [ 6.19360853e-02 9.98080088e-01 -2.43783076e-04 3.53003045e+01] [ 1.49759773e-02 -6.85113082e-04 9.99887619e-01 7.56716587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.404391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:233.97, Y:35.31, Z:7.57 [[ 9.98408527e-01 -5.35559176e-02 -1.76685196e-02 2.33966690e+02] [ 5.34161298e-02 9.98537917e-01 -8.29129949e-03 3.53087409e+01] [ 1.80867349e-02 7.33432018e-03 9.99809521e-01 7.57080611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.434391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:234.00, Y:35.31, Z:7.57 [[ 9.98547151e-01 -5.09779663e-02 -1.74595220e-02 2.34000927e+02] [ 5.09775243e-02 9.98699690e-01 -4.70660885e-04 3.53080888e+01] [ 1.74608125e-02 -4.20066121e-04 9.99847460e-01 7.56885341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.464391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:234.03, Y:35.31, Z:7.57 [[ 9.98723610e-01 -4.80855280e-02 -1.54574711e-02 2.34034399e+02] [ 4.82058046e-02 9.98809230e-01 7.50484461e-03 3.53070890e+01] [ 1.50781904e-02 -8.24040533e-03 9.99852361e-01 7.56673200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.494391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:234.07, Y:35.32, Z:7.57 [[ 9.99042281e-01 -4.11211696e-02 -1.49522539e-02 2.34067339e+02] [ 4.11223241e-02 9.99154093e-01 -2.30363749e-04 3.53151840e+01] [ 1.49490785e-02 -3.84728305e-04 9.99888182e-01 7.57044979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.524391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:234.10, Y:35.32, Z:7.57 [[ 9.99188629e-01 -3.75513013e-02 -1.45596470e-02 2.34098050e+02] [ 3.75520441e-02 9.99294648e-01 -2.22463051e-04 3.53176792e+01] [ 1.45577311e-02 -3.24461956e-04 9.99893978e-01 7.57076732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.554391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:234.13, Y:35.32, Z:7.57 [[ 9.99309488e-01 -3.43197871e-02 -1.42372774e-02 2.34129744e+02] [ 3.43201912e-02 9.99410865e-01 -2.16016886e-04 3.53202311e+01] [ 1.42363034e-02 -2.72758359e-04 9.99898621e-01 7.57102009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.584391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:234.16, Y:35.32, Z:7.57 [[ 9.99508301e-01 -2.78998326e-02 -1.43092795e-02 2.34161665e+02] [ 2.78995995e-02 9.99610707e-01 -2.15951033e-04 3.53240241e+01] [ 1.43097340e-02 -1.83378318e-04 9.99897594e-01 7.57161557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.614391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:234.19, Y:35.32, Z:7.57 [[ 9.99511110e-01 -2.77990158e-02 -1.43092990e-02 2.34194370e+02] [ 2.77987909e-02 9.99613516e-01 -2.14653757e-04 3.53244381e+01] [ 1.43097359e-02 -1.83232397e-04 9.99897594e-01 7.57185498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.644391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:234.23, Y:35.33, Z:7.57 [[ 9.99592038e-01 -2.47943149e-02 -1.41774411e-02 2.34225429e+02] [ 2.47938082e-02 9.99692564e-01 -2.11531348e-04 3.53263339e+01] [ 1.41783272e-02 -1.40067703e-04 9.99899473e-01 7.57206695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.674391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:234.26, Y:35.33, Z:7.57 [[ 9.99732495e-01 -1.87413825e-02 -1.35535460e-02 2.34256613e+02] [ 1.87403723e-02 9.99824363e-01 -2.01547728e-04 3.53298215e+01] [ 1.35549427e-02 -5.25046834e-05 9.99908126e-01 7.57219681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.704391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:234.29, Y:35.33, Z:7.57 [[ 9.99774395e-01 -1.62887658e-02 -1.36321598e-02 2.34287292e+02] [ 1.62875216e-02 9.99867329e-01 -2.02289479e-04 3.53315282e+01] [ 1.36336463e-02 -1.97902571e-05 9.99907057e-01 7.57237574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.734391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:234.32, Y:35.33, Z:7.57 [[ 9.99812797e-01 -1.39412238e-02 -1.34168682e-02 2.34317306e+02] [ 1.39398059e-02 9.99902816e-01 -1.99194623e-04 3.53326800e+01] [ 1.34183413e-02 1.21287949e-05 9.99909970e-01 7.57229669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.764391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:234.35, Y:35.33, Z:7.57 [[ 9.99854709e-01 -1.08697632e-02 -1.31304741e-02 2.34346934e+02] [ 1.08681335e-02 9.99940921e-01 -1.95466063e-04 3.53341899e+01] [ 1.31318231e-02 5.27339183e-05 9.99913773e-01 7.57217424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.794391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:234.38, Y:35.33, Z:7.57 [[ 9.99858630e-01 -1.04264471e-02 -1.31912411e-02 2.34375489e+02] [ 1.04247377e-02 9.99945641e-01 -1.98340622e-04 3.53349350e+01] [ 1.31925920e-02 6.07973544e-05 9.99912972e-01 7.57220382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.824391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:234.40, Y:35.34, Z:7.57 [[ 9.99857114e-01 -1.03527051e-02 -1.33631280e-02 2.34402967e+02] [ 1.03509041e-02 9.99946407e-01 -2.03927809e-04 3.53353819e+01] [ 1.33645230e-02 6.55782145e-05 9.99910689e-01 7.57211164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.854391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:234.43, Y:35.34, Z:7.57 [[ 9.99835748e-01 -1.19809351e-02 -1.35990512e-02 2.34430579e+02] [ 1.19791780e-02 9.99928225e-01 -2.10659224e-04 3.53353137e+01] [ 1.36005990e-02 4.77191687e-05 9.99907506e-01 7.57151423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.884391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:234.46, Y:35.34, Z:7.57 [[ 9.99821519e-01 -1.32869630e-02 -1.34308501e-02 2.34458156e+02] [ 1.32853272e-02 9.99911724e-01 -2.11013896e-04 3.53351187e+01] [ 1.34324682e-02 3.25429962e-05 9.99909780e-01 7.57110412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.914391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:234.49, Y:35.33, Z:7.57 [[ 9.99765268e-01 -1.74347070e-02 -1.28623468e-02 2.34486761e+02] [ 1.74335210e-02 9.99848004e-01 -2.04334317e-04 3.53334913e+01] [ 1.28639543e-02 -1.99496394e-05 9.99917256e-01 7.57098874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.944391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:234.52, Y:35.33, Z:7.57 [[ 9.99728464e-01 -1.97577015e-02 -1.23544479e-02 2.34517570e+02] [ 1.97567603e-02 9.99804797e-01 -1.98233561e-04 3.53325009e+01] [ 1.23559529e-02 -4.59041329e-05 9.99923661e-01 7.57084086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.974391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:234.55, Y:35.33, Z:7.57 [[ 9.99675794e-01 -2.23138440e-02 -1.22637697e-02 2.34548568e+02] [ 2.23131113e-02 9.99751012e-01 -1.96578837e-04 3.53312974e+01] [ 1.22651026e-02 -7.71277545e-05 9.99924778e-01 7.57063609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.004391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:234.58, Y:35.33, Z:7.57 [[ 9.99534035e-01 -2.78242750e-02 -1.25508190e-02 2.34579752e+02] [ 2.78239542e-02 9.99612819e-01 -2.00209071e-04 3.53286030e+01] [ 1.25515303e-02 -1.49097633e-04 9.99921215e-01 7.57049782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.034391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:234.61, Y:35.33, Z:7.57 [[ 9.99450437e-01 -3.05815627e-02 -1.27902866e-02 2.34612227e+02] [ 3.05814731e-02 9.99532257e-01 -2.02632076e-04 3.53276524e+01] [ 1.27905008e-02 -1.88625089e-04 9.99918180e-01 7.57059100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.064391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:234.64, Y:35.33, Z:7.57 [[ 9.99371471e-01 -3.30958720e-02 -1.27014579e-02 2.34643475e+02] [ 3.30959982e-02 9.99452157e-01 -2.00310435e-04 3.53264051e+01] [ 1.27011289e-02 -2.20182894e-04 9.99919313e-01 7.57057995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09439141800001 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:234.68, Y:35.33, Z:7.57 [[ 9.99279957e-01 -3.56844393e-02 -1.28913851e-02 2.34675382e+02] [ 3.56847961e-02 9.99363074e-01 -2.02411754e-04 3.53251713e+01] [ 1.28903972e-02 -2.57760441e-04 9.99916882e-01 7.57071699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12439141800002 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:234.71, Y:35.32, Z:7.57 [[ 9.99127139e-01 -3.96986011e-02 -1.29993065e-02 2.34707703e+02] [ 3.96993171e-02 9.99211651e-01 -2.03061474e-04 3.53221296e+01] [ 1.29971197e-02 -3.13179360e-04 9.99915485e-01 7.57095693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.154391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:234.74, Y:35.32, Z:7.57 [[ 9.99038335e-01 -4.18433190e-02 -1.30973663e-02 2.34741159e+02] [ 4.18442468e-02 9.99124125e-01 -2.03307543e-04 3.53194425e+01] [ 1.30944017e-02 -3.44937398e-04 9.99914205e-01 7.57147309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.184391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:234.77, Y:35.32, Z:7.57 [[ 9.99033937e-01 -4.19625378e-02 -1.30513401e-02 2.34772932e+02] [ 4.19634867e-02 9.99119125e-01 -2.01257997e-04 3.53185003e+01] [ 1.30482888e-02 -3.46616169e-04 9.99914807e-01 7.57160504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.214391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:234.81, Y:35.32, Z:7.57 [[ 9.99062604e-01 -4.13019820e-02 -1.29637566e-02 2.34805192e+02] [ 4.13028760e-02 9.99146652e-01 -1.98874225e-04 3.53176415e+01] [ 1.29609079e-02 -3.36752631e-04 9.99915947e-01 7.57189480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.244391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:234.84, Y:35.32, Z:7.57 [[ 9.99107731e-01 -4.01837640e-02 -1.30002846e-02 2.34837094e+02] [ 4.01845909e-02 9.99192254e-01 -1.97710697e-04 3.53168480e+01] [ 1.29977284e-02 -3.24876831e-04 9.99915473e-01 7.57198708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.274391418 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:234.87, Y:35.32, Z:7.57 [[ 9.99236029e-01 -3.66757734e-02 -1.34998555e-02 2.34869313e+02] [ 3.66763723e-02 9.99327175e-01 -2.03290329e-04 3.53152958e+01] [ 1.34982283e-02 -2.91990704e-04 9.99908852e-01 7.57196446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.304391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:234.90, Y:35.31, Z:7.57 [[ 9.99320753e-01 -3.40863911e-02 -1.40053593e-02 2.34901434e+02] [ 3.40867977e-02 9.99418854e-01 -2.09748328e-04 3.53147552e+01] [ 1.40043697e-02 -2.67791992e-04 9.99901898e-01 7.57218891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.334391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:234.93, Y:35.31, Z:7.57 [[ 9.99516997e-01 -2.77251207e-02 -1.40389028e-02 2.34934080e+02] [ 2.77249177e-02 9.99615569e-01 -2.09117319e-04 3.53136386e+01] [ 1.40393036e-02 -1.80211109e-04 9.99901428e-01 7.57209508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.364391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:234.97, Y:35.31, Z:7.57 [[ 9.99606233e-01 -2.42267700e-02 -1.41577925e-02 2.34965071e+02] [ 2.42262341e-02 9.99706480e-01 -2.09383064e-04 3.53136068e+01] [ 1.41587096e-02 -1.33689379e-04 9.99899752e-01 7.57242870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.394391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:235.00, Y:35.31, Z:7.57 [[ 9.99694873e-01 -2.02346336e-02 -1.41675869e-02 2.34996237e+02] [ 2.02337138e-02 9.99795256e-01 -2.08274582e-04 3.53134618e+01] [ 1.41689005e-02 -7.84518670e-05 9.99899613e-01 7.57315640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.424391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:235.03, Y:35.31, Z:7.57 [[ 9.99814392e-01 -1.31531469e-02 -1.40774815e-02 2.35026643e+02] [ 1.31515409e-02 9.99913493e-01 -2.06656594e-04 3.53127662e+01] [ 1.40789818e-02 2.14776642e-05 9.99900886e-01 7.57385202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.454391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:235.06, Y:35.31, Z:7.57 [[ 9.99849073e-01 -1.02759563e-02 -1.40083951e-02 2.35055722e+02] [ 1.02740567e-02 9.99947199e-01 -2.07563800e-04 3.53122544e+01] [ 1.40097883e-02 6.36094273e-05 9.99901856e-01 7.57430509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.484391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:235.08, Y:35.31, Z:7.57 [[ 9.99871130e-01 -5.55457567e-03 -1.50622406e-02 2.35082592e+02] [ 5.55179316e-03 9.99984563e-01 -2.26541390e-04 3.53103628e+01] [ 1.50632665e-02 1.42889751e-04 9.99886532e-01 7.57424062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.514391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:235.11, Y:35.31, Z:7.57 [[ 9.99867810e-01 -4.17168941e-03 -1.57149186e-02 2.35109893e+02] [ 4.16844351e-03 9.99991283e-01 -2.39298331e-04 3.53094627e+01] [ 1.57157799e-02 1.73759947e-04 9.99876484e-01 7.57401336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.544391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:235.14, Y:35.31, Z:7.57 [[ 9.99859058e-01 -3.48483288e-03 -1.64231668e-02 2.35137768e+02] [ 3.48111893e-03 9.99993908e-01 -2.54723140e-04 3.53083506e+01] [ 1.64239544e-02 1.97516242e-04 9.99865098e-01 7.57360219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.574391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:235.17, Y:35.31, Z:7.57 [[ 9.99849436e-01 -3.58169454e-03 -1.69787417e-02 2.35165272e+02] [ 3.57764451e-03 9.99993564e-01 -2.68903531e-04 3.53072156e+01] [ 1.69795955e-02 2.08119141e-04 9.99855815e-01 7.57357785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.604391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:235.19, Y:35.30, Z:7.57 [[ 9.99835822e-01 -4.62594572e-03 -1.75194174e-02 2.35192705e+02] [ 4.62172632e-03 9.99989280e-01 -2.81321989e-04 3.53039176e+01] [ 1.75205310e-02 2.00305849e-04 9.99846484e-01 7.57387778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.634391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:235.22, Y:35.30, Z:7.57 [[ 9.99828369e-01 -6.34601829e-03 -1.74057448e-02 2.35220447e+02] [ 6.34204030e-03 9.99979849e-01 -2.83733843e-04 3.53023479e+01] [ 1.74071946e-02 1.73297210e-04 9.99848468e-01 7.57401840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.664391418 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:235.25, Y:35.30, Z:7.57 [[ 9.99804306e-01 -1.07515306e-02 -1.66058431e-02 2.35248539e+02] [ 1.07484616e-02 9.99942196e-01 -2.74057164e-04 3.52980858e+01] [ 1.66078298e-02 9.55162657e-05 9.99862076e-01 7.57441661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.694391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:235.28, Y:35.30, Z:7.58 [[ 9.99769856e-01 -1.35669159e-02 -1.66184675e-02 2.35275626e+02] [ 1.35641818e-02 9.99907964e-01 -2.77232436e-04 3.52961800e+01] [ 1.66206992e-02 5.17527190e-05 9.99861865e-01 7.57500234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.724391418 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:235.30, Y:35.29, Z:7.58 [[ 9.99721018e-01 -1.73749881e-02 -1.59998804e-02 2.35303403e+02] [ 1.73728728e-02 9.99849043e-01 -2.71198781e-04 3.52946252e+01] [ 1.60021772e-02 -6.84076577e-06 9.99871957e-01 7.57525969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.754391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:235.33, Y:35.29, Z:7.58 [[ 9.99576639e-01 -2.48543284e-02 -1.51263385e-02 2.35332436e+02] [ 2.48532519e-02 9.99691077e-01 -2.59171800e-04 3.52899233e+01] [ 1.51281072e-02 -1.16876626e-04 9.99885557e-01 7.57565152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.784391418 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:235.36, Y:35.29, Z:7.58 [[ 9.99481036e-01 -2.88239468e-02 -1.43818707e-02 2.35363060e+02] [ 2.88233766e-02 9.99584490e-01 -2.46966076e-04 3.52877041e+01] [ 1.43830135e-02 -1.67696167e-04 9.99896545e-01 7.57552937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.814391418 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:235.39, Y:35.28, Z:7.58 [[ 9.99263862e-01 -3.59199083e-02 -1.34720000e-02 2.35394112e+02] [ 3.59200558e-02 9.99354640e-01 -2.31097490e-04 3.52828858e+01] [ 1.34716067e-02 -2.52987619e-04 9.99909222e-01 7.57550557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84439141800001 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:235.43, Y:35.28, Z:7.58 [[ 9.99157024e-01 -3.89159377e-02 -1.30686866e-02 2.35425160e+02] [ 3.89163408e-02 9.99242447e-01 -2.23555191e-04 3.52808346e+01] [ 1.30674863e-02 -2.85218722e-04 9.99914576e-01 7.57605071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87439141800002 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:235.46, Y:35.28, Z:7.58 [[ 9.99051079e-01 -4.17303933e-02 -1.24706164e-02 2.35457645e+02] [ 4.17309897e-02 9.99128860e-01 -2.12500457e-04 3.52789266e+01] [ 1.24686204e-02 -3.08112352e-04 9.99922216e-01 7.57606430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.904391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:235.49, Y:35.28, Z:7.58 [[ 9.98937448e-01 -4.43923751e-02 -1.23811039e-02 2.35490197e+02] [ 4.43931794e-02 9.99014115e-01 -2.09991579e-04 3.52770274e+01] [ 1.23782196e-02 -3.39868114e-04 9.99923329e-01 7.57612322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.934391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:235.52, Y:35.27, Z:7.58 [[ 9.98712358e-01 -4.92008615e-02 -1.23653578e-02 2.35522375e+02] [ 4.92020454e-02 9.98788824e-01 -2.08633451e-04 3.52734695e+01] [ 1.23606462e-02 -4.00036092e-04 9.99923524e-01 7.57572172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.964391418 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:235.55, Y:35.27, Z:7.58 [[ 9.98605855e-01 -5.12921081e-02 -1.24685688e-02 2.35554845e+02] [ 5.12934889e-02 9.98683601e-01 -2.09230285e-04 3.52723634e+01] [ 1.24628871e-02 -4.30617808e-04 9.99922242e-01 7.57558019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.994391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:235.59, Y:35.27, Z:7.58 [[ 9.98454122e-01 -5.41233983e-02 -1.26500271e-02 2.35586528e+02] [ 5.41250579e-02 9.98534142e-01 -2.11372198e-04 3.52701553e+01] [ 1.26429241e-02 -4.73638008e-04 9.99919963e-01 7.57518595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.024391418 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:235.62, Y:35.27, Z:7.58 [[ 9.98409984e-01 -5.49304933e-02 -1.26548163e-02 2.35618830e+02] [ 5.49322296e-02 9.98490063e-01 -2.10605996e-04 3.52695454e+01] [ 1.26472770e-02 -4.84886146e-04 9.99919902e-01 7.57524085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.054391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:235.65, Y:35.27, Z:7.58 [[ 9.98331352e-01 -5.62851921e-02 -1.29030273e-02 2.35650916e+02] [ 5.62871235e-02 9.98414600e-01 -2.13707796e-04 3.52689357e+01] [ 1.28945994e-02 -5.12923096e-04 9.99916730e-01 7.57537665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.084391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:235.68, Y:35.27, Z:7.58 [[ 9.98312934e-01 -5.65321114e-02 -1.32441118e-02 2.35684114e+02] [ 5.65341855e-02 9.98400640e-01 -2.18034511e-04 3.52690732e+01] [ 1.32352556e-02 -5.31078400e-04 9.99912269e-01 7.57555479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.114391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:235.72, Y:35.27, Z:7.58 [[ 9.98270500e-01 -5.70567156e-02 -1.41612028e-02 2.35716120e+02] [ 5.70591626e-02 9.98370772e-01 -2.31500038e-04 3.52691361e+01] [ 1.41513396e-02 -5.76926716e-04 9.99899698e-01 7.57590740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.144391418 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:235.75, Y:35.27, Z:7.58 [[ 9.98257445e-01 -5.71497413e-02 -1.46962462e-02 2.35748796e+02] [ 5.71524068e-02 9.98365437e-01 -2.38892626e-04 3.52687806e+01] [ 1.46858769e-02 -6.01449500e-04 9.99891976e-01 7.57543626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.174391418 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:235.78, Y:35.27, Z:7.58 [[ 9.98239764e-01 -5.73825104e-02 -1.49873548e-02 2.35780662e+02] [ 5.73853269e-02 9.98352075e-01 -2.42409094e-04 3.52691215e+01] [ 1.49765668e-02 -6.18071860e-04 9.99887654e-01 7.57560432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.204391418 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:235.81, Y:35.27, Z:7.58 [[ 9.98185817e-01 -5.81317124e-02 -1.56773129e-02 2.35813276e+02] [ 5.81349068e-02 9.98308704e-01 -2.52278515e-04 3.52704734e+01] [ 1.56654633e-02 -6.59578286e-04 9.99877072e-01 7.57626605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.234391418 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:235.84, Y:35.27, Z:7.58 [[ 9.98154895e-01 -5.85871341e-02 -1.59484852e-02 2.35844292e+02] [ 5.85905159e-02 9.98282067e-01 -2.55520137e-04 3.52715775e+01] [ 1.59360570e-02 -6.79381303e-04 9.99872782e-01 7.57662137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.264391418 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:235.88, Y:35.27, Z:7.58 [[ 9.98124713e-01 -5.90490798e-02 -1.61326539e-02 2.35875981e+02] [ 5.90526185e-02 9.98254838e-01 -2.57345362e-04 3.52725289e+01] [ 1.61196958e-02 -6.95812688e-04 9.99869827e-01 7.57709532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.294391418 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:235.91, Y:35.27, Z:7.58 [[ 9.98106525e-01 -5.94283804e-02 -1.58629080e-02 2.35907722e+02] [ 5.94318692e-02 9.98232332e-01 -2.51803319e-04 3.52733764e+01] [ 1.58498320e-02 -6.91435740e-04 9.99874144e-01 7.57734708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.324391418 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:235.94, Y:35.28, Z:7.58 [[ 9.97988881e-01 -6.11795299e-02 -1.65909448e-02 2.35939882e+02] [ 6.11836134e-02 9.98126493e-01 -2.61822462e-04 3.52752895e+01] [ 1.65758798e-02 -7.53798048e-04 9.99862327e-01 7.57827301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.354391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:235.97, Y:35.28, Z:7.58 [[ 9.97839359e-01 -6.37176372e-02 -1.60211198e-02 2.35972516e+02] [ 6.37217938e-02 9.97967670e-01 -2.51419750e-04 3.52775029e+01] [ 1.60045795e-02 -7.70017973e-04 9.99871622e-01 7.57895010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.384391418 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:236.00, Y:35.28, Z:7.58 [[ 9.97785759e-01 -6.47114452e-02 -1.53625421e-02 2.36004224e+02] [ 6.47154058e-02 9.97903732e-01 -2.39703384e-04 3.52789209e+01] [ 1.53458497e-02 -7.55020525e-04 9.99881960e-01 7.57973983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.414391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:236.04, Y:35.28, Z:7.58 [[ 9.97730978e-01 -6.56228052e-02 -1.50513586e-02 2.36037239e+02] [ 6.56267355e-02 9.97844215e-01 -2.33169712e-04 3.52804343e+01] [ 1.50342124e-02 -7.55130886e-04 9.99886695e-01 7.58020853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.444391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:236.07, Y:35.28, Z:7.58 [[ 9.97713472e-01 -6.59794794e-02 -1.46470573e-02 2.36069449e+02] [ 6.59832739e-02 9.97820704e-01 -2.24574374e-04 3.52818364e+01] [ 1.46299543e-02 -7.42399914e-04 9.99892701e-01 7.58080649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.474391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:236.10, Y:35.28, Z:7.58 [[ 9.97657986e-01 -6.67859390e-02 -1.47709874e-02 2.36102572e+02] [ 6.67899209e-02 9.97767035e-01 -2.24117089e-04 3.52846941e+01] [ 1.47529721e-02 -7.62960874e-04 9.99890878e-01 7.58119741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.504391418 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:236.14, Y:35.29, Z:7.58 [[ 9.97661652e-01 -6.68199401e-02 -1.43640087e-02 2.36135474e+02] [ 6.68237334e-02 9.97764773e-01 -2.16249539e-04 3.52865238e+01] [ 1.43463517e-02 -7.44112816e-04 9.99896809e-01 7.58157530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.534391418 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:236.17, Y:35.29, Z:7.58 [[ 9.97668257e-01 -6.67212378e-02 -1.43640322e-02 2.36168172e+02] [ 6.67250433e-02 9.97771378e-01 -2.14679945e-04 3.52869312e+01] [ 1.43463439e-02 -7.44261305e-04 9.99896809e-01 7.58181462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.564391418 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:236.20, Y:35.29, Z:7.58 [[ 9.97660625e-01 -6.68576366e-02 -1.42595249e-02 2.36201203e+02] [ 6.68614233e-02 9.97762249e-01 -2.11548510e-04 3.52889792e+01] [ 1.42417593e-02 -7.42358510e-04 9.99898305e-01 7.58180171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59439141800001 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:236.23, Y:35.30, Z:7.58 [[ 9.97685794e-01 -6.67423584e-02 -1.29812826e-02 2.36233323e+02] [ 6.66684717e-02 9.97756876e-01 -6.04407910e-03 3.52955796e+01] [ 1.33555601e-02 5.16464959e-03 9.99897472e-01 7.58230222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62439141800002 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:236.26, Y:35.29, Z:7.58 [[ 9.97724928e-01 -6.57964075e-02 -1.46901737e-02 2.36264938e+02] [ 6.58860225e-02 9.97810866e-01 5.70154383e-03 3.52933323e+01] [ 1.42828739e-02 -6.65644952e-03 9.99875838e-01 7.58117310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.654391418 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:236.30, Y:35.30, Z:7.58 [[ 9.97738275e-01 -6.55927187e-02 -1.46945735e-02 2.36297179e+02] [ 6.55966700e-02 9.97846196e-01 -2.13446456e-04 3.52983418e+01] [ 1.46769248e-02 -7.50951393e-04 9.99892006e-01 7.58313143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.684391418 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:236.33, Y:35.30, Z:7.58 [[ 9.97816942e-01 -6.44446472e-02 -1.44304634e-02 2.36330613e+02] [ 6.44483610e-02 9.97921022e-01 -2.08009738e-04 3.53022021e+01] [ 1.44138679e-02 -7.22464073e-04 9.99895854e-01 7.58376288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.714391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:236.36, Y:35.30, Z:7.58 [[ 9.97832852e-01 -6.41565341e-02 -1.46129467e-02 2.36362851e+02] [ 6.41603358e-02 9.97939581e-01 -2.08986714e-04 3.53041720e+01] [ 1.45962458e-02 -7.29037760e-04 9.99893203e-01 7.58401126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.744391418 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:236.40, Y:35.31, Z:7.58 [[ 9.97866950e-01 -6.36503744e-02 -1.44975841e-02 2.36395820e+02] [ 6.36540866e-02 9.97972001e-01 -2.05711084e-04 3.53062042e+01] [ 1.44812766e-02 -7.17558180e-04 9.99894883e-01 7.58415318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.774391418 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:236.43, Y:35.31, Z:7.58 [[ 9.97871396e-01 -6.35096025e-02 -1.48056686e-02 2.36428769e+02] [ 6.35134860e-02 9.97980959e-01 -2.08235056e-04 3.53082153e+01] [ 1.47890002e-02 -7.32567816e-04 9.99890368e-01 7.58433915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.804391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:236.46, Y:35.31, Z:7.58 [[ 9.97843146e-01 -6.37794724e-02 -1.55317556e-02 2.36460521e+02] [ 6.37838065e-02 9.97963716e-01 -2.16665010e-04 3.53116615e+01] [ 1.55139473e-02 -7.74476797e-04 9.99879352e-01 7.58351185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.834391418 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:236.49, Y:35.31, Z:7.58 [[ 9.97825907e-01 -6.39670287e-02 -1.58643968e-02 2.36493164e+02] [ 6.39716025e-02 9.97951695e-01 -2.19512237e-04 3.53134514e+01] [ 1.58459432e-02 -7.95835890e-04 9.99874128e-01 7.58396722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.864391418 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:236.53, Y:35.32, Z:7.58 [[ 9.97804313e-01 -6.43239677e-02 -1.57791171e-02 2.36526275e+02] [ 6.43285671e-02 9.97928749e-01 -2.16421916e-04 3.53152121e+01] [ 1.57603557e-02 -7.99101271e-04 9.99875479e-01 7.58386216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.894391418 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:236.56, Y:35.32, Z:7.58 [[ 9.97744286e-01 -6.53947399e-02 -1.51614043e-02 2.36558142e+02] [ 6.53991344e-02 9.97859164e-01 -2.06302821e-04 3.53188255e+01] [ 1.51424374e-02 -7.85705259e-04 9.99885038e-01 7.58445214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.924391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:236.59, Y:35.32, Z:7.59 [[ 9.97712269e-01 -6.59319971e-02 -1.49399011e-02 2.36590685e+02] [ 6.59363487e-02 9.97823811e-01 -2.01642725e-04 3.53211122e+01] [ 1.49206838e-02 -7.83901110e-04 9.99888373e-01 7.58509668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.954391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:236.62, Y:35.34, Z:7.59 [[ 9.97775286e-01 -6.60266146e-02 -9.21765697e-03 2.36624869e+02] [ 6.57403534e-02 9.97429413e-01 -2.85091534e-02 3.53379659e+01] [ 1.10763251e-02 2.78397566e-02 9.99551031e-01 7.58735098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.984391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:236.66, Y:35.33, Z:7.58 [[ 9.97784604e-01 -6.53480562e-02 -1.24706140e-02 2.36655045e+02] [ 6.53634116e-02 9.97861183e-01 8.27316522e-04 3.53256959e+01] [ 1.23898781e-02 -1.64060556e-03 9.99921897e-01 7.57979229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.014391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:236.69, Y:35.31, Z:7.58 [[ 9.97640645e-01 -6.69967279e-02 -1.49860427e-02 2.36686648e+02] [ 6.74108333e-02 9.97301289e-01 2.90846739e-02 3.53148221e+01] [ 1.29970217e-02 -3.00262744e-02 9.99464607e-01 7.57735470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.044391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:236.72, Y:35.33, Z:7.59 [[ 9.97639086e-01 -6.72588257e-02 -1.38746244e-02 2.36719184e+02] [ 6.72627946e-02 9.97735277e-01 -1.80924411e-04 3.53325251e+01] [ 1.38553710e-02 -7.52748748e-04 9.99903726e-01 7.58701204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.074391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:236.75, Y:35.33, Z:7.59 [[ 9.97661104e-01 -6.70529736e-02 -1.32747735e-02 2.36752313e+02] [ 6.70566095e-02 9.97749158e-01 -1.71520172e-04 3.53346891e+01] [ 1.32563950e-02 -7.19042300e-04 9.99911872e-01 7.58724844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.104391418 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:236.78, Y:35.34, Z:7.59 [[ 9.97756916e-01 -6.55978472e-02 -1.33438609e-02 2.36783935e+02] [ 6.56014194e-02 9.97845892e-01 -1.70295905e-04 3.53387415e+01] [ 1.33262878e-02 -7.05462298e-04 9.99910952e-01 7.58842505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.134391418 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:236.82, Y:35.34, Z:7.59 [[ 9.97791448e-01 -6.51152159e-02 -1.31238580e-02 2.36816175e+02] [ 6.51186636e-02 9.97877514e-01 -1.64896777e-04 3.53412029e+01] [ 1.31067401e-02 -6.90075501e-04 9.99913865e-01 7.58848353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.164391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:236.85, Y:35.35, Z:7.59 [[ 9.97774009e-01 -6.55822265e-02 -1.20829821e-02 2.36847679e+02] [ 6.54774315e-02 9.97814592e-01 -8.87390147e-03 3.53487479e+01] [ 1.26385461e-02 8.06298561e-03 9.99887621e-01 7.58917448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.194391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:236.88, Y:35.34, Z:7.59 [[ 9.97855943e-01 -6.38227555e-02 -1.44973498e-02 2.36881008e+02] [ 6.39525520e-02 9.97915254e-01 8.67281601e-03 3.53405263e+01] [ 1.39136035e-02 -9.58136352e-03 9.99857294e-01 7.58612213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.224391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:236.91, Y:35.35, Z:7.59 [[ 9.97793786e-01 -6.45060329e-02 -1.57013551e-02 2.36913756e+02] [ 6.45110336e-02 9.97916976e-01 -1.88319183e-04 3.53480669e+01] [ 1.56807965e-02 -8.25006935e-04 9.99876708e-01 7.58918908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.254391418 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:236.95, Y:35.35, Z:7.59 [[ 9.97750273e-01 -6.50343630e-02 -1.62764736e-02 2.36946702e+02] [ 6.50398389e-02 9.97882649e-01 -1.93247027e-04 3.53495039e+01] [ 1.62545783e-02 -8.65806947e-04 9.99867511e-01 7.58919989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.284391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:236.98, Y:35.35, Z:7.59 [[ 9.97719764e-01 -6.53136263e-02 -1.70118435e-02 2.36980059e+02] [ 6.53196840e-02 9.97864369e-01 -1.99905438e-04 3.53506841e+01] [ 1.69885691e-02 -9.11758638e-04 9.99855268e-01 7.58915552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.314391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:237.01, Y:35.35, Z:7.59 [[ 9.97654079e-01 -6.60721468e-02 -1.79111450e-02 2.37012503e+02] [ 6.60790194e-02 9.97814371e-01 -2.08496068e-04 3.53527645e+01] [ 1.78857737e-02 -9.75543945e-04 9.99839561e-01 7.58917414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34439141800001 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:237.04, Y:35.35, Z:7.59 [[ 9.97640375e-01 -6.61476656e-02 -1.83893447e-02 2.37044681e+02] [ 6.61549562e-02 9.97809339e-01 -2.12251234e-04 3.53542514e+01] [ 1.83630998e-02 -1.00479589e-03 9.99830879e-01 7.58945783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37439141800002 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:237.08, Y:35.36, Z:7.59 [[ 9.97749035e-01 -6.44404333e-02 -1.85551289e-02 2.37077394e+02] [ 6.44475999e-02 9.97921070e-01 -2.12096940e-04 3.53569783e+01] [ 1.85302217e-02 -9.84214009e-04 9.99827816e-01 7.58944352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.404391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:237.11, Y:35.36, Z:7.59 [[ 9.97874127e-01 -6.25717099e-02 -1.82210675e-02 2.37110895e+02] [ 6.25783498e-02 9.98040033e-01 -2.06091775e-04 3.53586025e+01] [ 1.81982504e-02 -9.34590688e-04 9.99833961e-01 7.58970929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.434391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:237.14, Y:35.36, Z:7.59 [[ 9.98014366e-01 -6.04174935e-02 -1.78059571e-02 2.37144404e+02] [ 6.04235301e-02 9.98172809e-01 -1.99266362e-04 3.53606070e+01] [ 1.77854614e-02 -8.77028092e-04 9.99841442e-01 7.58999833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.464391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:237.18, Y:35.36, Z:7.59 [[ 9.98340076e-01 -5.49060647e-02 -1.73901581e-02 2.37177042e+02] [ 5.49110240e-02 9.98491233e-01 -1.92543767e-04 3.53646899e+01] [ 1.73744922e-02 -7.62687230e-04 9.99848761e-01 7.59051291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.494391418 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:237.21, Y:35.38, Z:7.59 [[ 9.98532275e-01 -5.25883581e-02 -1.29522147e-02 2.37208577e+02] [ 5.22956514e-02 9.98389584e-01 -2.19864449e-02 3.53794345e+01] [ 1.40875872e-02 2.12768304e-02 9.99674365e-01 7.59338193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.524391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:237.24, Y:35.36, Z:7.58 [[ 9.98873427e-01 -4.42367767e-02 -1.71750835e-02 2.37241140e+02] [ 4.46088999e-02 9.98763926e-01 2.19240822e-02 3.53605307e+01] [ 1.61840031e-02 -2.26655447e-02 9.99612100e-01 7.58460087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.554391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:237.27, Y:35.38, Z:7.59 [[ 9.99162082e-01 -3.77015127e-02 -1.59289192e-02 2.37273076e+02] [ 3.77036162e-02 9.99288952e-01 -1.68339233e-04 3.53750082e+01] [ 1.59239397e-02 -4.32379679e-04 9.99873113e-01 7.59300906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.584391418 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:237.31, Y:35.38, Z:7.59 [[ 9.99285269e-01 -3.44094213e-02 -1.56506325e-02 2.37305211e+02] [ 3.44110700e-02 9.99407750e-01 -1.64017395e-04 3.53769041e+01] [ 1.56470071e-02 -3.74654843e-04 9.99877508e-01 7.59331734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.614391418 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:237.34, Y:35.38, Z:7.59 [[ 9.99368842e-01 -3.17645616e-02 -1.59037850e-02 2.37337576e+02] [ 3.17659495e-02 9.99495321e-01 -1.65406659e-04 3.53790009e+01] [ 1.59010128e-02 -3.39896569e-04 9.99873513e-01 7.59380328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.644391418 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:237.37, Y:35.38, Z:7.59 [[ 9.99443093e-01 -2.92842063e-02 -1.59981135e-02 2.37369512e+02] [ 2.92853134e-02 9.99571080e-01 -1.65112494e-04 3.53807724e+01] [ 1.59960867e-02 -3.03489224e-04 9.99872008e-01 7.59426379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.674391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:237.40, Y:35.39, Z:7.59 [[ 9.99574230e-01 -2.61884042e-02 -1.28657197e-02 2.37401053e+02] [ 2.59959816e-02 9.99550962e-01 -1.49024927e-02 3.53918408e+01] [ 1.32502150e-02 1.45616906e-02 9.99806176e-01 7.59495641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.704391418 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:237.43, Y:35.38, Z:7.59 [[ 9.99580464e-01 -2.38097793e-02 -1.64921583e-02 2.37432758e+02] [ 2.40543912e-02 9.99601154e-01 1.47959228e-02 3.53774053e+01] [ 1.61332929e-02 -1.51864242e-02 9.99754515e-01 7.58861033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.734391418 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:237.46, Y:35.39, Z:7.59 [[ 9.99604454e-01 -2.28404451e-02 -1.64088433e-02 2.37463510e+02] [ 2.28408049e-02 9.99739101e-01 -1.65503556e-04 3.53855704e+01] [ 1.64083424e-02 -2.09353096e-04 9.99865352e-01 7.59435774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.764391418 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:237.50, Y:35.39, Z:7.59 [[ 9.99614944e-01 -2.21922286e-02 -1.66574172e-02 2.37495117e+02] [ 2.21925206e-02 9.99753702e-01 -1.67342583e-04 3.53866501e+01] [ 1.66570282e-02 -2.02391927e-04 9.99861242e-01 7.59469485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.794391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:237.53, Y:35.39, Z:7.59 [[ 9.99628261e-01 -2.21896988e-02 -1.58416294e-02 2.37525536e+02] [ 2.21899673e-02 9.99753760e-01 -1.58845675e-04 3.53883747e+01] [ 1.58412533e-02 -1.92738613e-04 9.99874501e-01 7.59484380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.824391418 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:237.56, Y:35.39, Z:7.59 [[ 9.99627356e-01 -2.25882632e-02 -1.53271160e-02 2.37555750e+02] [ 2.25885692e-02 9.99744834e-01 -1.53174462e-04 3.53888751e+01] [ 1.53266650e-02 -1.93100238e-04 9.99882521e-01 7.59494027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.854391418 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:237.59, Y:35.39, Z:7.60 [[ 9.99616632e-01 -2.34261955e-02 -1.47581572e-02 2.37586357e+02] [ 2.34265801e-02 9.99725549e-01 -1.46836051e-04 3.53889258e+01] [ 1.47575466e-02 -1.98953392e-04 9.99891082e-01 7.59530598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.884391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:237.62, Y:35.39, Z:7.60 [[ 9.99574520e-01 -2.57669290e-02 -1.36691044e-02 2.37618728e+02] [ 2.57674859e-02 9.99667954e-01 -1.35405859e-04 3.53886705e+01] [ 1.36680546e-02 -2.16870208e-04 9.99906564e-01 7.59523399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.914391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:237.65, Y:35.39, Z:7.60 [[ 9.99538150e-01 -2.72173331e-02 -1.35168210e-02 2.37651133e+02] [ 2.72180244e-02 9.99629512e-01 -1.32849359e-04 3.53884828e+01] [ 1.35154290e-02 -2.35113160e-04 9.99908635e-01 7.59576622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.944391418 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:237.68, Y:35.39, Z:7.60 [[ 9.99439885e-01 -3.04898603e-02 -1.37943871e-02 2.37682994e+02] [ 3.04909069e-02 9.99535035e-01 -1.34485048e-04 3.53873635e+01] [ 1.37920736e-02 -2.86193651e-04 9.99904844e-01 7.59523404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.974391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:237.71, Y:35.39, Z:7.59 [[ 9.99379385e-01 -3.22281509e-02 -1.42194169e-02 2.37714927e+02] [ 3.22294551e-02 9.99480487e-01 -1.37484510e-04 3.53865124e+01] [ 1.42164606e-02 -3.20884874e-04 9.99898890e-01 7.59492678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.004391418 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:237.75, Y:35.39, Z:7.59 [[ 9.99302326e-01 -3.44334308e-02 -1.44637838e-02 2.37746352e+02] [ 3.44350261e-02 9.99406929e-01 -1.38805474e-04 3.53858494e+01] [ 1.44599853e-02 -3.59352141e-04 9.99895384e-01 7.59469706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.034391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:237.78, Y:35.38, Z:7.59 [[ 9.99115728e-01 -3.90535917e-02 -1.55749757e-02 2.37779023e+02] [ 3.90560198e-02 9.99237012e-01 -1.48353860e-04 3.53828184e+01] [ 1.55688859e-02 -4.60073885e-04 9.99878692e-01 7.59348302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.064391418 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:237.81, Y:35.38, Z:7.59 [[ 9.98883996e-01 -4.43794869e-02 -1.61624263e-02 2.37810999e+02] [ 4.43828188e-02 9.99014586e-01 -1.52660374e-04 3.53796794e+01] [ 1.61532746e-02 -5.64844033e-04 9.99869368e-01 7.59344063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09439141800001 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:237.84, Y:35.38, Z:7.59 [[ 9.98768220e-01 -4.70063674e-02 -1.58884842e-02 2.37842745e+02] [ 4.70099388e-02 9.98894411e-01 -1.48838759e-04 3.53784219e+01] [ 1.58779144e-02 -5.98261247e-04 9.99873759e-01 7.59360581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12439141800002 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:237.88, Y:35.38, Z:7.59 [[ 9.98647566e-01 -4.96337060e-02 -1.54768880e-02 2.37875760e+02] [ 4.96374336e-02 9.98767293e-01 -1.43435638e-04 3.53774252e+01] [ 1.54649288e-02 -6.24991351e-04 9.99880216e-01 7.59375905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.154391418 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:237.91, Y:35.38, Z:7.59 [[ 9.98539186e-01 -5.18136118e-02 -1.53246054e-02 2.37908082e+02] [ 5.18175491e-02 9.98656559e-01 -1.40292483e-04 3.53760803e+01] [ 1.53112868e-02 -6.53995951e-04 9.99882561e-01 7.59449526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.184391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:237.94, Y:35.37, Z:7.59 [[ 9.98335497e-01 -5.59683780e-02 -1.39203346e-02 2.37941538e+02] [ 5.59720500e-02 9.98432328e-01 -1.25973820e-04 3.53735950e+01] [ 1.39055626e-02 -6.53385526e-04 9.99903100e-01 7.59483721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.214391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:237.97, Y:35.37, Z:7.60 [[ 9.98251457e-01 -5.74851572e-02 -1.37653762e-02 2.37973589e+02] [ 5.74889127e-02 9.98346137e-01 -1.23047942e-04 3.53722369e+01] [ 1.37496836e-02 -6.68523723e-04 9.99905245e-01 7.59558417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.244391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:238.01, Y:35.37, Z:7.60 [[ 9.98189811e-01 -5.87829352e-02 -1.27148708e-02 2.38006536e+02] [ 5.87862611e-02 9.98270586e-01 -1.12339012e-04 3.53710262e+01] [ 1.26994852e-02 -6.35324059e-04 9.99919156e-01 7.59561336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.274391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:238.04, Y:35.37, Z:7.60 [[ 9.98084656e-01 -6.07009105e-02 -1.19339227e-02 2.38038690e+02] [ 6.07039927e-02 9.98155807e-01 -1.04123622e-04 3.53686417e+01] [ 1.19182346e-02 -6.20512566e-04 9.99928783e-01 7.59601814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.304391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:238.07, Y:35.37, Z:7.60 [[ 9.98053443e-01 -6.13103516e-02 -1.14177890e-02 2.38072135e+02] [ 6.13132264e-02 9.98118569e-01 -9.84219013e-05 3.53678465e+01] [ 1.14023415e-02 -6.01831164e-04 9.99934810e-01 7.59627341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.334391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:238.10, Y:35.37, Z:7.60 [[ 9.98007708e-01 -6.20555026e-02 -1.13898595e-02 2.38103932e+02] [ 6.20584348e-02 9.98072513e-01 -9.61486673e-05 3.53657277e+01] [ 1.13738723e-02 -6.10879744e-04 9.99935129e-01 7.59660771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.364391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:238.14, Y:35.36, Z:7.60 [[ 9.97976690e-01 -6.24402801e-02 -1.19890667e-02 2.38136785e+02] [ 6.24435924e-02 9.98048490e-01 -9.82184104e-05 3.53648165e+01] [ 1.19718027e-02 -6.50620712e-04 9.99928124e-01 7.59694650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.394391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:238.17, Y:35.36, Z:7.60 [[ 9.97976746e-01 -6.23883853e-02 -1.22517077e-02 2.38169637e+02] [ 6.23918588e-02 9.98051725e-01 -9.88761520e-05 3.53637570e+01] [ 1.22340068e-02 -6.65730718e-04 9.99924940e-01 7.59708891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.424391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:238.20, Y:35.36, Z:7.60 [[ 9.97990851e-01 -6.21623403e-02 -1.22517233e-02 2.38203228e+02] [ 6.21658209e-02 9.98065830e-01 -9.69089299e-05 3.53638973e+01] [ 1.22340505e-02 -6.64924213e-04 9.99924940e-01 7.59735209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.454391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:238.24, Y:35.36, Z:7.60 [[ 9.97974446e-01 -6.21034848e-02 -1.37899103e-02 2.38235043e+02] [ 6.21079330e-02 9.98069433e-01 -1.05866753e-04 3.53622016e+01] [ 1.37698626e-02 -7.50810509e-04 9.99904909e-01 7.59696741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.484391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:238.27, Y:35.36, Z:7.60 [[ 9.98032197e-01 -6.10603025e-02 -1.42609140e-02 2.38267911e+02] [ 6.10649878e-02 9.98133787e-01 -1.07073379e-04 3.53610526e+01] [ 1.42408381e-02 -7.63979862e-04 9.99898302e-01 7.59703007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.514391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:238.30, Y:35.36, Z:7.60 [[ 9.98168242e-01 -5.85824548e-02 -1.51081927e-02 2.38299634e+02] [ 5.85874560e-02 9.98282273e-01 -1.11738650e-04 3.53593775e+01] [ 1.50887868e-02 -7.73616601e-04 9.99885859e-01 7.59705781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.544391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:238.33, Y:35.37, Z:7.60 [[ 9.98424975e-01 -5.53060773e-02 -9.42377928e-03 2.38333925e+02] [ 5.50188979e-02 9.98081116e-01 -2.84078768e-02 3.53716116e+01] [ 1.09768244e-02 2.78446477e-02 9.99551992e-01 7.59929811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.574391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:238.36, Y:35.35, Z:7.59 [[ 9.98460332e-01 -5.33697165e-02 -1.51207938e-02 2.38362947e+02] [ 5.37882481e-02 9.98137664e-01 2.87754668e-02 3.53453743e+01] [ 1.35568953e-02 -2.95444832e-02 9.99471527e-01 7.58858911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.604391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:238.40, Y:35.36, Z:7.60 [[ 9.98818287e-01 -4.65916354e-02 -1.38293066e-02 2.38396266e+02] [ 4.65947413e-02 9.98913870e-01 -9.77039115e-05 3.53600125e+01] [ 1.38188384e-02 -5.46784510e-04 9.99904366e-01 7.59965661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.634391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:238.43, Y:35.36, Z:7.60 [[ 9.99015703e-01 -4.24497703e-02 -1.28702258e-02 2.38429684e+02] [ 4.24521363e-02 9.99098498e-01 -8.94329622e-05 3.53605997e+01] [ 1.28624196e-02 -4.57023645e-04 9.99917171e-01 7.60046449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.664391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:238.46, Y:35.36, Z:7.60 [[ 9.99211408e-01 -3.78792139e-02 -1.19049190e-02 2.38462083e+02] [ 3.78809287e-02 9.99282257e-01 -8.14983485e-05 3.53611570e+01] [ 1.18994614e-02 -3.69535307e-04 9.99929131e-01 7.60090227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.694391418 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:238.49, Y:35.36, Z:7.60 [[ 9.99381273e-01 -3.33304097e-02 -1.12318418e-02 2.38493047e+02] [ 3.33316581e-02 9.99444343e-01 -7.60839297e-05 3.53615406e+01] [ 1.12281366e-02 -2.98339055e-04 9.99936918e-01 7.60142490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.724391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:238.52, Y:35.36, Z:7.60 [[ 9.99667321e-01 -2.31650138e-02 -1.13414950e-02 2.38524150e+02] [ 2.31101577e-02 9.99720699e-01 -4.94417166e-03 3.53635653e+01] [ 1.14528591e-02 4.68042309e-03 9.99923460e-01 7.60357378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.754391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:238.56, Y:35.36, Z:7.60 [[ 9.99760670e-01 -1.92656545e-02 -1.03652301e-02 2.38555431e+02] [ 1.93157493e-02 9.99802128e-01 4.75475136e-03 3.53593277e+01] [ 1.02715758e-02 -4.95382559e-03 9.99934975e-01 7.60036405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.784391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:238.59, Y:35.36, Z:7.60 [[ 9.99869327e-01 -1.02633969e-02 -1.24896810e-02 2.38585266e+02] [ 1.01808351e-02 9.99926021e-01 -6.65612707e-03 3.53649616e+01] [ 1.25570715e-02 6.52810191e-03 9.99899847e-01 7.60442399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.814391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:238.61, Y:35.36, Z:7.60 [[ 9.99908909e-01 -7.53950398e-03 -1.11950878e-02 2.38613681e+02] [ 7.61152622e-03 9.99950521e-01 6.40476878e-03 3.53588120e+01] [ 1.11462451e-02 -6.48939707e-03 9.99916821e-01 7.59952644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84439141800001 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:238.64, Y:35.36, Z:7.60 [[ 9.99924985e-01 -1.48849672e-03 -1.21576298e-02 2.38641915e+02] [ 1.48758947e-03 9.99998890e-01 -8.36671705e-05 3.53608450e+01] [ 1.21577409e-02 6.55753322e-05 9.99926090e-01 7.60207926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87439141800002 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:238.67, Y:35.36, Z:7.60 [[ 9.99924099e-01 9.05001837e-04 -1.22872777e-02 2.38668847e+02] [-9.06125416e-04 9.99999586e-01 -8.58756777e-05 3.53601941e+01] [ 1.22871949e-02 9.70029742e-05 9.99924505e-01 7.60215854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.904391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:238.70, Y:35.36, Z:7.60 [[ 9.99920893e-01 2.74728929e-03 -1.22743712e-02 2.38695675e+02] [-2.74856884e-03 9.99996219e-01 -8.73782611e-05 3.53594597e+01] [ 1.22740848e-02 1.21108303e-04 9.99924663e-01 7.60200599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.934391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:238.72, Y:35.36, Z:7.60 [[ 9.99907141e-01 4.94985885e-03 -1.26967958e-02 2.38722595e+02] [-4.95143099e-03 9.99987737e-01 -9.23892334e-05 3.53571155e+01] [ 1.26961828e-02 1.55247963e-04 9.99919388e-01 7.60226606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.964391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:238.75, Y:35.36, Z:7.60 [[ 9.99913171e-01 4.79935917e-03 -1.22726333e-02 2.38750707e+02] [-4.80084177e-03 9.99988472e-01 -9.13475560e-05 3.53561976e+01] [ 1.22720534e-02 1.50258595e-04 9.99924684e-01 7.60225724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.994391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:238.78, Y:35.36, Z:7.60 [[ 9.99921533e-01 3.92269565e-03 -1.18971036e-02 2.38778706e+02] [-3.92404181e-03 9.99992297e-01 -8.98091341e-05 3.53550908e+01] [ 1.18966597e-02 1.36486819e-04 9.99929223e-01 7.60249297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.024391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:238.81, Y:35.35, Z:7.60 [[ 9.99934210e-01 4.42113516e-04 -1.14620955e-02 2.38806338e+02] [-4.43148555e-04 9.99999898e-01 -8.77614077e-05 3.53511278e+01] [ 1.14620555e-02 9.28350450e-05 9.99934304e-01 7.60242559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.054391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:238.83, Y:35.35, Z:7.60 [[ 9.99934555e-01 -2.25686357e-03 -1.12156759e-02 2.38834285e+02] [ 2.25602834e-03 9.99997451e-01 -8.71208392e-05 3.53489326e+01] [ 1.12158439e-02 6.18122549e-05 9.99937099e-01 7.60232208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.084391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:238.86, Y:35.35, Z:7.60 [[ 9.99919889e-01 -5.38638191e-03 -1.14543798e-02 2.38862238e+02] [ 5.38570229e-03 9.99985493e-01 -9.01780604e-05 3.53466192e+01] [ 1.14546993e-02 2.84809568e-05 9.99934392e-01 7.60248651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.114391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:238.89, Y:35.34, Z:7.60 [[ 9.99864382e-01 -1.19344043e-02 -1.13484404e-02 2.38890155e+02] [ 1.19341447e-02 9.99928781e-01 -9.06018505e-05 3.53418330e+01] [ 1.13487135e-02 -4.48443663e-05 9.99935600e-01 7.60264175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.144391418 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:238.92, Y:35.34, Z:7.60 [[ 9.99824037e-01 -1.50588288e-02 -1.11860462e-02 2.38918579e+02] [ 1.50587543e-02 9.99886606e-01 -9.08921438e-05 3.53394729e+01] [ 1.11861466e-02 -7.75717716e-05 9.99937430e-01 7.60246356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.174391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:238.95, Y:35.34, Z:7.60 [[ 9.99777914e-01 -1.77741308e-02 -1.13227009e-02 2.38948597e+02] [ 1.77742019e-02 9.99842022e-01 -9.43527911e-05 3.53373675e+01] [ 1.13225892e-02 -1.06920136e-04 9.99935892e-01 7.60299814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.204391418 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:238.98, Y:35.33, Z:7.60 [[ 9.99735325e-01 -2.01731808e-02 -1.10599943e-02 2.38979022e+02] [ 2.01733921e-02 9.99796492e-01 -9.24689993e-05 3.53349924e+01] [ 1.10596089e-02 -1.30673076e-04 9.99938832e-01 7.60298087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.234391418 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:239.01, Y:35.33, Z:7.60 [[ 9.99650022e-01 -2.42539396e-02 -1.05631427e-02 2.39009893e+02] [ 2.42543616e-02 9.99705816e-01 -8.81660754e-05 3.53298806e+01] [ 1.05621735e-02 -1.68067063e-04 9.99944205e-01 7.60279231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.264391418 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:239.04, Y:35.33, Z:7.60 [[ 9.99613122e-01 -2.58907197e-02 -1.01625214e-02 2.39040882e+02] [ 2.58912007e-02 9.99664763e-01 -8.42531862e-05 3.53272732e+01] [ 1.01612959e-02 -1.78899291e-04 9.99948357e-01 7.60246831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.294391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:239.07, Y:35.32, Z:7.60 [[ 9.99568530e-01 -2.74597182e-02 -1.04268077e-02 2.39073554e+02] [ 2.74603148e-02 9.99622891e-01 -8.59675619e-05 3.53248909e+01] [ 1.04252363e-02 -2.00392951e-04 9.99945636e-01 7.60323297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.324391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:239.10, Y:35.32, Z:7.60 [[ 9.99490242e-01 -3.02216432e-02 -1.02911990e-02 2.39104285e+02] [ 3.02223781e-02 9.99543196e-01 -8.41344321e-05 3.53203285e+01] [ 1.02890406e-02 -2.26932963e-04 9.99947041e-01 7.60273544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.354391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:239.13, Y:35.32, Z:7.61 [[ 9.99476961e-01 -2.93040322e-02 -1.36776861e-02 2.39133437e+02] [ 2.91516355e-02 9.99512123e-01 -1.12114987e-02 3.53231898e+01] [ 1.39995552e-02 1.08069078e-02 9.99843599e-01 7.60669541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.384391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:239.17, Y:35.31, Z:7.60 [[ 9.99422153e-01 -3.24098117e-02 -1.02452068e-02 2.39165504e+02] [ 3.25209676e-02 9.99411879e-01 1.08757900e-02 3.53111812e+01] [ 9.88669911e-03 -1.12026895e-02 9.99888370e-01 7.59952253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.414391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:239.20, Y:35.31, Z:7.60 [[ 9.99393575e-01 -3.33102684e-02 -1.01443896e-02 2.39197274e+02] [ 3.33111503e-02 9.99445026e-01 -8.20652064e-05 3.53146754e+01] [ 1.01414934e-02 -2.55905848e-04 9.99948541e-01 7.60280350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.444391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:239.23, Y:35.34, Z:7.61 [[ 9.99515800e-01 -3.10908401e-02 1.23469982e-03 2.39234141e+02] [ 3.11070660e-02 9.97547329e-01 -6.27030868e-02 3.53357668e+01] [ 7.17820136e-04 6.27111339e-02 9.98031462e-01 7.60588016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.474391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:239.26, Y:35.28, Z:7.59 [[ 9.99295577e-01 -3.53196694e-02 -1.26834589e-02 2.39256691e+02] [ 3.59954912e-02 9.97682657e-01 5.77376856e-02 3.52805598e+01] [ 1.06147910e-02 -5.81535612e-02 9.98251216e-01 7.58681311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.504391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:239.29, Y:35.30, Z:7.60 [[ 9.99217096e-01 -3.80088368e-02 -1.09783250e-02 2.39289405e+02] [ 3.80755438e-02 9.99257254e-01 5.93245775e-03 3.53023263e+01] [ 1.07446851e-02 -6.34581890e-03 9.99922138e-01 7.60075920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.534391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:239.32, Y:35.30, Z:7.60 [[ 9.99168814e-01 -3.91242874e-02 -1.14442501e-02 2.39321720e+02] [ 3.91257786e-02 9.99234289e-01 -9.36442362e-05 3.53037778e+01] [ 1.14391509e-02 -3.54198795e-04 9.99934508e-01 7.60266264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.564391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:239.35, Y:35.30, Z:7.60 [[ 9.99082312e-01 -4.11873797e-02 -1.17530349e-02 2.39353210e+02] [ 4.11891053e-02 9.99151364e-01 -9.52988348e-05 3.53004665e+01] [ 1.17469859e-02 -3.88885610e-04 9.99930926e-01 7.60306451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59439141800001 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:239.39, Y:35.30, Z:7.60 [[ 9.99038705e-01 -4.22241714e-02 -1.17807129e-02 2.39385490e+02] [ 4.22259863e-02 9.99108081e-01 -9.47485777e-05 3.52988008e+01] [ 1.17742061e-02 -4.02794725e-04 9.99930601e-01 7.60300496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62439141800002 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:239.42, Y:35.30, Z:7.60 [[ 9.99000727e-01 -4.30387609e-02 -1.20504214e-02 2.39416233e+02] [ 4.30407299e-02 9.99073314e-01 -9.60137235e-05 3.52974878e+01] [ 1.20433868e-02 -4.22741154e-04 9.99927386e-01 7.60365445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.654391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:239.45, Y:35.30, Z:7.60 [[ 9.98963976e-01 -4.37663650e-02 -1.24691970e-02 2.39448020e+02] [ 4.37685404e-02 9.99041693e-01 -9.85052426e-05 3.52960440e+01] [ 1.24615589e-02 -4.47355363e-04 9.99922252e-01 7.60384428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.684391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:239.48, Y:35.29, Z:7.60 [[ 9.98936312e-01 -4.43344029e-02 -1.26769415e-02 2.39480576e+02] [ 4.43367098e-02 9.99016640e-01 -9.91411200e-05 3.52931843e+01] [ 1.26688708e-02 -4.63018210e-04 9.99919639e-01 7.60408049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.714391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:239.51, Y:35.29, Z:7.60 [[ 9.98940129e-01 -4.42780688e-02 -1.25726608e-02 2.39512405e+02] [ 4.42803458e-02 9.99019140e-01 -9.73447277e-05 3.52921788e+01] [ 1.25646390e-02 -4.59480213e-04 9.99920956e-01 7.60478585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.744391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:239.54, Y:35.29, Z:7.61 [[ 9.98960147e-01 -4.39371027e-02 -1.21718868e-02 2.39544259e+02] [ 4.39392228e-02 9.99034202e-01 -9.33137613e-05 3.52914267e+01] [ 1.21642312e-02 -4.41606518e-04 9.99925915e-01 7.60518143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.774391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:239.58, Y:35.29, Z:7.61 [[ 9.99007520e-01 -4.28383441e-02 -1.22004460e-02 2.39576263e+02] [ 4.28404041e-02 9.99081924e-01 -9.25662405e-05 3.52895047e+01] [ 1.21932104e-02 -4.30197664e-04 9.99925568e-01 7.60538841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.804391418 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:239.61, Y:35.29, Z:7.61 [[ 9.99032746e-01 -4.21078275e-02 -1.26689625e-02 2.39608462e+02] [ 4.21100036e-02 9.99112976e-01 -9.50564699e-05 3.52883884e+01] [ 1.26617274e-02 -4.38525529e-04 9.99919741e-01 7.60549743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.834391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:239.64, Y:35.29, Z:7.61 [[ 9.99075443e-01 -4.11340069e-02 -1.25001214e-02 2.39639813e+02] [ 4.11360608e-02 9.99153550e-01 -9.28637647e-05 3.52875065e+01] [ 1.24933606e-02 -4.21427849e-04 9.99921866e-01 7.60575571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.864391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:239.67, Y:35.29, Z:7.61 [[ 9.99152722e-01 -3.91127583e-02 -1.28074294e-02 2.39672030e+02] [ 3.91147599e-02 9.99234721e-01 -9.42608758e-05 3.52856102e+01] [ 1.28013150e-02 -4.06778517e-04 9.99917977e-01 7.60624744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.894391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:239.70, Y:35.28, Z:7.61 [[ 9.99204393e-01 -3.79130262e-02 -1.23766978e-02 2.39704163e+02] [ 3.79148155e-02 9.99280971e-01 -9.01164877e-05 3.52849734e+01] [ 1.23712152e-02 -3.79215425e-04 9.99923402e-01 7.60647370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.924391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:239.73, Y:35.29, Z:7.61 [[ 9.99269025e-01 -3.57029636e-02 -1.36643069e-02 2.39734564e+02] [ 3.56344154e-02 9.99351219e-01 -5.22768233e-03 3.52868703e+01] [ 1.38420855e-02 4.73694144e-03 9.99892973e-01 7.60842249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.954391418 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:239.77, Y:35.28, Z:7.61 [[ 9.99365404e-01 -3.35131563e-02 -1.20689000e-02 2.39765822e+02] [ 3.35743992e-02 9.99424170e-01 4.90803630e-03 3.52810851e+01] [ 1.18974665e-02 -5.31012774e-03 9.99915123e-01 7.60565725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.984391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:239.80, Y:35.28, Z:7.61 [[ 9.99431726e-01 -3.14847968e-02 -1.20387588e-02 2.39797018e+02] [ 3.14860264e-02 9.99504188e-01 -8.74328323e-05 3.52828643e+01] [ 1.20355427e-02 -2.91669532e-04 9.99927528e-01 7.60717371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.014391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:239.83, Y:35.28, Z:7.61 [[ 9.99549684e-01 -2.70711246e-02 -1.29454123e-02 2.39828361e+02] [ 2.70721857e-02 9.99633477e-01 -9.32975466e-05 3.52822433e+01] [ 1.29431932e-02 -2.57205072e-04 9.99916200e-01 7.60703110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.044391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:239.86, Y:35.28, Z:7.61 [[ 9.99616339e-01 -2.42006750e-02 -1.34722846e-02 2.39858910e+02] [ 2.42015697e-02 9.99707094e-01 -9.66390488e-05 3.52823792e+01] [ 1.34706773e-02 -2.29448464e-04 9.99909240e-01 7.60764668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.074391418 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:239.89, Y:35.28, Z:7.61 [[ 9.99689491e-01 -2.12200959e-02 -1.30625310e-02 2.39889655e+02] [ 2.12206848e-02 9.99774812e-01 -9.35388602e-05 3.52824471e+01] [ 1.30615744e-02 -1.83686037e-04 9.99914677e-01 7.60784043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.104391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:239.92, Y:35.28, Z:7.61 [[ 9.99746603e-01 -1.81789251e-02 -1.32761472e-02 2.39918665e+02] [ 1.81792639e-02 9.99834739e-01 -9.51724267e-05 3.52827984e+01] [ 1.32756833e-02 -1.46202274e-04 9.99911864e-01 7.60883470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.134391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:239.95, Y:35.28, Z:7.61 [[ 9.99803972e-01 -1.51996312e-02 -1.26881568e-02 2.39947090e+02] [ 1.51996824e-02 9.99884474e-01 -9.23995909e-05 3.52829468e+01] [ 1.26880954e-02 -1.00474476e-04 9.99919498e-01 7.60915610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.164391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:239.98, Y:35.28, Z:7.61 [[ 9.99879114e-01 -9.78264962e-03 -1.20854296e-02 2.39975842e+02] [ 9.78226051e-03 9.99952148e-01 -9.13111799e-05 3.52833352e+01] [ 1.20857446e-02 -2.69226795e-05 9.99926964e-01 7.60988216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.194391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:240.00, Y:35.28, Z:7.61 [[ 9.99896062e-01 -7.80749044e-03 -1.21205767e-02 2.40003578e+02] [ 7.80691053e-03 9.99969521e-01 -9.51589666e-05 3.52834256e+01] [ 1.21209502e-02 5.24818089e-07 9.99926539e-01 7.61058005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.224391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:240.03, Y:35.28, Z:7.61 [[ 9.99914095e-01 -5.42581906e-03 -1.19315978e-02 2.40031189e+02] [ 5.42504176e-03 9.99985280e-01 -9.75116527e-05 3.52823852e+01] [ 1.19319513e-02 3.27738595e-05 9.99928811e-01 7.61087496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.254391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:240.06, Y:35.28, Z:7.61 [[ 9.99913228e-01 -5.38732793e-03 -1.20213854e-02 2.40058698e+02] [ 5.38648889e-03 9.99985488e-01 -1.02172877e-04 3.52817481e+01] [ 1.20217614e-02 3.74109518e-05 9.99927735e-01 7.61079902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.284391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:240.09, Y:35.28, Z:7.61 [[ 9.99903737e-01 -6.15706917e-03 -1.24341225e-02 2.40086702e+02] [ 6.15617998e-03 9.99981045e-01 -1.09786017e-04 3.52807908e+01] [ 1.24345628e-02 3.32287529e-05 9.99922687e-01 7.61088672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.314391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:240.11, Y:35.28, Z:7.61 [[ 9.99868802e-01 -9.51407867e-03 -1.31095644e-02 2.40114558e+02] [ 9.51333455e-03 9.99954740e-01 -1.19121806e-04 3.52781101e+01] [ 1.31101044e-02 -5.60949431e-06 9.99914059e-01 7.61100984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34439141800001 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:240.14, Y:35.28, Z:7.61 [[ 9.99865878e-01 -9.81658395e-03 -1.31095414e-02 2.40142961e+02] [ 9.81583330e-03 9.99951816e-01 -1.21603767e-04 3.52785055e+01] [ 1.31101035e-02 -7.09361654e-06 9.99914059e-01 7.61124157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37439141800002 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:240.17, Y:35.28, Z:7.61 [[ 9.99828339e-01 -1.26719716e-02 -1.35171341e-02 2.40170900e+02] [ 1.26713766e-02 9.99919706e-01 -1.29669175e-04 3.52773382e+01] [ 1.35176919e-02 -4.16337801e-05 9.99908631e-01 7.61121729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.404391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:240.20, Y:35.27, Z:7.61 [[ 9.99716623e-01 -1.92646185e-02 -1.39838653e-02 2.40199892e+02] [ 1.92645816e-02 9.99814411e-01 -1.37351152e-04 3.52741151e+01] [ 1.39839160e-02 -1.32081084e-04 9.99902212e-01 7.61153485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.434391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:240.23, Y:35.27, Z:7.61 [[ 9.99643675e-01 -2.29315210e-02 -1.36626968e-02 2.40228059e+02] [ 2.29318120e-02 9.99737022e-01 -1.35385232e-04 3.52726260e+01] [ 1.36622084e-02 -1.77973405e-04 9.99906652e-01 7.61159750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.464391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:240.26, Y:35.27, Z:7.61 [[ 9.99554382e-01 -2.66343968e-02 -1.34776510e-02 2.40258045e+02] [ 2.66350028e-02 9.99645216e-01 -1.34564622e-04 3.52713044e+01] [ 1.34764534e-02 -2.24472615e-04 9.99909163e-01 7.61208014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.494391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:240.29, Y:35.27, Z:7.61 [[ 9.99461885e-01 -2.98207168e-02 -1.36625685e-02 2.40288841e+02] [ 2.98216326e-02 9.99555227e-01 -1.36740005e-04 3.52702498e+01] [ 1.36605694e-02 -2.70773674e-04 9.99906653e-01 7.61287373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.524391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:240.32, Y:35.27, Z:7.61 [[ 9.99249928e-01 -3.60462231e-02 -1.41509822e-02 2.40319527e+02] [ 3.60478346e-02 9.99350056e-01 -1.41256827e-04 3.52679089e+01] [ 1.41468767e-02 -3.68961393e-04 9.99899860e-01 7.61296585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.554391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:240.35, Y:35.27, Z:7.61 [[ 9.99164325e-01 -3.82529679e-02 -1.44000636e-02 2.40351242e+02] [ 3.82548765e-02 9.99268004e-01 -1.42986872e-04 3.52668371e+01] [ 1.43949925e-02 -4.08005274e-04 9.99896303e-01 7.61312826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.584391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:240.38, Y:35.27, Z:7.61 [[ 9.99121891e-01 -4.03530984e-02 -1.12726852e-02 2.40381993e+02] [ 4.01679465e-02 9.99061691e-01 -1.61948956e-02 3.52730559e+01] [ 1.19156221e-02 1.57278741e-02 9.99805307e-01 7.61314675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.614391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:240.41, Y:35.26, Z:7.61 [[ 9.99037902e-01 -4.15459455e-02 -1.40429355e-02 2.40412932e+02] [ 4.17679015e-02 9.99000816e-01 1.59000381e-02 3.52567686e+01] [ 1.33683219e-02 -1.64712846e-02 9.99774967e-01 7.60945705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.644391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:240.44, Y:35.26, Z:7.61 [[ 9.99026892e-01 -4.19460503e-02 -1.36307771e-02 2.40444812e+02] [ 4.19481261e-02 9.99119781e-01 -1.33711897e-04 3.52641506e+01] [ 1.36243877e-02 -4.38203774e-04 9.99907088e-01 7.61321226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.674391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:240.47, Y:35.26, Z:7.61 [[ 9.99035537e-01 -4.17773229e-02 -1.35148659e-02 2.40474756e+02] [ 4.17793579e-02 9.99126853e-01 -1.31842438e-04 3.52639243e+01] [ 1.35085735e-02 -4.32927141e-04 9.99908661e-01 7.61334595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.704391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:240.51, Y:35.26, Z:7.61 [[ 9.99053876e-01 -4.13351763e-02 -1.35187213e-02 2.40506284e+02] [ 4.13371770e-02 9.99145245e-01 -1.31518618e-04 3.52638295e+01] [ 1.35126024e-02 -4.27431589e-04 9.99908609e-01 7.61346976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.734391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:240.54, Y:35.26, Z:7.61 [[ 9.99064503e-01 -4.11803925e-02 -1.32020285e-02 2.40537206e+02] [ 4.11822936e-02 9.99151641e-01 -1.27936508e-04 3.52638549e+01] [ 1.31960969e-02 -4.15872990e-04 9.99912841e-01 7.61387117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.764391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:240.57, Y:35.26, Z:7.61 [[ 9.99081308e-01 -4.07124404e-02 -1.33805160e-02 2.40569705e+02] [ 4.07143615e-02 9.99170818e-01 -1.28915017e-04 3.52638553e+01] [ 1.33746696e-02 -4.15982581e-04 9.99910469e-01 7.61393749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.794391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:240.60, Y:35.26, Z:7.61 [[ 9.99112728e-01 -4.00032104e-02 -1.31719031e-02 2.40601980e+02] [ 4.00050245e-02 9.99199471e-01 -1.25831503e-04 3.52632545e+01] [ 1.31663923e-02 -4.01222450e-04 9.99913239e-01 7.61338014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.824391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:240.63, Y:35.26, Z:7.61 [[ 9.99121259e-01 -3.96697516e-02 -1.35285159e-02 2.40632813e+02] [ 3.96716487e-02 9.99212762e-01 -1.28211112e-04 3.52634478e+01] [ 1.35229518e-02 -4.08600081e-04 9.99908477e-01 7.61369865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.854391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:240.66, Y:35.26, Z:7.61 [[ 9.99124324e-01 -3.94648501e-02 -1.38964615e-02 2.40664075e+02] [ 3.94668423e-02 9.99220872e-01 -1.30955035e-04 3.52639232e+01] [ 1.38908025e-02 -4.17609092e-04 9.99903431e-01 7.61360983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.884391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:240.70, Y:35.26, Z:7.61 [[ 9.99141058e-01 -3.89083878e-02 -1.42577416e-02 2.40695888e+02] [ 3.89104365e-02 9.99242693e-01 -1.33785661e-04 3.52643081e+01] [ 1.42521495e-02 -4.21104202e-04 9.99898344e-01 7.61371661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.914391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:240.73, Y:35.26, Z:7.61 [[ 9.99138468e-01 -3.86959516e-02 -1.49981868e-02 2.40726681e+02] [ 3.86982020e-02 9.99250934e-01 -1.40252930e-04 3.52647718e+01] [ 1.49923794e-02 -4.40270765e-04 9.99887511e-01 7.61401850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.944391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:240.76, Y:35.27, Z:7.61 [[ 9.99137292e-01 -3.85176874e-02 -1.55261121e-02 2.40757017e+02] [ 3.85200802e-02 9.99257816e-01 -1.45021789e-04 3.52652802e+01] [ 1.55201748e-02 -4.53170406e-04 9.99879452e-01 7.61372460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.974391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:240.79, Y:35.27, Z:7.61 [[ 9.99150629e-01 -3.75553895e-02 -1.69591944e-02 2.40786751e+02] [ 3.75386613e-02 9.99294326e-01 -1.30375295e-03 3.52664052e+01] [ 1.69961897e-02 6.66020123e-04 9.99855333e-01 7.61408887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.004391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:240.82, Y:35.27, Z:7.61 [[ 9.99082321e-01 -3.88912318e-02 -1.79440070e-02 2.40816539e+02] [ 3.89143986e-02 9.99242102e-01 9.43570387e-04 3.52673159e+01] [ 1.78937107e-02 -1.64098473e-03 9.99838548e-01 7.61377996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.034391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:240.85, Y:35.27, Z:7.61 [[ 9.99047070e-01 -3.97168162e-02 -1.80977120e-02 2.40846929e+02] [ 3.97202132e-02 9.99210826e-01 -1.71856808e-04 3.52693174e+01] [ 1.80902554e-02 -5.47151937e-04 9.99836208e-01 7.61458483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.064391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:240.88, Y:35.27, Z:7.62 [[ 9.98945607e-01 -4.22448308e-02 -1.79735710e-02 2.40877759e+02] [ 4.22485900e-02 9.99107115e-01 -1.70677959e-04 3.52711310e+01] [ 1.79647330e-02 -5.88860036e-04 9.99838448e-01 7.61518748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09439141800001 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:240.91, Y:35.27, Z:7.62 [[ 9.98898052e-01 -4.35643492e-02 -1.74593665e-02 2.40907987e+02] [ 4.35680976e-02 9.99050446e-01 -1.65795046e-04 3.52717733e+01] [ 1.74500106e-02 -5.95059035e-04 9.99847560e-01 7.61582710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12439141800002 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:240.94, Y:35.27, Z:7.62 [[ 9.98861264e-01 -4.47723990e-02 -1.64805385e-02 2.40938674e+02] [ 4.47759058e-02 9.98997044e-01 -1.56331263e-04 3.52722475e+01] [ 1.64710086e-02 -5.81777800e-04 9.99864174e-01 7.61608455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.154391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:240.97, Y:35.27, Z:7.62 [[ 9.98816776e-01 -4.63527084e-02 -1.47130369e-02 2.40969785e+02] [ 4.63556804e-02 9.98924988e-01 -1.39155882e-04 3.52737725e+01] [ 1.47036705e-02 -5.43041606e-04 9.99891748e-01 7.61745481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.184391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:241.00, Y:35.28, Z:7.62 [[ 9.98825672e-01 -4.62861092e-02 -1.43133710e-02 2.41001097e+02] [ 4.62889230e-02 9.98928084e-01 -1.34816448e-04 3.52750788e+01] [ 1.43042684e-02 -5.27892397e-04 9.99897549e-01 7.61816351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.214391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:241.03, Y:35.28, Z:7.62 [[ 9.98867193e-01 -4.54546396e-02 -1.40785762e-02 2.41032773e+02] [ 4.54572908e-02 9.98966274e-01 -1.31802576e-04 3.52781394e+01] [ 1.40700138e-02 -5.08320661e-04 9.99900883e-01 7.61892915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.244391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:241.06, Y:35.28, Z:7.62 [[ 9.98902550e-01 -4.47057115e-02 -1.39676260e-02 2.41064045e+02] [ 4.47082675e-02 9.99000077e-01 -1.29355658e-04 3.52793212e+01] [ 1.39594423e-02 -4.95254662e-04 9.99902440e-01 7.61918810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.274391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:241.10, Y:35.28, Z:7.62 [[ 9.98931449e-01 -4.40654946e-02 -1.39352753e-02 2.41096147e+02] [ 4.40679976e-02 9.99028526e-01 -1.27550395e-04 3.52802118e+01] [ 1.39273581e-02 -4.86685577e-04 9.99902891e-01 7.61941022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.304391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:241.13, Y:35.28, Z:7.62 [[ 9.98951679e-01 -4.36504965e-02 -1.37905107e-02 2.41128764e+02] [ 4.36529234e-02 9.99046749e-01 -1.25123110e-04 3.52808011e+01] [ 1.37828266e-02 -4.77004166e-04 9.99904899e-01 7.61948615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.334391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:241.16, Y:35.28, Z:7.62 [[ 9.98990447e-01 -4.28673046e-02 -1.34343027e-02 2.41161281e+02] [ 4.28695515e-02 9.99080671e-01 -1.20810910e-04 3.52810561e+01] [ 1.34271310e-02 -4.55233586e-04 9.99909748e-01 7.61892407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.364391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:241.19, Y:35.28, Z:7.62 [[ 9.99019623e-01 -4.21530774e-02 -1.35244602e-02 2.41192191e+02] [ 4.21553029e-02 9.99111063e-01 -1.20604883e-04 3.52814470e+01] [ 1.35175217e-02 -4.49641074e-04 9.99908533e-01 7.61904624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.394391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:241.23, Y:35.31, Z:7.62 [[ 9.99353620e-01 -3.59415457e-02 -7.40176875e-04 2.41232301e+02] [ 3.58128735e-02 9.97144945e-01 -6.64785374e-02 3.53101702e+01] [ 3.12740502e-03 6.64090591e-02 9.97787581e-01 7.62009625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.424391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:241.25, Y:35.25, Z:7.60 [[ 9.99129266e-01 -3.89956998e-02 -1.48339492e-02 2.41251633e+02] [ 3.99109264e-02 9.96924783e-01 6.74395650e-02 3.52524047e+01] [ 1.21584785e-02 -6.79728797e-02 9.97613081e-01 7.60462636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.454391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:241.28, Y:35.29, Z:7.62 [[ 9.99183940e-01 -3.76788442e-02 -1.45519500e-02 2.41284464e+02] [ 3.76808704e-02 9.99289815e-01 -1.35013461e-04 3.52868589e+01] [ 1.45467026e-02 -4.13426861e-04 9.99894106e-01 7.62125638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.484391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:241.32, Y:35.29, Z:7.62 [[ 9.99255664e-01 -3.55274592e-02 -1.50305502e-02 2.41315365e+02] [ 3.55294276e-02 9.99368621e-01 -1.36134576e-04 3.52878170e+01] [ 1.50258967e-02 -3.97993599e-04 9.99887026e-01 7.62164633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.514391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:241.35, Y:35.29, Z:7.62 [[ 9.99411867e-01 -3.08582535e-02 -1.49562014e-02 2.41347025e+02] [ 3.08596914e-02 9.99523717e-01 -1.34686228e-04 3.52894110e+01] [ 1.49532342e-02 -3.26936746e-04 9.99888141e-01 7.62160811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.544391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:241.38, Y:35.29, Z:7.62 [[ 9.99486046e-01 -2.82620585e-02 -1.51294663e-02 2.41377830e+02] [ 2.82632380e-02 9.99600506e-01 -1.35895800e-04 3.52902399e+01] [ 1.51272628e-02 -2.91781750e-04 9.99885534e-01 7.62192798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.574391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:241.41, Y:35.29, Z:7.62 [[ 9.99546800e-01 -2.61741021e-02 -1.48697831e-02 2.41408026e+02] [ 2.61750104e-02 9.99657367e-01 -1.33563276e-04 3.52913006e+01] [ 1.48681842e-02 -2.55713984e-04 9.99889430e-01 7.62198590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.604391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:241.44, Y:35.29, Z:7.62 [[ 9.99625913e-01 -2.29681255e-02 -1.48492519e-02 2.41437294e+02] [ 2.29686778e-02 9.99736176e-01 -1.33367497e-04 3.52934563e+01] [ 1.48483975e-02 -2.07750077e-04 9.99889735e-01 7.62226019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.634391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:241.47, Y:35.29, Z:7.62 [[ 9.99639802e-01 -2.23665540e-02 -1.48325124e-02 2.41467303e+02] [ 2.23670357e-02 9.99749818e-01 -1.33436086e-04 3.52945237e+01] [ 1.48317861e-02 -1.98371311e-04 9.99889983e-01 7.62240622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.664391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:241.50, Y:35.30, Z:7.62 [[ 9.99624397e-01 -2.27738418e-02 -1.52452170e-02 2.41495555e+02] [ 2.27743660e-02 9.99740621e-01 -1.39247331e-04 3.52951854e+01] [ 1.52444339e-02 -2.08005121e-04 9.99883775e-01 7.62250078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.694391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:241.52, Y:35.30, Z:7.62 [[ 9.99553764e-01 -2.55127674e-02 -1.55361489e-02 2.41524069e+02] [ 2.55135765e-02 9.99674465e-01 -1.46153674e-04 3.52952867e+01] [ 1.55348202e-02 -2.50294269e-04 9.99879296e-01 7.62208572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.724391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:241.55, Y:35.30, Z:7.62 [[ 9.99491872e-01 -2.79144006e-02 -1.53878204e-02 2.41552373e+02] [ 2.79154350e-02 9.99610277e-01 -1.47602564e-04 3.52952021e+01] [ 1.53859437e-02 -2.82030138e-04 9.99881590e-01 7.62224401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.754391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:241.58, Y:35.29, Z:7.62 [[ 9.99415425e-01 -3.07483012e-02 -1.49449170e-02 2.41582487e+02] [ 3.07495807e-02 9.99527109e-01 -1.44216454e-04 3.52949844e+01] [ 1.49422841e-02 -3.15417783e-04 9.99888308e-01 7.62186390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.784391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:241.61, Y:35.30, Z:7.62 [[ 9.99183493e-01 -3.79010151e-02 -1.39950437e-02 2.41611791e+02] [ 3.78808944e-02 9.99280815e-01 -1.70009471e-03 3.52969892e+01] [ 1.40494140e-02 1.16856180e-03 9.99900619e-01 7.62299221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.814391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:241.64, Y:35.29, Z:7.62 [[ 9.99072188e-01 -4.07446363e-02 -1.39512741e-02 2.41643725e+02] [ 4.07671782e-02 9.99167781e-01 1.33508265e-03 3.52934536e+01] [ 1.38852661e-02 -1.90259802e-03 9.99901785e-01 7.62219487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84439141800001 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:241.68, Y:35.29, Z:7.62 [[ 9.98756724e-01 -4.76306013e-02 -1.47082176e-02 2.41675879e+02] [ 4.76336884e-02 9.98864862e-01 -1.40561460e-04 3.52937166e+01] [ 1.46982168e-02 -5.60219952e-04 9.99891818e-01 7.62258996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87439141800002 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:241.71, Y:35.29, Z:7.62 [[ 9.98593925e-01 -5.08126111e-02 -1.51079927e-02 2.41708037e+02] [ 5.08162497e-02 9.98708010e-01 -1.43201507e-04 3.52932786e+01] [ 1.50957498e-02 -6.24731374e-04 9.99885858e-01 7.62272672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.904391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:241.74, Y:35.29, Z:7.62 [[ 9.98423195e-01 -5.38863048e-02 -1.57286211e-02 2.41740159e+02] [ 5.38906486e-02 9.98546832e-01 -1.47845625e-04 3.52930179e+01] [ 1.57137316e-02 -7.00013089e-04 9.99876287e-01 7.62292292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.934391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:241.77, Y:35.29, Z:7.62 [[ 9.98273036e-01 -5.65567119e-02 -1.58834268e-02 2.41771317e+02] [ 5.65615043e-02 9.98399106e-01 -1.47703261e-04 3.52928136e+01] [ 1.58663527e-02 -7.50942329e-04 9.99873840e-01 7.62263782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.964391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:241.80, Y:35.29, Z:7.62 [[ 9.97982607e-01 -6.14187834e-02 -1.60763241e-02 2.41802579e+02] [ 6.14243468e-02 9.98111731e-01 -1.47948508e-04 3.52928978e+01] [ 1.60550544e-02 -8.39827666e-04 9.99870757e-01 7.62261065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.994391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:241.83, Y:35.29, Z:7.62 [[ 9.97867087e-01 -6.33034719e-02 -1.59357450e-02 2.41834452e+02] [ 6.33091943e-02 9.97993950e-01 -1.45629851e-04 3.52936685e+01] [ 1.59129960e-02 -8.63559940e-04 9.99873007e-01 7.62294962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.024391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:241.87, Y:35.29, Z:7.62 [[ 9.97768054e-01 -6.49457011e-02 -1.55230848e-02 2.41866491e+02] [ 6.49513466e-02 9.97888422e-01 -1.40720980e-04 3.52948840e+01] [ 1.54994459e-02 -8.67838366e-04 9.99879500e-01 7.62357948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.054391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:241.90, Y:35.30, Z:7.62 [[ 9.97663983e-01 -6.67838787e-02 -1.43697787e-02 2.41897194e+02] [ 6.67889195e-02 9.97767119e-01 -1.29355165e-04 3.52975255e+01] [ 1.43463315e-02 -8.30689001e-04 9.99896741e-01 7.62405111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.084391418 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:241.93, Y:35.30, Z:7.62 [[ 9.97659249e-01 -6.69153759e-02 -1.40839031e-02 2.41929409e+02] [ 6.69202433e-02 9.97758320e-01 -1.25918719e-04 3.52990230e+01] [ 1.40607574e-02 -8.16874246e-04 9.99900809e-01 7.62436400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.114391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:241.96, Y:35.30, Z:7.62 [[ 9.97723989e-01 -6.61588791e-02 -1.30324320e-02 2.41962142e+02] [ 6.61629970e-02 9.97808822e-01 -1.15398616e-04 3.53025570e+01] [ 1.30115102e-02 -7.47128789e-04 9.99915068e-01 7.62460031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.144391418 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:241.99, Y:35.30, Z:7.62 [[ 9.97767889e-01 -6.55226039e-02 -1.28852117e-02 2.41994639e+02] [ 6.55265955e-02 9.97850817e-01 -1.12607154e-04 3.53047935e+01] [ 1.28648973e-02 -7.31968253e-04 9.99916976e-01 7.62497965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.174391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:242.03, Y:35.31, Z:7.63 [[ 9.97839057e-01 -6.44385985e-02 -1.28406914e-02 2.42027327e+02] [ 6.44424911e-02 9.97921416e-01 -1.10818559e-04 3.53068984e+01] [ 1.28211419e-02 -7.16907055e-04 9.99917549e-01 7.62519096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.204391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:242.06, Y:35.31, Z:7.63 [[ 9.97989302e-01 -6.18097517e-02 -1.40324132e-02 2.42060434e+02] [ 6.18141671e-02 9.98087669e-01 -1.19260805e-04 3.53113470e+01] [ 1.40129500e-02 -7.48380926e-04 9.99901534e-01 7.62512728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.234391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:242.09, Y:35.31, Z:7.63 [[ 9.97995612e-01 -6.17077790e-02 -1.40324268e-02 2.42093132e+02] [ 6.17122071e-02 9.98093978e-01 -1.17641975e-04 3.53115421e+01] [ 1.40129401e-02 -7.48565853e-04 9.99901534e-01 7.62541244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.264391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:242.13, Y:35.31, Z:7.63 [[ 9.98101236e-01 -5.98352242e-02 -1.46174095e-02 2.42125606e+02] [ 5.98398513e-02 9.98207983e-01 -1.21016788e-04 3.53138085e+01] [ 1.45984559e-02 -7.53916603e-04 9.99893153e-01 7.62575369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.294391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:242.16, Y:35.32, Z:7.63 [[ 9.98287662e-01 -5.64187522e-02 -1.54488882e-02 2.42158273e+02] [ 5.64235399e-02 9.98406915e-01 -1.26133753e-04 3.53179789e+01] [ 1.54313931e-02 -7.45763190e-04 9.99880651e-01 7.62569793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.324391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:242.19, Y:35.32, Z:7.63 [[ 9.98379834e-01 -5.46387239e-02 -1.58844887e-02 2.42190507e+02] [ 5.46435874e-02 9.98505915e-01 -1.28007679e-04 3.53203044e+01] [ 1.58677501e-02 -7.40185163e-04 9.99873825e-01 7.62590162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.354391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:242.22, Y:35.32, Z:7.63 [[ 9.98476315e-01 -5.27902530e-02 -1.60697998e-02 2.42222043e+02] [ 5.27950103e-02 9.98605363e-01 -1.28344325e-04 3.53230927e+01] [ 1.60541636e-02 -7.20256476e-04 9.99870864e-01 7.62635194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.384391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:242.25, Y:35.33, Z:7.63 [[ 9.98694784e-01 -4.83290259e-02 -1.65237556e-02 2.42253777e+02] [ 4.83334657e-02 9.98831247e-01 -1.30789973e-04 3.53284704e+01] [ 1.65107644e-02 -6.68031112e-04 9.99863465e-01 7.62698790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.414391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:242.29, Y:35.33, Z:7.63 [[ 9.98796355e-01 -4.60310677e-02 -1.69405561e-02 2.42285265e+02] [ 4.60354252e-02 9.98939799e-01 -1.32853230e-04 3.53312934e+01] [ 1.69287110e-02 -6.47172379e-04 9.99856490e-01 7.62747728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.444391418 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:242.32, Y:35.33, Z:7.63 [[ 9.98912962e-01 -4.35232778e-02 -1.66918598e-02 2.42316781e+02] [ 4.35271753e-02 9.99052235e-01 -1.29900263e-04 3.53339585e+01] [ 1.66816935e-02 -5.96790450e-04 9.99860673e-01 7.62782780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.474391418 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:242.35, Y:35.34, Z:7.63 [[ 9.99020944e-01 -4.10271004e-02 -1.65508400e-02 2.42348516e+02] [ 4.10306088e-02 9.99157882e-01 -1.27676584e-04 3.53366440e+01] [ 1.65421405e-02 -5.51539462e-04 9.99863017e-01 7.62821770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.504391418 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:242.38, Y:35.34, Z:7.63 [[ 9.99247703e-01 -3.54952084e-02 -1.56242551e-02 2.42380817e+02] [ 3.54976776e-02 9.99369752e-01 -1.19355660e-04 3.53415371e+01] [ 1.56186445e-02 -4.35358900e-04 9.99877927e-01 7.62928014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.534391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:242.41, Y:35.34, Z:7.63 [[ 9.99353519e-01 -3.26561774e-02 -1.50372229e-02 2.42413053e+02] [ 3.26581606e-02 9.99466574e-01 -1.13719158e-04 3.53441061e+01] [ 1.50329153e-02 -3.77442400e-04 9.99886928e-01 7.63000216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.564391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:242.44, Y:35.35, Z:7.63 [[ 9.99523682e-01 -2.72505378e-02 -1.44850551e-02 2.42444679e+02] [ 2.72518237e-02 9.99628594e-01 -1.08638218e-04 3.53492976e+01] [ 1.44826357e-02 -2.86157697e-04 9.99895080e-01 7.63020888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59439141800001 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:242.48, Y:35.35, Z:7.63 [[ 9.99594595e-01 -2.45692022e-02 -1.43875283e-02 2.42475196e+02] [ 2.45701999e-02 9.99698101e-01 -1.07438001e-04 3.53519293e+01] [ 1.43858244e-02 -2.46110001e-04 9.99896488e-01 7.63064023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62439141800002 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:242.51, Y:35.35, Z:7.63 [[ 9.99650376e-01 -2.21928475e-02 -1.43737160e-02 2.42506256e+02] [ 2.21936036e-02 9.99753686e-01 -1.06925043e-04 3.53546252e+01] [ 1.43725485e-02 -2.12116896e-04 9.99896687e-01 7.63100287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.654391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:242.54, Y:35.36, Z:7.63 [[ 9.99689884e-01 -2.02217790e-02 -1.45332299e-02 2.42535889e+02] [ 2.02223474e-02 9.99795502e-01 -1.07865575e-04 3.53571859e+01] [ 1.45324391e-02 -1.86063899e-04 9.99894381e-01 7.63159652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.684391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:242.57, Y:35.36, Z:7.63 [[ 9.99754299e-01 -1.68733464e-02 -1.43746912e-02 2.42565662e+02] [ 1.68735541e-02 9.99857626e-01 -1.06840146e-04 3.53607840e+01] [ 1.43744473e-02 -1.35738235e-04 9.99896673e-01 7.63170250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.714391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:242.59, Y:35.36, Z:7.63 [[ 9.99763990e-01 -1.62078048e-02 -1.44662459e-02 2.42593939e+02] [ 1.62079226e-02 9.99868637e-01 -1.09101731e-04 3.53627434e+01] [ 1.44661139e-02 -1.25391812e-04 9.99895352e-01 7.63204667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.744391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:242.62, Y:35.36, Z:7.63 [[ 9.99772852e-01 -1.56853729e-02 -1.44295959e-02 2.42622598e+02] [ 1.56853770e-02 9.99876971e-01 -1.12892889e-04 3.53643816e+01] [ 1.44295914e-02 -1.13466406e-04 9.99895882e-01 7.63231444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.774391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:242.65, Y:35.37, Z:7.63 [[ 9.99780007e-01 -1.54579947e-02 -1.41770329e-02 2.42651351e+02] [ 1.54579369e-02 9.99880513e-01 -1.13660527e-04 3.53665992e+01] [ 1.41770959e-02 -1.05512158e-04 9.99899494e-01 7.63321168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.804391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:242.68, Y:35.37, Z:7.63 [[ 9.99779542e-01 -1.59861753e-02 -1.36128270e-02 2.42680351e+02] [ 1.59861603e-02 9.99872207e-01 -1.09922657e-04 3.53675789e+01] [ 1.36128447e-02 -1.07718411e-04 9.99907335e-01 7.63288838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.834391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:242.71, Y:35.37, Z:7.63 [[ 9.99745967e-01 -1.78565568e-02 -1.37530146e-02 2.42709706e+02] [ 1.78567086e-02 9.99840550e-01 -1.11766687e-04 3.53689529e+01] [ 1.37528175e-02 -1.33845280e-04 9.99905417e-01 7.63309723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.864391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:242.74, Y:35.37, Z:7.63 [[ 9.99720207e-01 -1.92008075e-02 -1.38143421e-02 2.42739021e+02] [ 1.92010814e-02 9.99815636e-01 -1.12817750e-04 3.53693937e+01] [ 1.38139614e-02 -1.52464123e-04 9.99904571e-01 7.63330833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.894391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:242.77, Y:35.37, Z:7.63 [[ 9.99693898e-01 -2.06113440e-02 -1.36851301e-02 2.42768059e+02] [ 2.06117402e-02 9.99787549e-01 -1.12102680e-04 3.53696825e+01] [ 1.36845332e-02 -1.70005981e-04 9.99906348e-01 7.63342851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.924391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:242.80, Y:35.37, Z:7.63 [[ 9.99660375e-01 -2.19995746e-02 -1.39697101e-02 2.42798774e+02] [ 2.20001233e-02 9.99757961e-01 -1.14413510e-04 3.53699277e+01] [ 1.39688460e-02 -1.92960693e-04 9.99902412e-01 7.63341298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.954391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:242.83, Y:35.38, Z:7.64 [[ 9.99577125e-01 -2.34235557e-02 -1.72310524e-02 2.42827673e+02] [ 2.32377459e-02 9.99670481e-01 -1.09057775e-02 3.53751558e+01] [ 1.74808265e-02 1.05007549e-02 9.99792056e-01 7.63776846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.984391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:242.86, Y:35.37, Z:7.63 [[ 9.99537624e-01 -2.62934727e-02 -1.52706206e-02 2.42858671e+02] [ 2.64535360e-02 9.99596192e-01 1.03760850e-02 3.53654645e+01] [ 1.49916309e-02 -1.07752492e-02 9.99829558e-01 7.63069467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.014391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:242.89, Y:35.37, Z:7.63 [[ 9.99490130e-01 -2.80690701e-02 -1.52186333e-02 2.42889240e+02] [ 2.80704166e-02 9.99605940e-01 -1.25167884e-04 3.53707812e+01] [ 1.52161496e-02 -3.02089311e-04 9.99884182e-01 7.63440849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.044391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:242.92, Y:35.37, Z:7.63 [[ 9.99360792e-01 -3.19900487e-02 -1.59576058e-02 2.42920996e+02] [ 3.19920362e-02 9.99488115e-01 -1.30773588e-04 3.53711765e+01] [ 1.59536208e-02 -3.79826307e-04 9.99872661e-01 7.63444616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.074391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:242.95, Y:35.37, Z:7.63 [[ 9.99280098e-01 -3.42040883e-02 -1.64123504e-02 2.42952173e+02] [ 3.42065003e-02 9.99414777e-01 -1.33824043e-04 3.53714321e+01] [ 1.64073228e-02 -4.27681365e-04 9.99865299e-01 7.63484497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.104391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:242.98, Y:35.37, Z:7.63 [[ 9.99124430e-01 -3.81902044e-02 -1.70845324e-02 2.42983635e+02] [ 3.81934150e-02 9.99270356e-01 -1.38434088e-04 3.53709343e+01] [ 1.70773536e-02 -5.14203755e-04 9.99854039e-01 7.63490130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.134391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:243.02, Y:35.37, Z:7.64 [[ 9.99054175e-01 -3.98066231e-02 -1.74982188e-02 2.43015591e+02] [ 3.98102605e-02 9.99207247e-01 -1.40547377e-04 3.53708194e+01] [ 1.74899418e-02 -5.56194205e-04 9.99846885e-01 7.63530038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.164391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:243.05, Y:35.37, Z:7.64 [[ 9.98980374e-01 -4.14898664e-02 -1.77989774e-02 2.43048126e+02] [ 4.14939223e-02 9.99138746e-01 -1.41524706e-04 3.53710042e+01] [ 1.77895198e-02 -5.97168980e-04 9.99841576e-01 7.63541843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.194391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:243.08, Y:35.37, Z:7.64 [[ 9.98842832e-01 -4.45488103e-02 -1.81217966e-02 2.43080090e+02] [ 4.45535442e-02 9.99006988e-01 -1.42618240e-04 3.53717152e+01] [ 1.81101549e-02 -6.64937057e-04 9.99835777e-01 7.63586371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.224391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:243.11, Y:35.37, Z:7.64 [[ 9.98790860e-01 -4.57295401e-02 -1.80451395e-02 2.43111476e+02] [ 4.57344492e-02 9.98953623e-01 -1.40750603e-04 3.53722553e+01] [ 1.80326939e-02 -6.84704098e-04 9.99837163e-01 7.63603677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.254391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:243.14, Y:35.37, Z:7.64 [[ 9.98751637e-01 -4.67009968e-02 -1.77252299e-02 2.43143750e+02] [ 4.67059075e-02 9.98908674e-01 -1.37048110e-04 3.53725600e+01] [ 1.77122862e-02 -6.90995926e-04 9.99842886e-01 7.63640192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.284391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:243.17, Y:35.37, Z:7.64 [[ 9.98663180e-01 -4.85739048e-02 -1.76756690e-02 2.43174868e+02] [ 4.85791018e-02 9.98819329e-01 -1.35477933e-04 3.53732999e+01] [ 1.76613806e-02 -7.23371303e-04 9.99843764e-01 7.63715874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.314391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:243.21, Y:35.37, Z:7.64 [[ 9.98627871e-01 -4.93409675e-02 -1.75455151e-02 2.43207541e+02] [ 4.93462276e-02 9.98781724e-01 -1.33274474e-04 3.53739122e+01] [ 1.75307157e-02 -7.32713377e-04 9.99846057e-01 7.63771985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34439141800001 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:243.24, Y:35.37, Z:7.64 [[ 9.98594026e-01 -4.99872463e-02 -1.76421752e-02 2.43239772e+02] [ 4.99926904e-02 9.98749575e-01 -1.32579053e-04 3.53747164e+01] [ 1.76267422e-02 -7.49587152e-04 9.99844356e-01 7.63888881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37439141800002 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:243.27, Y:35.38, Z:7.64 [[ 9.98554753e-01 -5.07839242e-02 -1.75897437e-02 2.43270932e+02] [ 5.07894812e-02 9.98709373e-01 -1.30944111e-04 3.53760552e+01] [ 1.75736917e-02 -7.62619089e-04 9.99845280e-01 7.63990779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.404391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:243.30, Y:35.38, Z:7.64 [[ 9.98530576e-01 -5.11938856e-02 -1.77728849e-02 2.43302865e+02] [ 5.11996461e-02 9.98688429e-01 -1.31050445e-04 3.53771631e+01] [ 1.77562834e-02 -7.79107538e-04 9.99842041e-01 7.64027735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.434391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:243.33, Y:35.38, Z:7.64 [[ 9.98542394e-01 -5.09258436e-02 -1.78786568e-02 2.43333617e+02] [ 5.09316524e-02 9.98702133e-01 -1.30573398e-04 3.53779501e+01] [ 1.78621023e-02 -7.80206462e-04 9.99840156e-01 7.64039440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.464391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:243.36, Y:35.38, Z:7.64 [[ 9.98406618e-01 -5.21209420e-02 -2.16247990e-02 2.43363092e+02] [ 5.23775897e-02 9.98561407e-01 1.14762225e-02 3.53766139e+01] [ 2.09955382e-02 -1.25905913e-02 9.99700287e-01 7.64009451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.494391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:243.40, Y:35.39, Z:7.64 [[ 9.98586702e-01 -4.95089728e-02 -1.93251299e-02 2.43396419e+02] [ 4.92816379e-02 9.98712011e-01 -1.20680966e-02 3.53860406e+01] [ 1.98977184e-02 1.10986667e-02 9.99740417e-01 7.64424805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.524391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:243.43, Y:35.38, Z:7.64 [[ 9.98617760e-01 -4.85784229e-02 -2.00675467e-02 2.43429162e+02] [ 4.85853787e-02 9.98819023e-01 -1.41069856e-04 3.53814931e+01] [ 2.00507004e-02 -8.34114494e-04 9.99798617e-01 7.64074623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.554391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:243.46, Y:35.38, Z:7.64 [[ 9.98682918e-01 -4.65279621e-02 -2.16235740e-02 2.43460141e+02] [ 4.65355918e-02 9.98916621e-01 -1.50488286e-04 3.53843657e+01] [ 2.16071494e-02 -8.55975733e-04 9.99766172e-01 7.64143444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.584391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:243.49, Y:35.39, Z:7.64 [[ 9.98740216e-01 -4.50818870e-02 -2.20364260e-02 2.43492354e+02] [ 4.50894949e-02 9.98982940e-01 -1.51753830e-04 3.53860392e+01] [ 2.20208550e-02 -8.42048664e-04 9.99757157e-01 7.64194718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.614391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:243.52, Y:35.39, Z:7.64 [[ 9.98811448e-01 -4.32776710e-02 -2.24217602e-02 2.43523069e+02] [ 4.32851281e-02 9.99062748e-01 -1.52863659e-04 3.53876288e+01] [ 2.24073609e-02 -8.17846790e-04 9.99748589e-01 7.64269584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.644391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:243.55, Y:35.39, Z:7.64 [[ 9.98894939e-01 -4.14535814e-02 -2.21472797e-02 2.43554806e+02] [ 4.14604325e-02 9.99140135e-01 -1.49939094e-04 3.53891849e+01] [ 2.21344515e-02 -7.68462392e-04 9.99754708e-01 7.64344845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.674391418 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:243.59, Y:35.39, Z:7.64 [[ 9.99088898e-01 -3.68455316e-02 -2.15355602e-02 2.43586446e+02] [ 3.68509841e-02 9.99320761e-01 -1.43743720e-04 3.53920436e+01] [ 2.15262288e-02 -6.49993834e-04 9.99768073e-01 7.64476363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.704391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:243.62, Y:35.39, Z:7.65 [[ 9.99185676e-01 -3.44065273e-02 -2.10754962e-02 2.43617865e+02] [ 3.44112413e-02 9.99407748e-01 -1.39052865e-04 3.53935993e+01] [ 2.10677985e-02 -5.86294353e-04 9.99777877e-01 7.64530475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.734391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:243.65, Y:35.40, Z:7.65 [[ 9.99286155e-01 -3.15774003e-02 -2.07376192e-02 2.43648643e+02] [ 3.15813624e-02 9.99501175e-01 -1.36491662e-04 3.53951984e+01] [ 2.07315848e-02 -5.18528038e-04 9.99784943e-01 7.64598258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.764391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:243.68, Y:35.40, Z:7.65 [[ 9.99471718e-01 -2.53781087e-02 -2.03036239e-02 2.43679453e+02] [ 2.53806280e-02 9.99677851e-01 -1.33635175e-04 3.53980313e+01] [ 2.03004745e-02 -3.81754147e-04 9.99793851e-01 7.64715226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.794391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:243.71, Y:35.40, Z:7.65 [[ 9.99556500e-01 -2.20460377e-02 -2.00193789e-02 2.43709247e+02] [ 2.20478100e-02 9.99756909e-01 -1.32204810e-04 3.53995441e+01] [ 2.00174270e-02 -3.09237286e-04 9.99799583e-01 7.64765724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.824391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:243.74, Y:35.40, Z:7.65 [[ 9.99628548e-01 -1.88201876e-02 -1.97120837e-02 2.43737941e+02] [ 1.88212568e-02 9.99822856e-01 -1.31291831e-04 3.54009022e+01] [ 1.97110628e-02 -2.39763128e-04 9.99805689e-01 7.64847073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.854391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:243.77, Y:35.40, Z:7.65 [[ 9.99731926e-01 -1.26900703e-02 -1.93659092e-02 2.43766175e+02] [ 1.26898768e-02 9.99919471e-01 -1.32887184e-04 3.54028119e+01] [ 1.93660361e-02 -1.12899442e-04 9.99812454e-01 7.64966475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.884391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:243.79, Y:35.40, Z:7.65 [[ 9.99772408e-01 -9.67632644e-03 -1.90131821e-02 2.43793069e+02] [ 9.67551849e-03 9.99953182e-01 -1.34485128e-04 3.54036741e+01] [ 1.90135932e-02 -4.95078743e-05 9.99819224e-01 7.64970817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.914391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:243.82, Y:35.41, Z:7.65 [[ 9.99792311e-01 -4.69768981e-03 -1.98309437e-02 2.43820782e+02] [ 4.69573614e-03 9.99988964e-01 -1.45080283e-04 3.54052799e+01] [ 1.98314064e-02 5.19292721e-05 9.99803337e-01 7.65052188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.944391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:243.85, Y:35.41, Z:7.65 [[ 9.99786863e-01 -2.75512763e-03 -2.04606660e-02 2.43848816e+02] [ 2.75250306e-03 9.99996200e-01 -1.56434839e-04 3.54061055e+01] [ 2.04610192e-02 1.00083451e-04 9.99790646e-01 7.65093542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.974391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:243.88, Y:35.41, Z:7.65 [[ 9.99778469e-01 -1.19055016e-03 -2.10141610e-02 2.43876647e+02] [ 1.18729039e-03 9.99999281e-01 -1.67598156e-04 3.54067580e+01] [ 2.10143454e-02 1.42611117e-04 9.99779164e-01 7.65114701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.004391418 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:243.90, Y:35.41, Z:7.65 [[ 9.99770897e-01 1.28456346e-04 -2.14041290e-02 2.43903202e+02] [-1.32240555e-04 9.99999976e-01 -1.75382752e-04 3.54072274e+01] [ 2.14041060e-02 1.78173065e-04 9.99770890e-01 7.65146799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.034391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:243.93, Y:35.41, Z:7.65 [[ 9.99752152e-01 1.72585130e-03 -2.21958641e-02 2.43931105e+02] [-1.73043835e-03 9.99998485e-01 -1.87457533e-04 3.54071809e+01] [ 2.21955070e-02 2.25819647e-04 9.99753624e-01 7.65150520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.064391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:243.95, Y:35.41, Z:7.65 [[ 9.99732795e-01 -6.42502391e-04 -2.31068404e-02 2.43952618e+02] [ 7.35400036e-04 9.99991681e-01 4.01207977e-03 3.54098552e+01] [ 2.31040705e-02 -4.02800049e-03 9.99724951e-01 7.65174985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09439141800001 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:243.99, Y:35.41, Z:7.65 [[ 9.99762526e-01 1.77810632e-03 -2.17193661e-02 2.43986083e+02] [-1.88362229e-03 9.99986520e-01 -4.83866030e-03 3.54083490e+01] [ 2.17104697e-02 4.87842233e-03 9.99752398e-01 7.65330194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12439141800002 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:244.01, Y:35.41, Z:7.65 [[ 9.99769279e-01 1.08033855e-03 -2.14527950e-02 2.44013435e+02] [-1.08467358e-03 9.99999394e-01 -1.90438069e-04 3.54062734e+01] [ 2.14525762e-02 2.13663411e-04 9.99769844e-01 7.65193460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.154391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:244.04, Y:35.41, Z:7.65 [[ 9.99769469e-01 8.87461389e-04 -2.14527562e-02 2.44041853e+02] [-8.91844417e-04 9.99999583e-01 -1.94744232e-04 3.54066571e+01] [ 2.14525744e-02 2.13831858e-04 9.99769844e-01 7.65218220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.184391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:244.07, Y:35.41, Z:7.65 [[ 9.99782323e-01 -2.84572373e-04 -2.08620841e-02 2.44068896e+02] [ 2.80595186e-04 9.99999942e-01 -1.93568855e-04 3.54069033e+01] [ 2.08621380e-02 1.87672919e-04 9.99782344e-01 7.65284710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.214391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:244.10, Y:35.41, Z:7.65 [[ 9.99787779e-01 -1.52538766e-03 -2.05443625e-02 2.44096868e+02] [ 1.52172962e-03 9.99998823e-01 -1.93687546e-04 3.54069444e+01] [ 2.05446338e-02 1.62383477e-04 9.99788924e-01 7.65331905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.244391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:244.12, Y:35.41, Z:7.65 [[ 9.99789707e-01 -4.24562562e-03 -2.00627941e-02 2.44124603e+02] [ 4.24263928e-03 9.99990982e-01 -1.91411593e-04 3.54053888e+01] [ 2.00634259e-02 1.06252142e-04 9.99798704e-01 7.65415093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.274391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:244.15, Y:35.40, Z:7.65 [[ 9.99790091e-01 -5.87416969e-03 -1.96282672e-02 2.44151469e+02] [ 5.87157564e-03 9.99982744e-01 -1.89786469e-04 3.54043647e+01] [ 1.96290434e-02 7.44977753e-05 9.99807329e-01 7.65414941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.304391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:244.18, Y:35.40, Z:7.65 [[ 9.99781104e-01 -8.02536241e-03 -1.93219273e-02 2.44178965e+02] [ 8.02320241e-03 9.99967796e-01 -1.89307866e-04 3.54035166e+01] [ 1.93228243e-02 3.42426932e-05 9.99813296e-01 7.65455484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.334391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:244.21, Y:35.40, Z:7.65 [[ 9.99765291e-01 -1.13557181e-02 -1.84501949e-02 2.44205986e+02] [ 1.13542714e-02 9.99935521e-01 -1.83169836e-04 3.54004230e+01] [ 1.84510853e-02 -2.63616754e-05 9.99829764e-01 7.65449730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.364391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:244.23, Y:35.40, Z:7.65 [[ 9.99732582e-01 -1.32290417e-02 -1.89672743e-02 2.44233669e+02] [ 1.32277654e-02 9.99912491e-01 -1.92754742e-04 3.53991855e+01] [ 1.89681644e-02 -5.81914580e-05 9.99820086e-01 7.65487028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.394391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:244.26, Y:35.40, Z:7.65 [[ 9.99715989e-01 -1.48091151e-02 -1.86716989e-02 2.44261598e+02] [ 1.48080469e-02 9.99890336e-01 -1.95475925e-04 3.53979009e+01] [ 1.86725462e-02 -8.10709859e-05 9.99825650e-01 7.65483671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.424391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:244.29, Y:35.39, Z:7.65 [[ 9.99677174e-01 -1.69505767e-02 -1.89268775e-02 2.44289563e+02] [ 1.69497509e-02 9.99856322e-01 -2.04056759e-04 3.53944669e+01] [ 1.89276170e-02 -1.16814976e-04 9.99820850e-01 7.65340173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.454391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:244.32, Y:35.39, Z:7.65 [[ 9.99659810e-01 -1.81517508e-02 -1.87290668e-02 2.44317401e+02] [ 1.81510421e-02 9.99835235e-01 -2.07841246e-04 3.53931649e+01] [ 1.87297536e-02 -1.32181540e-04 9.99824574e-01 7.65397275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.484391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:244.35, Y:35.39, Z:7.65 [[ 9.99646259e-01 -1.90172891e-02 -1.85929955e-02 2.44345551e+02] [ 1.90166296e-02 9.99819145e-01 -2.12289007e-04 3.53917986e+01] [ 1.85936700e-02 -1.41362197e-04 9.99827113e-01 7.65422102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.514391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:244.37, Y:35.39, Z:7.66 [[ 9.99644930e-01 -1.84023540e-02 -1.92709078e-02 2.44372945e+02] [ 1.83106640e-02 9.99820222e-01 -4.92365465e-03 3.53907937e+01] [ 1.93580501e-02 4.56904329e-03 9.99802175e-01 7.65567739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.544391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:244.40, Y:35.38, Z:7.65 [[ 9.99667082e-01 -1.85481267e-02 -1.79357823e-02 2.44401431e+02] [ 1.86298290e-02 9.99816773e-01 4.39895039e-03 3.53848563e+01] [ 1.78509036e-02 -4.73162645e-03 9.99829464e-01 7.65250390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.574391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:244.43, Y:35.39, Z:7.65 [[ 9.99686431e-01 -1.79889001e-02 -1.74194855e-02 2.44429438e+02] [ 1.79880215e-02 9.99838181e-01 -2.07128842e-04 3.53862591e+01] [ 1.74203927e-02 -1.06278188e-04 9.99848248e-01 7.65441071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.604391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:244.46, Y:35.38, Z:7.65 [[ 9.99743223e-01 -1.49996392e-02 -1.69852461e-02 2.44457087e+02] [ 1.49982838e-02 9.99887498e-01 -2.07190733e-04 3.53841347e+01] [ 1.69864430e-02 -4.76120108e-05 9.99855719e-01 7.65486643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.634391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:244.48, Y:35.38, Z:7.65 [[ 9.99771229e-01 -1.28331325e-02 -1.71114313e-02 2.44484746e+02] [ 1.28313481e-02 9.99917652e-01 -2.14070924e-04 3.53828491e+01] [ 1.71127694e-02 -5.54078110e-06 9.99853566e-01 7.65420923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.664391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:244.51, Y:35.38, Z:7.66 [[ 9.99795867e-01 -1.14052782e-02 -1.66776646e-02 2.44512785e+02] [ 1.14032993e-02 9.99934957e-01 -2.13749134e-04 3.53823820e+01] [ 1.66790177e-02 2.35250993e-05 9.99860895e-01 7.65579524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.694391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:244.54, Y:35.38, Z:7.66 [[ 9.99837491e-01 -7.20040346e-03 -1.65271450e-02 2.44540782e+02] [ 7.19780186e-03 9.99974072e-01 -2.16892731e-04 3.53797866e+01] [ 1.65282782e-02 9.78983688e-05 9.99863394e-01 7.65573658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.724391418 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:244.57, Y:35.38, Z:7.66 [[ 9.99850486e-01 -5.29868702e-03 -1.64599626e-02 2.44568622e+02] [ 5.29576360e-03 9.99985953e-01 -2.21190058e-04 3.53784548e+01] [ 1.64609034e-02 1.33988916e-04 9.99864501e-01 7.65527981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.754391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:244.60, Y:35.38, Z:7.66 [[ 9.99849894e-01 -3.53750504e-03 -1.69610065e-02 2.44596945e+02] [ 3.53405224e-03 9.99993728e-01 -2.33541264e-04 3.53770981e+01] [ 1.69617263e-02 1.73565125e-04 9.99856125e-01 7.65528201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.784391418 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:244.62, Y:35.37, Z:7.66 [[ 9.99841679e-01 -3.26692930e-04 -1.77907485e-02 2.44624624e+02] [ 3.22279858e-04 9.99999917e-01 -2.50920796e-04 3.53739876e+01] [ 1.77908290e-02 2.45147470e-04 9.99841701e-01 7.65501931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.814391418 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:244.65, Y:35.37, Z:7.66 [[ 9.99835106e-01 5.82728306e-04 -1.81499647e-02 2.44652827e+02] [-5.87579204e-04 9.99999793e-01 -2.61936094e-04 3.53728393e+01] [ 1.81498083e-02 2.72557444e-04 9.99835242e-01 7.65508864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84439141800001 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:244.68, Y:35.37, Z:7.66 [[ 9.99826076e-01 1.62242148e-03 -1.85791763e-02 2.44679564e+02] [-1.62776317e-03 9.99998638e-01 -2.72390466e-04 3.53696293e+01] [ 1.85787090e-02 3.02585589e-04 9.99827355e-01 7.65584769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87439141800002 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:244.71, Y:35.37, Z:7.66 [[ 9.99829728e-01 1.22599369e-03 -1.84123024e-02 2.44706533e+02] [-1.23121961e-03 9.99999205e-01 -2.72494875e-04 3.53679283e+01] [ 1.84119536e-02 2.95118064e-04 9.99830442e-01 7.65613250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.904391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:244.73, Y:35.37, Z:7.66 [[ 9.99830542e-01 5.25738450e-04 -1.84013620e-02 2.44734333e+02] [-5.30883334e-04 9.99999821e-01 -2.74708810e-04 3.53659128e+01] [ 1.84012143e-02 2.84431235e-04 9.99830643e-01 7.65702519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.934391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:244.76, Y:35.36, Z:7.66 [[ 9.99836826e-01 -1.02375983e-03 -1.80353163e-02 2.44761352e+02] [ 1.01901440e-03 9.99999444e-01 -2.72306868e-04 3.53637459e+01] [ 1.80355850e-02 2.53884188e-04 9.99837313e-01 7.65699352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.964391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:244.79, Y:35.36, Z:7.66 [[ 9.99838120e-01 -5.06104575e-03 -1.72661489e-02 2.44788055e+02] [ 5.05724669e-03 9.99987177e-01 -2.63685391e-04 3.53590985e+01] [ 1.72672621e-02 1.76323531e-04 9.99850894e-01 7.65761305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.994391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:244.82, Y:35.36, Z:7.66 [[ 9.99831436e-01 -7.75212817e-03 -1.66434213e-02 2.44815741e+02] [ 7.74893639e-03 9.99969944e-01 -2.56255675e-04 3.53570911e+01] [ 1.66449076e-02 1.27243667e-04 9.99861456e-01 7.65769353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.024391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:244.84, Y:35.35, Z:7.66 [[ 9.99770423e-01 -1.43357212e-02 -1.59244552e-02 2.44843784e+02] [ 1.43336048e-02 9.99897238e-01 -2.47038346e-04 3.53526549e+01] [ 1.59263603e-02 1.87267844e-05 9.99873167e-01 7.65819522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.054391418 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:244.87, Y:35.35, Z:7.66 [[ 9.99708878e-01 -1.84516320e-02 -1.55465914e-02 2.44871527e+02] [ 1.84500615e-02 9.99829753e-01 -2.44451941e-04 3.53505865e+01] [ 1.55484551e-02 -4.24547910e-05 9.99879115e-01 7.65810755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.084391418 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:244.90, Y:35.35, Z:7.66 [[ 9.99615621e-01 -2.30190108e-02 -1.54510562e-02 2.44900496e+02] [ 2.30179317e-02 9.99735022e-01 -2.47697010e-04 3.53485407e+01] [ 1.54526637e-02 -1.08049556e-04 9.99880595e-01 7.65804982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.114391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:244.93, Y:35.34, Z:7.66 [[ 9.99370348e-01 -3.19937058e-02 -1.53398343e-02 2.44929842e+02] [ 3.19936571e-02 9.99488041e-01 -2.48644876e-04 3.53436016e+01] [ 1.53399360e-02 -2.42289082e-04 9.99882307e-01 7.65755700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.144391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:244.96, Y:35.34, Z:7.66 [[ 9.99213744e-01 -3.65607802e-02 -1.53363407e-02 2.44959805e+02] [ 3.65612657e-02 9.99331382e-01 -2.48805595e-04 3.53413944e+01] [ 1.53351831e-02 -3.12106059e-04 9.99882360e-01 7.65783547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.174391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:244.99, Y:35.34, Z:7.66 [[ 9.99020075e-01 -4.15493868e-02 -1.52491786e-02 2.44991084e+02] [ 4.15504543e-02 9.99136376e-01 -2.46952352e-04 3.53397643e+01] [ 1.52462698e-02 -3.86899942e-04 9.99883694e-01 7.65834855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.204391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:245.02, Y:35.34, Z:7.66 [[ 9.98827758e-01 -4.60213785e-02 -1.50047701e-02 2.45023728e+02] [ 4.60229290e-02 9.98940354e-01 -2.42131393e-04 3.53381765e+01] [ 1.50000136e-02 -4.48715912e-04 9.99887393e-01 7.65876875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.234391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:245.05, Y:35.34, Z:7.66 [[ 9.98382319e-01 -5.50707544e-02 -1.41406399e-02 2.45054803e+02] [ 5.50730518e-02 9.98482302e-01 -2.27184335e-04 3.53354286e+01] [ 1.41316899e-02 -5.51951372e-04 9.99899990e-01 7.65910269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.264391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:245.09, Y:35.33, Z:7.66 [[ 9.98157550e-01 -5.88957308e-02 -1.45876399e-02 2.45085773e+02] [ 5.88985965e-02 9.98263943e-01 -2.33463159e-04 3.53346251e+01] [ 1.45760649e-02 -6.26158504e-04 9.99893567e-01 7.65911750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.294391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:245.12, Y:35.33, Z:7.66 [[ 9.97955948e-01 -6.21908919e-02 -1.47043999e-02 2.45117857e+02] [ 6.21941755e-02 9.98064041e-01 -2.34320686e-04 3.53343519e+01] [ 1.46905054e-02 -6.80686304e-04 9.99891857e-01 7.65903151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.324391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:245.15, Y:35.33, Z:7.66 [[ 9.97655857e-01 -6.65467311e-02 -1.59474959e-02 2.45149812e+02] [ 6.65511700e-02 9.97782981e-01 -2.52775692e-04 3.53339982e+01] [ 1.59289614e-02 -8.09141363e-04 9.99872799e-01 7.65943772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.354391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:245.18, Y:35.33, Z:7.66 [[ 9.97576437e-01 -6.75616527e-02 -1.66335425e-02 2.45181638e+02] [ 6.75666486e-02 9.97714728e-01 -2.62085610e-04 3.53342799e+01] [ 1.66132373e-02 -8.62422294e-04 9.99861619e-01 7.65940792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.384391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:245.21, Y:35.33, Z:7.66 [[ 9.97535735e-01 -6.79459433e-02 -1.74873079e-02 2.45214028e+02] [ 6.79515534e-02 9.97688584e-01 -2.73866535e-04 3.53348406e+01] [ 1.74654956e-02 -9.15098081e-04 9.99847048e-01 7.65988571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.414391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:245.25, Y:35.34, Z:7.66 [[ 9.97533108e-01 -6.78271950e-02 -1.80878167e-02 2.45246096e+02] [ 6.78332088e-02 9.97696636e-01 -2.81549297e-04 3.53359331e+01] [ 1.80652506e-02 -9.46099904e-04 9.99836362e-01 7.66026791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.444391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:245.28, Y:35.34, Z:7.66 [[ 9.97625978e-01 -6.62294733e-02 -1.88696590e-02 2.45278274e+02] [ 6.62357666e-02 9.97803958e-01 -2.91957564e-04 3.53383629e+01] [ 1.88475567e-02 -9.58581881e-04 9.99821910e-01 7.66091212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.474391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:245.31, Y:35.34, Z:7.66 [[ 9.97718188e-01 -6.46988564e-02 -1.92996432e-02 2.45310493e+02] [ 6.47051846e-02 9.97904380e-01 -2.97031925e-04 3.53401288e+01] [ 1.92784161e-02 -9.52432819e-04 9.99813700e-01 7.66171356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.504391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:245.34, Y:35.34, Z:7.66 [[ 9.97831899e-01 -6.29746357e-02 -1.91232196e-02 2.45342748e+02] [ 6.29805626e-02 9.98014711e-01 -2.92754298e-04 3.53421891e+01] [ 1.91036906e-02 -9.12271554e-04 9.99817092e-01 7.66237905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.534391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:245.37, Y:35.35, Z:7.66 [[ 9.98081663e-01 -5.91963348e-02 -1.81325234e-02 2.45373594e+02] [ 5.92010640e-02 9.98246041e-01 -2.76323157e-04 3.53462574e+01] [ 1.81170770e-02 -7.97671601e-04 9.99835554e-01 7.66389218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.564391418 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:245.41, Y:35.35, Z:7.66 [[ 9.98226607e-01 -5.69118924e-02 -1.74550226e-02 2.45405993e+02] [ 5.69159475e-02 9.98378938e-01 -2.64772354e-04 3.53486634e+01] [ 1.74417956e-02 -7.29166339e-04 9.99847614e-01 7.66464513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59439141800001 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:245.44, Y:35.35, Z:7.67 [[ 9.98488567e-01 -5.22200692e-02 -1.71360821e-02 2.45438342e+02] [ 5.22233111e-02 9.98635398e-01 -2.58553319e-04 3.53534605e+01] [ 1.71261998e-02 -6.36740413e-04 9.99853133e-01 7.66634529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62439141800002 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:245.47, Y:35.36, Z:7.67 [[ 9.98625033e-01 -4.97132528e-02 -1.66323519e-02 2.45469996e+02] [ 4.97159817e-02 9.98763365e-01 -2.49618422e-04 3.53560650e+01] [ 1.66241931e-02 -5.77618497e-04 9.99861642e-01 7.66703111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.654391418 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:245.50, Y:35.36, Z:7.67 [[ 9.98734377e-01 -4.74870797e-02 -1.65716776e-02 2.45502519e+02] [ 4.74895049e-02 9.98871706e-01 -2.47364202e-04 3.53587310e+01] [ 1.65647265e-02 -5.39929631e-04 9.99862650e-01 7.66769540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.684391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:245.53, Y:35.36, Z:7.67 [[ 9.98849523e-01 -4.49481432e-02 -1.67121373e-02 2.45533587e+02] [ 4.49502746e-02 9.98989195e-01 -2.48265546e-04 3.53610307e+01] [ 1.67064036e-02 -5.03235238e-04 9.99860312e-01 7.66821004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.714391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:245.57, Y:35.37, Z:7.67 [[ 9.99034651e-01 -4.02831015e-02 -1.75224947e-02 2.45565908e+02] [ 4.02847498e-02 9.99188206e-01 -2.59035781e-04 3.53656675e+01] [ 1.75187048e-02 -4.47103592e-04 9.99846436e-01 7.66866545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.744391418 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:245.60, Y:35.37, Z:7.67 [[ 9.99121343e-01 -3.79239842e-02 -1.78413543e-02 2.45596745e+02] [ 3.79253366e-02 9.99280541e-01 -2.62662949e-04 3.53680355e+01] [ 1.78384794e-02 -4.14207207e-04 9.99840796e-01 7.66916330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.774391418 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:245.63, Y:35.37, Z:7.67 [[ 9.99189974e-01 -3.57400001e-02 -1.84945327e-02 2.45627610e+02] [ 3.57410934e-02 9.99361046e-01 -2.71523303e-04 3.53704198e+01] [ 1.84924198e-02 -3.89711458e-04 9.99828925e-01 7.66979711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.804391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:245.66, Y:35.37, Z:7.67 [[ 9.99320615e-01 -3.16846509e-02 -1.88252931e-02 2.45658849e+02] [ 3.16850789e-02 9.99497864e-01 -2.75607553e-04 3.53744204e+01] [ 1.88245728e-02 -3.21060589e-04 9.99822750e-01 7.67025632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.834391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:245.69, Y:35.38, Z:7.67 [[ 9.99376592e-01 -2.97293323e-02 -1.90419019e-02 2.45688084e+02] [ 2.97294227e-02 9.99557944e-01 -2.78395246e-04 3.53765409e+01] [ 1.90417608e-02 -2.87883057e-04 9.99818648e-01 7.67058131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.864391418 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:245.72, Y:35.38, Z:7.67 [[ 9.99484314e-01 -2.57505030e-02 -1.91837916e-02 2.45718169e+02] [ 2.57498624e-02 9.99668378e-01 -2.80450466e-04 3.53805463e+01] [ 1.91846515e-02 -2.13674151e-04 9.99815935e-01 7.67109529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.894391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:245.75, Y:35.38, Z:7.67 [[ 9.99531228e-01 -2.39089530e-02 -1.91229094e-02 2.45746528e+02] [ 2.39079672e-02 9.99714124e-01 -2.80196205e-04 3.53826645e+01] [ 1.91241418e-02 -1.77125033e-04 9.99817101e-01 7.67161177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.924391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:245.78, Y:35.38, Z:7.67 [[ 9.99565412e-01 -2.24415259e-02 -1.91145057e-02 2.45775698e+02] [ 2.24402058e-02 9.99748147e-01 -2.83571424e-04 3.53845565e+01] [ 1.91160554e-02 -1.45485255e-04 9.99817261e-01 7.67200634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.954391418 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:245.80, Y:35.39, Z:7.67 [[ 9.99617024e-01 -2.07133367e-02 -1.83511289e-02 2.45803232e+02] [ 2.07117674e-02 9.99785450e-01 -2.75591412e-04 3.53876833e+01] [ 1.83529001e-02 -1.04598445e-04 9.99831566e-01 7.67217854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.984391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:245.83, Y:35.39, Z:7.67 [[ 9.99628477e-01 -2.06386635e-02 -1.78032042e-02 2.45832218e+02] [ 2.06371134e-02 9.99786995e-01 -2.70803661e-04 3.53889958e+01] [ 1.78050011e-02 -9.67036924e-05 9.99841474e-01 7.67238757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.014391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:245.86, Y:35.39, Z:7.67 [[ 9.99631252e-01 -2.10871620e-02 -1.71082432e-02 2.45860300e+02] [ 2.10857411e-02 9.99777636e-01 -2.63451183e-04 3.53898817e+01] [ 1.71099944e-02 -9.73859517e-05 9.99853609e-01 7.67256490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.044391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:245.89, Y:35.39, Z:7.67 [[ 9.99625913e-01 -2.13387767e-02 -1.71081967e-02 2.45889535e+02] [ 2.13373414e-02 9.99772298e-01 -2.66443336e-04 3.53904396e+01] [ 1.71099867e-02 -9.86997719e-05 9.99853609e-01 7.67281908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.074391418 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:245.92, Y:35.39, Z:7.67 [[ 9.99606087e-01 -2.33016336e-02 -1.56430410e-02 2.45918652e+02] [ 2.33006365e-02 9.99728473e-01 -2.46023717e-04 3.53912970e+01] [ 1.56445263e-02 -1.18566007e-04 9.99877610e-01 7.67251745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.104391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:245.95, Y:35.39, Z:7.67 [[ 9.99571495e-01 -2.52476636e-02 -1.48115400e-02 2.45949643e+02] [ 2.52469762e-02 9.99681217e-01 -2.33419132e-04 3.53919514e+01] [ 1.48127116e-02 -1.40627488e-04 9.99890276e-01 7.67262793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.134391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:245.98, Y:35.39, Z:7.67 [[ 9.99523483e-01 -2.73719562e-02 -1.42682320e-02 2.45980936e+02] [ 2.73715379e-02 9.99625304e-01 -2.24636143e-04 3.53921875e+01] [ 1.42690344e-02 -1.66014352e-04 9.99898178e-01 7.67272457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.164391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:246.01, Y:35.39, Z:7.67 [[ 9.99382680e-01 -3.23638124e-02 -1.36690485e-02 2.46012354e+02] [ 3.23639037e-02 9.99476129e-01 -2.14579266e-04 3.53917420e+01] [ 1.36688323e-02 -2.27936969e-04 9.99906551e-01 7.67212221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.194391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:246.04, Y:35.39, Z:7.67 [[ 9.99304140e-01 -3.46544097e-02 -1.37952313e-02 2.46044691e+02] [ 3.46547338e-02 9.99399321e-01 -2.15629127e-04 3.53917604e+01] [ 1.37944173e-02 -2.62590990e-04 9.99904818e-01 7.67209548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.224391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:246.08, Y:35.39, Z:7.67 [[ 9.99166129e-01 -3.84300611e-02 -1.37905055e-02 2.46077205e+02] [ 3.84307597e-02 9.99261242e-01 -2.14438656e-04 3.53912072e+01] [ 1.37885586e-02 -3.15719761e-04 9.99904883e-01 7.67154811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.254391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:246.11, Y:35.39, Z:7.67 [[ 9.99123802e-01 -3.95480050e-02 -1.36961339e-02 2.46109683e+02] [ 3.95488142e-02 9.99217617e-01 -2.11863064e-04 3.53911528e+01] [ 1.36937971e-02 -3.29988427e-04 9.99906181e-01 7.67126629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.284391418 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:246.14, Y:35.39, Z:7.67 [[ 9.99097987e-01 -4.01501340e-02 -1.38267894e-02 2.46141640e+02] [ 4.01510320e-02 9.99193600e-01 -2.12748239e-04 3.53914138e+01] [ 1.38241813e-02 -3.42603528e-04 9.99904383e-01 7.67122951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.314391418 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:246.17, Y:35.39, Z:7.67 [[ 9.99107214e-01 -4.00707727e-02 -1.33831038e-02 2.46172673e+02] [ 4.00716201e-02 9.99196789e-01 -2.04941595e-04 3.53919910e+01] [ 1.33805666e-02 -3.31524026e-04 9.99910421e-01 7.67104885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34439141800001 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:246.20, Y:35.39, Z:7.67 [[ 9.99192916e-01 -3.79089312e-02 -1.32826844e-02 2.46203417e+02] [ 3.79095856e-02 9.99281153e-01 -2.02601412e-04 3.53929308e+01] [ 1.32808166e-02 -3.01103167e-04 9.99911761e-01 7.67102097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37439141800002 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:246.24, Y:35.39, Z:7.67 [[ 9.99267603e-01 -3.59099487e-02 -1.32186382e-02 2.46236049e+02] [ 3.59104336e-02 9.99354992e-01 -2.00744793e-04 3.53936792e+01] [ 1.32173208e-02 -2.74089262e-04 9.99912610e-01 7.67092592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.404391418 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:246.27, Y:35.39, Z:7.67 [[ 9.99356135e-01 -3.34379072e-02 -1.30085027e-02 2.46267686e+02] [ 3.34381798e-02 9.99440768e-01 -1.96608416e-04 3.53945041e+01] [ 1.30078021e-02 -2.38498827e-04 9.99915367e-01 7.67087551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.434391418 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:246.30, Y:35.40, Z:7.67 [[ 9.99556635e-01 -2.69598939e-02 -1.26371805e-02 2.46299701e+02] [ 2.69596437e-02 9.99636505e-01 -1.90178466e-04 3.53957080e+01] [ 1.26377141e-02 -1.50599736e-04 9.99920130e-01 7.67080973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.464391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:246.33, Y:35.40, Z:7.67 [[ 9.99655895e-01 -2.33103222e-02 -1.20300200e-02 2.46331227e+02] [ 2.33098408e-02 9.99728273e-01 -1.80249020e-04 3.53966336e+01] [ 1.20309528e-02 -1.00230856e-04 9.99927620e-01 7.67075808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.494391418 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:246.36, Y:35.40, Z:7.67 [[ 9.99816476e-01 -1.52935837e-02 -1.15377502e-02 2.46362004e+02] [ 1.52926116e-02 9.99883046e-01 -1.72477628e-04 3.53983029e+01] [ 1.15390386e-02 -3.99635764e-06 9.99933423e-01 7.67095114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.524391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:246.39, Y:35.40, Z:7.67 [[ 9.99869317e-01 -1.13189158e-02 -1.15425449e-02 2.46391716e+02] [ 1.13176788e-02 9.99935938e-01 -1.72486723e-04 3.53992375e+01] [ 1.15437578e-02 4.18293667e-05 9.99933368e-01 7.67155907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.554391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:246.42, Y:35.40, Z:7.67 [[ 9.99919777e-01 -4.75415711e-03 -1.17403896e-02 2.46420372e+02] [ 4.75241092e-03 9.99988692e-01 -1.76627739e-04 3.54000780e+01] [ 1.17410965e-02 1.20818414e-04 9.99931064e-01 7.67118745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.584391418 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:246.45, Y:35.40, Z:7.67 [[ 9.99923260e-01 -2.49449580e-03 -1.21347629e-02 2.46448238e+02] [ 2.49242069e-03 9.99996877e-01 -1.86124817e-04 3.54004586e+01] [ 1.21351893e-02 1.55865600e-04 9.99926354e-01 7.67105211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.614391418 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:246.48, Y:35.40, Z:7.67 [[ 9.99917999e-01 -1.05514772e-03 -1.27624991e-02 2.46476084e+02] [ 1.05268148e-03 9.99999426e-01 -1.99957484e-04 3.54007186e+01] [ 1.27627028e-02 1.86506241e-04 9.99918536e-01 7.67100439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.644391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:246.50, Y:35.40, Z:7.67 [[ 9.99914013e-01 -3.30806421e-04 -1.31094204e-02 2.46504388e+02] [ 3.28086117e-04 9.99999924e-01 -2.09657628e-04 3.54006617e+01] [ 1.31094887e-02 2.05338581e-04 9.99914046e-01 7.67071277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.674391418 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:246.53, Y:35.40, Z:7.67 [[ 9.99898085e-01 -6.46416752e-04 -1.42619193e-02 2.46531695e+02] [ 6.43174001e-04 9.99999766e-01 -2.31956806e-04 3.53989231e+01] [ 1.42620659e-02 2.22760271e-04 9.99898267e-01 7.66991115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.704391418 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:246.56, Y:35.40, Z:7.67 [[ 9.99890114e-01 -2.00562452e-03 -1.46880268e-02 2.46558514e+02] [ 2.00230088e-03 9.99997966e-01 -2.40984373e-04 3.53980955e+01] [ 1.46884803e-02 2.11548043e-04 9.99892096e-01 7.66967864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.734391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:246.59, Y:35.40, Z:7.67 [[ 9.99881157e-01 -3.82409996e-03 -1.49348111e-02 2.46586528e+02] [ 3.82083691e-03 9.99992670e-01 -2.47013572e-04 3.53971743e+01] [ 1.49356463e-02 1.89920739e-04 9.99888439e-01 7.66977803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.764391418 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:246.61, Y:35.39, Z:7.67 [[ 9.99853626e-01 -8.60360373e-03 -1.47886646e-02 2.46613677e+02] [ 8.60089911e-03 9.99962981e-01 -2.46477397e-04 3.53944965e+01] [ 1.47902378e-02 1.19245506e-04 9.99890611e-01 7.66977993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.794391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:246.64, Y:35.39, Z:7.67 [[ 9.99826344e-01 -1.18400691e-02 -1.43908145e-02 2.46641939e+02] [ 1.18378163e-02 9.99929901e-01 -2.41720899e-04 3.53933199e+01] [ 1.43926677e-02 7.13231047e-05 9.99896418e-01 7.67011731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.824391418 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:246.67, Y:35.39, Z:7.67 [[ 9.99729769e-01 -1.93702433e-02 -1.28523513e-02 2.46669577e+02] [ 1.93690509e-02 9.99812379e-01 -2.17253250e-04 3.53899694e+01] [ 1.28541482e-02 -3.17433064e-05 9.99917382e-01 7.66995411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.854391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:246.70, Y:35.39, Z:7.67 [[ 9.99650586e-01 -2.39004060e-02 -1.12905324e-02 2.46698570e+02] [ 2.38827500e-02 9.99713328e-01 -1.69605734e-03 3.53909246e+01] [ 1.13278322e-02 1.42581575e-03 9.99934822e-01 7.67120218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.884391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:246.73, Y:35.39, Z:7.67 [[ 9.99552700e-01 -2.78739898e-02 -1.08370426e-02 2.46730381e+02] [ 2.78886069e-02 9.99610317e-01 1.20000694e-03 3.53860847e+01] [ 1.07993707e-02 -1.50170020e-03 9.99940557e-01 7.67015101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.914391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:246.76, Y:35.39, Z:7.67 [[ 9.99428968e-01 -3.23811120e-02 -9.65412061e-03 2.46762864e+02] [ 3.23810445e-02 9.99475583e-01 -1.63339207e-04 3.53853352e+01] [ 9.65434693e-03 -1.49364574e-04 9.99953385e-01 7.67075179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.944391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:246.80, Y:35.38, Z:7.67 [[ 9.99068024e-01 -4.22796007e-02 -8.69021161e-03 2.46795074e+02] [ 4.22799256e-02 9.99105793e-01 -1.46401588e-04 3.53821684e+01] [ 8.68863056e-03 -2.21156355e-04 9.99962229e-01 7.67116435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.974391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:246.83, Y:35.38, Z:7.67 [[ 9.98840160e-01 -4.73850064e-02 -8.54377048e-03 2.46827022e+02] [ 4.73855129e-02 9.98876665e-01 -1.43252602e-04 3.53809514e+01] [ 8.54096100e-03 -2.61764495e-04 9.99963491e-01 7.67128990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.004391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:246.86, Y:35.40, Z:7.67 [[ 9.98726848e-01 -5.04371578e-02 -8.81370696e-04 2.46863915e+02] [ 5.03598505e-02 9.97905538e-01 -4.06007677e-02 3.53964156e+01] [ 2.92731203e-03 4.05046911e-02 9.99175060e-01 7.67317234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.034391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:246.89, Y:35.36, Z:7.66 [[ 9.98286021e-01 -5.76586846e-02 -1.00248190e-02 2.46889788e+02] [ 5.80232498e-02 9.97474016e-01 4.09742548e-02 3.53588196e+01] [ 7.63697486e-03 -4.14856984e-02 9.99109911e-01 7.66081600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.064391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:246.92, Y:35.38, Z:7.67 [[ 9.97654052e-01 -6.78140253e-02 -9.36216698e-03 2.46922748e+02] [ 6.78155345e-02 9.97697864e-01 -1.56525422e-04 3.53763518e+01] [ 9.35122862e-03 -4.78742136e-04 9.99956162e-01 7.67127408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09439141800001 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:246.95, Y:35.38, Z:7.67 [[ 9.97389946e-01 -7.16591579e-02 -8.84646199e-03 2.46954820e+02] [ 7.16606653e-02 9.97429059e-01 -1.46873078e-04 3.53756083e+01] [ 8.83424306e-03 -4.87453620e-04 9.99960859e-01 7.67129239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12439141800002 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:246.99, Y:35.38, Z:7.67 [[ 9.96968050e-01 -7.72482234e-02 -9.34978917e-03 2.46987508e+02] [ 7.72501615e-02 9.97011730e-01 -1.54216304e-04 3.53758229e+01] [ 9.33376241e-03 -5.68523996e-04 9.99956278e-01 7.67165182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.154391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:247.02, Y:35.38, Z:7.67 [[ 9.96870054e-01 -7.84302462e-02 -9.93937868e-03 2.47020319e+02] [ 7.84325078e-02 9.96919413e-01 -1.62651516e-04 3.53769676e+01] [ 9.92151635e-03 -6.17427971e-04 9.99950590e-01 7.67185052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.184391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:247.05, Y:35.38, Z:7.67 [[ 9.96878737e-01 -7.81405641e-02 -1.12621287e-02 2.47052958e+02] [ 7.81434668e-02 9.96942107e-01 -1.82752150e-04 3.53796758e+01] [ 1.12419707e-02 -6.97880045e-04 9.99936564e-01 7.67165665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.214391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:247.08, Y:35.39, Z:7.68 [[ 9.96975637e-01 -7.63804593e-02 -1.43389384e-02 2.47082863e+02] [ 7.62241750e-02 9.97028391e-01 -1.11473346e-02 3.53866969e+01] [ 1.51477672e-02 1.00206472e-02 9.99835052e-01 7.67503606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.244391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:247.12, Y:35.38, Z:7.67 [[ 9.97071195e-01 -7.54581665e-02 -1.24537838e-02 2.47116656e+02] [ 7.55905096e-02 9.97083434e-01 1.05214661e-02 3.53784615e+01] [ 1.16235310e-02 -1.14320387e-02 9.99867092e-01 7.66868661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.274391418 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:247.15, Y:35.39, Z:7.67 [[ 9.97223641e-01 -7.33728264e-02 -1.27058572e-02 2.47149296e+02] [ 7.33761950e-02 9.97304313e-01 -2.01470233e-04 3.53858064e+01] [ 1.26863886e-02 -7.31396578e-04 9.99919257e-01 7.67168581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.304391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:247.18, Y:35.39, Z:7.67 [[ 9.97542718e-01 -6.87106604e-02 -1.36883605e-02 2.47182537e+02] [ 6.87141567e-02 9.97636366e-01 -2.15283785e-04 3.53904970e+01] [ 1.36707986e-02 -7.25829379e-04 9.99906287e-01 7.67212600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.334391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:247.22, Y:35.39, Z:7.67 [[ 9.97703935e-01 -6.62696796e-02 -1.39709621e-02 2.47215867e+02] [ 6.62731071e-02 9.97801497e-01 -2.18003684e-04 3.53933939e+01] [ 1.39546940e-02 -7.08395937e-04 9.99902378e-01 7.67241266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.364391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:247.25, Y:35.40, Z:7.67 [[ 9.97861539e-01 -6.37317199e-02 -1.45126617e-02 2.47247389e+02] [ 6.37351752e-02 9.97966822e-01 -2.24764003e-04 3.53964853e+01] [ 1.44974794e-02 -7.00683680e-04 9.99894661e-01 7.67294574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.394391418 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:247.28, Y:35.40, Z:7.67 [[ 9.98138012e-01 -5.92674854e-02 -1.44178124e-02 2.47280144e+02] [ 5.92704533e-02 9.98241937e-01 -2.21738083e-04 3.54024802e+01] [ 1.44056068e-02 -6.33225069e-04 9.99896033e-01 7.67351499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.424391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:247.31, Y:35.41, Z:7.67 [[ 9.98284162e-01 -5.66732001e-02 -1.47268370e-02 2.47312141e+02] [ 5.66760477e-02 9.98392596e-01 -2.24257823e-04 3.54054029e+01] [ 1.47158744e-02 -6.10785883e-04 9.99891529e-01 7.67422010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.454391418 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:247.35, Y:35.41, Z:7.67 [[ 9.98418170e-01 -5.42787171e-02 -1.46621814e-02 2.47345339e+02] [ 5.42813178e-02 9.98525658e-01 -2.20824767e-04 3.54081194e+01] [ 1.46525504e-02 -5.75407067e-04 9.99892480e-01 7.67476038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.484391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:247.38, Y:35.41, Z:7.68 [[ 9.98657608e-01 -4.99476289e-02 -1.37192271e-02 2.47376842e+02] [ 4.99495238e-02 9.98751722e-01 -2.04709983e-04 3.54130309e+01] [ 1.37123265e-02 -4.80833681e-04 9.99905866e-01 7.67547685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.514391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:247.41, Y:35.42, Z:7.68 [[ 9.98762603e-01 -4.78692561e-02 -1.34832015e-02 2.47408767e+02] [ 4.78709252e-02 9.98853510e-01 -1.99103701e-04 3.54156882e+01] [ 1.34772741e-02 -4.46596000e-04 9.99909078e-01 7.67600081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.544391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:247.44, Y:35.42, Z:7.68 [[ 9.98949323e-01 -4.40030167e-02 -1.28056239e-02 2.47440624e+02] [ 4.40042178e-02 9.99031328e-01 -1.88087491e-04 3.54211862e+01] [ 1.28014958e-02 -3.75611589e-04 9.99917987e-01 7.67689271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.574391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:247.47, Y:35.42, Z:7.68 [[ 9.99050785e-01 -4.16883213e-02 -1.26338377e-02 2.47472830e+02] [ 4.16893184e-02 9.99130605e-01 -1.84541505e-04 3.54239122e+01] [ 1.26305471e-02 -3.42329747e-04 9.99920173e-01 7.67757553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.604391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:247.50, Y:35.43, Z:7.68 [[ 9.99129538e-01 -3.95987017e-02 -1.31190628e-02 2.47503554e+02] [ 3.95996101e-02 9.99215610e-01 -1.90616444e-04 3.54264287e+01] [ 1.31163205e-02 -3.29059254e-04 9.99913923e-01 7.67778365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.634391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:247.53, Y:35.43, Z:7.68 [[ 9.99217817e-01 -3.72968033e-02 -1.31416522e-02 2.47534658e+02] [ 3.72975298e-02 9.99304187e-01 -1.89885818e-04 3.54285709e+01] [ 1.31395902e-02 -3.00413872e-04 9.99913627e-01 7.67775922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.664391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:247.57, Y:35.43, Z:7.68 [[ 9.99362613e-01 -3.28474323e-02 -1.39790633e-02 2.47566660e+02] [ 3.28478421e-02 9.99460344e-01 -2.00351952e-04 3.54324967e+01] [ 1.39781004e-02 -2.58957813e-04 9.99902268e-01 7.67808215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.694391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:247.60, Y:35.43, Z:7.68 [[ 9.99432087e-01 -3.04248180e-02 -1.44856595e-02 2.47597634e+02] [ 3.04250197e-02 9.99537031e-01 -2.06501819e-04 3.54345551e+01] [ 1.44852359e-02 -2.34341931e-04 9.99895056e-01 7.67830135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.724391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:247.63, Y:35.44, Z:7.68 [[ 9.99511916e-01 -2.75111138e-02 -1.48009364e-02 2.47629960e+02] [ 2.75110203e-02 9.99621478e-01 -2.09959750e-04 3.54364983e+01] [ 1.48011101e-02 -1.97331590e-04 9.99890438e-01 7.67871071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.754391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:247.66, Y:35.44, Z:7.68 [[ 9.99658151e-01 -2.16861352e-02 -1.46045769e-02 2.47661295e+02] [ 2.16854366e-02 9.99764822e-01 -2.06211742e-04 3.54410689e+01] [ 1.46056142e-02 -1.10565379e-04 9.99893326e-01 7.67921925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.784391418 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:247.69, Y:35.44, Z:7.68 [[ 9.99718218e-01 -1.89415739e-02 -1.43073800e-02 2.47692051e+02] [ 1.89406325e-02 9.99820590e-01 -2.01305493e-04 3.54434199e+01] [ 1.43086262e-02 -6.97420587e-05 9.99897624e-01 7.67990218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.814391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:247.72, Y:35.46, Z:7.68 [[ 9.99880196e-01 -1.32551179e-02 -7.99346276e-03 2.47721875e+02] [ 1.30941536e-02 9.99716945e-01 -1.98638692e-02 3.54558325e+01] [ 8.25449810e-03 1.97568218e-02 9.99770739e-01 7.68016701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84439141800001 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:247.75, Y:35.44, Z:7.67 [[ 9.99822351e-01 -1.28372167e-02 -1.38011739e-02 2.47751800e+02] [ 1.31088272e-02 9.99718548e-01 1.97733051e-02 3.54378084e+01] [ 1.35434553e-02 -1.99507096e-02 9.99709230e-01 7.67387491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87439141800002 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:247.78, Y:35.45, Z:7.68 [[ 9.99831617e-01 -1.27062425e-02 -1.32396742e-02 2.47779866e+02] [ 1.27048688e-02 9.99919272e-01 -1.87857745e-04 3.54482862e+01] [ 1.32409923e-02 1.96177890e-05 9.99912334e-01 7.68086208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.904391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:247.81, Y:35.45, Z:7.68 [[ 9.99828264e-01 -1.32330582e-02 -1.29741267e-02 2.47808576e+02] [ 1.32317381e-02 9.99912439e-01 -1.87583916e-04 3.54487838e+01] [ 1.29754730e-02 1.58814548e-05 9.99915815e-01 7.68074879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.934391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:247.84, Y:35.45, Z:7.68 [[ 9.99824895e-01 -1.34852680e-02 -1.29740759e-02 2.47837804e+02] [ 1.34839243e-02 9.99909070e-01 -1.91042839e-04 3.54493177e+01] [ 1.29754724e-02 1.60679290e-05 9.99915815e-01 7.68102528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.964391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:247.87, Y:35.45, Z:7.68 [[ 9.99775218e-01 -1.67471445e-02 -1.30018093e-02 2.47866118e+02] [ 1.67460265e-02 9.99859756e-01 -1.94863467e-04 3.54495648e+01] [ 1.30032493e-02 -2.29089777e-05 9.99915454e-01 7.68116284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.994391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:247.90, Y:35.45, Z:7.68 [[ 9.99736903e-01 -1.88193315e-02 -1.31132694e-02 2.47895663e+02] [ 1.88183356e-02 9.99822900e-01 -1.99345278e-04 3.54494542e+01] [ 1.31146986e-02 -4.74770736e-05 9.99913998e-01 7.68131407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.024391418 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:247.93, Y:35.45, Z:7.68 [[ 9.99610928e-01 -2.44951910e-02 -1.33408318e-02 2.47925128e+02] [ 2.44946632e-02 9.99699940e-01 -2.02982202e-04 3.54486144e+01] [ 1.33418008e-02 -1.23875954e-04 9.99910987e-01 7.68160460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.054391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:247.96, Y:35.45, Z:7.68 [[ 9.99530512e-01 -2.74440102e-02 -1.36228613e-02 2.47957278e+02] [ 2.74437388e-02 9.99623328e-01 -2.06895159e-04 3.54478915e+01] [ 1.36234080e-02 -1.67064223e-04 9.99907183e-01 7.68166860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.084391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:247.99, Y:35.45, Z:7.68 [[ 9.99440289e-01 -3.06146891e-02 -1.34851797e-02 2.47988866e+02] [ 3.06147250e-02 9.99531239e-01 -2.03816551e-04 3.54474137e+01] [ 1.34850982e-02 -2.09142597e-04 9.99909050e-01 7.68179243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.114391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:248.02, Y:35.44, Z:7.68 [[ 9.99224473e-01 -3.68449216e-02 -1.38889775e-02 2.48019683e+02] [ 3.68455773e-02 9.99320949e-01 -2.08759144e-04 3.54449812e+01] [ 1.38872379e-02 -3.03150150e-04 9.99903522e-01 7.68136868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.144391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:248.05, Y:35.44, Z:7.68 [[ 9.99122691e-01 -3.93710728e-02 -1.42747309e-02 2.48051718e+02] [ 3.93720466e-02 9.99224598e-01 -2.12916490e-04 3.54437118e+01] [ 1.42720449e-02 -3.49295671e-04 9.99898088e-01 7.68076816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.174391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:248.08, Y:35.44, Z:7.68 [[ 9.98908919e-01 -4.44005122e-02 -1.44764008e-02 2.48083474e+02] [ 4.44020580e-02 9.99013719e-01 -2.14772024e-04 3.54423059e+01] [ 1.44716590e-02 -4.28244297e-04 9.99895188e-01 7.68105104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.204391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:248.11, Y:35.44, Z:7.68 [[ 9.98828523e-01 -4.60871758e-02 -1.47497347e-02 2.48114512e+02] [ 4.60889863e-02 9.98937314e-01 -2.17333767e-04 3.54419111e+01] [ 1.47440767e-02 -4.62721156e-04 9.99891193e-01 7.68126513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.234391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:248.15, Y:35.44, Z:7.68 [[ 9.98741757e-01 -4.79634535e-02 -1.46427120e-02 2.48146614e+02] [ 4.79654725e-02 9.98848972e-01 -2.13475482e-04 3.54408813e+01] [ 1.46360968e-02 -4.89137720e-04 9.99892767e-01 7.68137927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.264391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:248.18, Y:35.44, Z:7.68 [[ 9.98722665e-01 -4.84021751e-02 -1.45006383e-02 2.48178533e+02] [ 4.84042337e-02 9.98827806e-01 -2.09175513e-04 3.54413793e+01] [ 1.44937653e-02 -4.92983960e-04 9.99894838e-01 7.68159009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.294391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:248.21, Y:35.44, Z:7.68 [[ 9.98714686e-01 -4.84991909e-02 -1.47243130e-02 2.48209604e+02] [ 4.85013396e-02 9.98823095e-01 -2.11341307e-04 3.54421362e+01] [ 1.47172338e-02 -5.03079240e-04 9.99891569e-01 7.68222216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.324391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:248.24, Y:35.44, Z:7.68 [[ 9.98729317e-01 -4.82931770e-02 -1.44055386e-02 2.48241713e+02] [ 4.82952256e-02 9.98833084e-01 -2.05839697e-04 3.54427530e+01] [ 1.43986692e-02 -4.90140594e-04 9.99896214e-01 7.68217209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.354391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:248.27, Y:35.44, Z:7.68 [[ 9.98761997e-01 -4.75663683e-02 -1.45572964e-02 2.48273733e+02] [ 4.75683998e-02 9.98867962e-01 -2.06867399e-04 3.54438434e+01] [ 1.45506570e-02 -4.85856000e-04 9.99894016e-01 7.68260120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.384391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:248.31, Y:35.44, Z:7.68 [[ 9.98776266e-01 -4.72764131e-02 -1.45228142e-02 2.48305060e+02] [ 4.72784193e-02 9.98881729e-01 -2.05349025e-04 3.54448492e+01] [ 1.45162819e-02 -4.81517965e-04 9.99894517e-01 7.68263860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.414391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:248.34, Y:35.45, Z:7.68 [[ 9.98776480e-01 -4.72877360e-02 -1.44711196e-02 2.48337657e+02] [ 4.72897429e-02 9.98881194e-01 -2.03663869e-04 3.54459733e+01] [ 1.44645601e-02 -4.80920845e-04 9.99895267e-01 7.68289622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.444391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:248.37, Y:35.45, Z:7.68 [[ 9.98770874e-01 -4.71919061e-02 -1.51547137e-02 2.48368608e+02] [ 4.71941135e-02 9.98885715e-01 -2.12138210e-04 3.54474788e+01] [ 1.51478383e-02 -5.03335814e-04 9.99885138e-01 7.68299782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.474391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:248.40, Y:35.45, Z:7.68 [[ 9.98748923e-01 -4.73874745e-02 -1.59692172e-02 2.48400404e+02] [ 4.73899683e-02 9.98876440e-01 -2.22426685e-04 3.54485499e+01] [ 1.59618150e-02 -5.34632283e-04 9.99872459e-01 7.68322916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.504391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:248.43, Y:35.45, Z:7.68 [[ 9.98734798e-01 -4.76520748e-02 -1.60649667e-02 2.48432641e+02] [ 4.76546531e-02 9.98863847e-01 -2.22494756e-04 3.54495191e+01] [ 1.60573168e-02 -5.43357160e-04 9.99870925e-01 7.68304954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.534391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:248.47, Y:35.45, Z:7.68 [[ 9.98712073e-01 -4.79315436e-02 -1.66361479e-02 2.48465013e+02] [ 4.79343694e-02 9.98850461e-01 -2.29078553e-04 3.54510221e+01] [ 1.66280041e-02 -5.68659742e-04 9.99861583e-01 7.68294166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.564391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:248.50, Y:35.45, Z:7.68 [[ 9.98715291e-01 -4.77804476e-02 -1.68758854e-02 2.48497610e+02] [ 4.77833564e-02 9.98857696e-01 -2.31044771e-04 3.54521609e+01] [ 1.68676474e-02 -5.75638500e-04 9.99857565e-01 7.68318429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59439141800001 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:248.53, Y:35.45, Z:7.68 [[ 9.98786258e-01 -4.61294345e-02 -1.72651485e-02 2.48528976e+02] [ 4.61322539e-02 9.98935313e-01 -2.35145472e-04 3.54545251e+01] [ 1.72576136e-02 -5.61620148e-04 9.99850919e-01 7.68362066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62439141800002 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:248.56, Y:35.46, Z:7.68 [[ 9.98863595e-01 -4.44038762e-02 -1.73151722e-02 2.48559849e+02] [ 4.44064706e-02 9.99013519e-01 -2.34806848e-04 3.54559811e+01] [ 1.73085174e-02 -5.34365674e-04 9.99850054e-01 7.68424044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.654391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:248.59, Y:35.46, Z:7.68 [[ 9.98969467e-01 -4.21717996e-02 -1.67792672e-02 2.48591793e+02] [ 4.21739398e-02 9.99110258e-01 -2.26438446e-04 3.54576027e+01] [ 1.67738873e-02 -4.81442710e-04 9.99859193e-01 7.68479551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.684391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:248.62, Y:35.46, Z:7.69 [[ 9.99213803e-01 -3.63524019e-02 -1.58201734e-02 2.48623707e+02] [ 3.63535942e-02 9.99338967e-01 -2.12300689e-04 3.54605146e+01] [ 1.58174334e-02 -3.62986388e-04 9.99874831e-01 7.68563830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.714391418 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:248.66, Y:35.46, Z:7.69 [[ 9.99339574e-01 -3.29170340e-02 -1.53910868e-02 2.48656155e+02] [ 3.29177737e-02 9.99458042e-01 -2.05336454e-04 3.54620569e+01] [ 1.53895046e-02 -3.01439469e-04 9.99881529e-01 7.68618504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.744391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:248.69, Y:35.46, Z:7.69 [[ 9.99550416e-01 -2.63098757e-02 -1.43790336e-02 2.48686993e+02] [ 2.63098521e-02 9.99653818e-01 -1.90838088e-04 3.54648675e+01] [ 1.43790768e-02 -1.87557958e-04 9.99896598e-01 7.68649575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.774391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:248.72, Y:35.47, Z:7.69 [[ 9.99551425e-01 -2.62715123e-02 -1.43790435e-02 2.48718837e+02] [ 2.62714955e-02 9.99654827e-01 -1.90088722e-04 3.54652493e+01] [ 1.43790742e-02 -1.87755525e-04 9.99896598e-01 7.68679582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.804391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:248.75, Y:35.47, Z:7.69 [[ 9.99688855e-01 -2.06805233e-02 -1.39466272e-02 2.48750440e+02] [ 2.06799708e-02 9.99786130e-01 -1.83842925e-04 3.54675871e+01] [ 1.39474464e-02 -1.04630121e-04 9.99902724e-01 7.68725546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.834391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:248.78, Y:35.47, Z:7.69 [[ 9.99728356e-01 -1.86499649e-02 -1.39782771e-02 2.48781253e+02] [ 1.86492166e-02 9.99826071e-01 -1.83887223e-04 3.54685435e+01] [ 1.39792754e-02 -7.68466474e-05 9.99902282e-01 7.68755534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.864391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:248.81, Y:35.47, Z:7.69 [[ 9.99758703e-01 -1.69999368e-02 -1.39118013e-02 2.48811268e+02] [ 1.69990359e-02 9.99855489e-01 -1.83012719e-04 3.54692323e+01] [ 1.39129021e-02 -5.35186510e-05 9.99903209e-01 7.68778448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.894391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:248.84, Y:35.48, Z:7.69 [[ 9.99800682e-01 -1.59005154e-02 -1.20734972e-02 2.48839770e+02] [ 1.58262886e-02 9.99855417e-01 -6.21876939e-03 3.54751917e+01] [ 1.21706333e-02 6.02645122e-03 9.99907775e-01 7.68843329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.924391418 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:248.87, Y:35.47, Z:7.69 [[ 9.99785639e-01 -1.47695641e-02 -1.45098656e-02 2.48870247e+02] [ 1.48535753e-02 9.99873436e-01 5.69932929e-03 3.54677542e+01] [ 1.44238525e-02 -5.91363095e-03 9.99878483e-01 7.68594332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.954391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:248.90, Y:35.47, Z:7.69 [[ 9.99773952e-01 -1.49290732e-02 -1.51382989e-02 2.48898835e+02] [ 1.49277315e-02 9.99888555e-01 -2.01634123e-04 3.54705401e+01] [ 1.51396220e-02 -2.43919167e-05 9.99885389e-01 7.68770102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.984391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:248.93, Y:35.48, Z:7.69 [[ 9.99808509e-01 -1.53487138e-02 -1.21393266e-02 2.48926763e+02] [ 1.52080719e-02 9.99817126e-01 -1.15943177e-02 3.54769464e+01] [ 1.23150645e-02 1.14074817e-02 9.99859094e-01 7.68840287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.014391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:248.96, Y:35.47, Z:7.69 [[ 9.99743319e-01 -1.59498287e-02 -1.60903382e-02 2.48956481e+02] [ 1.60838616e-02 9.99836731e-01 8.23529430e-03 3.54663232e+01] [ 1.59563596e-02 -8.49197523e-03 9.99836627e-01 7.68510904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.044391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:248.98, Y:35.47, Z:7.69 [[ 9.99701425e-01 -1.90681370e-02 -1.52796227e-02 2.48984833e+02] [ 1.91114922e-02 9.99813723e-01 2.69646949e-03 3.54682968e+01] [ 1.52253598e-02 -2.98768078e-03 9.99879624e-01 7.68691864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.074391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:249.01, Y:35.47, Z:7.69 [[ 9.99674120e-01 -2.08265140e-02 -1.47617573e-02 2.49014018e+02] [ 2.08257319e-02 9.99783100e-01 -2.06714996e-04 3.54693012e+01] [ 1.47628607e-02 -1.00776770e-04 9.99891018e-01 7.68743743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.104391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:249.04, Y:35.47, Z:7.69 [[ 9.99632549e-01 -2.25694971e-02 -1.50128352e-02 2.49043831e+02] [ 2.25688773e-02 9.99745268e-01 -2.10726197e-04 3.54687375e+01] [ 1.50137670e-02 -1.28174071e-04 9.99887279e-01 7.68775532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.134391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:249.07, Y:35.47, Z:7.69 [[ 9.99528792e-01 -2.70731937e-02 -1.44649888e-02 2.49074109e+02] [ 2.70730872e-02 9.99633436e-01 -2.03216283e-04 3.54671049e+01] [ 1.44651882e-02 -1.88491376e-04 9.99895356e-01 7.68814125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.164391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:249.11, Y:35.47, Z:7.69 [[ 9.99465066e-01 -2.97000596e-02 -1.36926170e-02 2.49105625e+02] [ 2.97002129e-02 9.99558833e-01 -1.92188669e-04 3.54663431e+01] [ 1.36922843e-02 -2.14587781e-04 9.99906233e-01 7.68803629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.194391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:249.14, Y:35.47, Z:7.69 [[ 9.99377921e-01 -3.25791155e-02 -1.35045520e-02 2.49136413e+02] [ 3.25795359e-02 9.99469128e-01 -1.88919132e-04 3.54654130e+01] [ 1.35035377e-02 -2.51170429e-04 9.99908792e-01 7.68849840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.224391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:249.17, Y:35.46, Z:7.69 [[ 9.99277082e-01 -3.57696998e-02 -1.28779703e-02 2.49167577e+02] [ 3.57703567e-02 9.99360020e-01 -1.79397310e-04 3.54646047e+01] [ 1.28761456e-02 -2.81381970e-04 9.99917059e-01 7.68870029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.254391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:249.20, Y:35.46, Z:7.69 [[ 9.99154697e-01 -3.90969342e-02 -1.27012436e-02 2.49199689e+02] [ 3.90978523e-02 9.99235371e-01 -1.76110940e-04 3.54637031e+01] [ 1.26984172e-02 -3.20629271e-04 9.99919320e-01 7.68925843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.284391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:249.23, Y:35.46, Z:7.69 [[ 9.98825555e-01 -4.67705114e-02 -1.26503221e-02 2.49231445e+02] [ 4.67720505e-02 9.98905574e-01 -1.74326641e-04 3.54615262e+01] [ 1.26446306e-02 -4.17559601e-04 9.99919966e-01 7.68905885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.314391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:249.26, Y:35.46, Z:7.69 [[ 9.98621281e-01 -5.08732107e-02 -1.29404235e-02 2.49264831e+02] [ 5.08751832e-02 9.98705004e-01 -1.76927878e-04 3.54603084e+01] [ 1.29326666e-02 -4.81662472e-04 9.99916254e-01 7.68912413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34439141800001 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:249.30, Y:35.46, Z:7.69 [[ 9.98436034e-01 -5.41043065e-02 -1.40787202e-02 2.49297185e+02] [ 5.40459395e-02 9.98528337e-01 -4.49399816e-03 3.54609654e+01] [ 1.43011457e-02 3.72607204e-03 9.99890791e-01 7.69065248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37439141800002 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:249.33, Y:35.45, Z:7.69 [[ 9.97999504e-01 -6.17632052e-02 -1.35017162e-02 2.49330348e+02] [ 6.18232697e-02 9.98078785e-01 4.07708899e-03 3.54544861e+01] [ 1.32239624e-02 -4.90365304e-03 9.99900536e-01 7.68762309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.404391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:249.36, Y:35.46, Z:7.69 [[ 9.97838738e-01 -6.43170733e-02 -1.34598590e-02 2.49363183e+02] [ 6.43204560e-02 9.97929279e-01 -1.81868172e-04 3.54556372e+01] [ 1.34436846e-02 -6.84269161e-04 9.99909395e-01 7.68905891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.434391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:249.39, Y:35.45, Z:7.69 [[ 9.97720940e-01 -6.61407437e-02 -1.33539115e-02 2.49394927e+02] [ 6.61442571e-02 9.97810055e-01 -1.78872495e-04 3.54549947e+01] [ 1.33364980e-02 -7.04819725e-04 9.99910817e-01 7.68941466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.464391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:249.43, Y:35.45, Z:7.69 [[ 9.97547182e-01 -6.85505113e-02 -1.41579586e-02 2.49428341e+02] [ 6.85547253e-02 9.97647340e-01 -1.88040152e-04 3.54544022e+01] [ 1.41375399e-02 -7.83016035e-04 9.99899753e-01 7.68971874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.494391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:249.46, Y:35.45, Z:7.69 [[ 9.97545946e-01 -6.84915916e-02 -1.45253812e-02 2.49459931e+02] [ 6.84960454e-02 9.97651370e-01 -1.91232927e-04 3.54547619e+01] [ 1.45043643e-02 -8.04167541e-04 9.99894483e-01 7.68974131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.524391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:249.49, Y:35.46, Z:7.69 [[ 9.97632676e-01 -6.69491679e-02 -1.57115524e-02 2.49492682e+02] [ 6.69542163e-02 9.97756028e-01 -2.05059894e-04 3.54558318e+01] [ 1.56900247e-02 -8.47380228e-04 9.99876545e-01 7.69014464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.554391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:249.53, Y:35.46, Z:7.69 [[ 9.97730197e-01 -6.52918877e-02 -1.64749318e-02 2.49526158e+02] [ 6.52972474e-02 9.97865835e-01 -2.12964402e-04 3.54567738e+01] [ 1.64536764e-02 -8.63286681e-04 9.99864256e-01 7.69046157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.584391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:249.56, Y:35.46, Z:7.69 [[ 9.97874581e-01 -6.29547567e-02 -1.68231816e-02 2.49557983e+02] [ 6.29600586e-02 9.98016024e-01 -2.14817379e-04 3.54578084e+01] [ 1.68033286e-02 -8.44827697e-04 9.99858457e-01 7.69077644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.614391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:249.59, Y:35.46, Z:7.69 [[ 9.98204521e-01 -5.73523721e-02 -1.72753867e-02 2.49590473e+02] [ 5.73571722e-02 9.98353699e-01 -2.17891400e-04 3.54605898e+01] [ 1.72594428e-02 -7.73367148e-04 9.99850746e-01 7.69120476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.644391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:249.62, Y:35.46, Z:7.69 [[ 9.98393966e-01 -5.39547723e-02 -1.72734417e-02 2.49623949e+02] [ 5.39590959e-02 9.98543123e-01 -2.16003494e-04 3.54621615e+01] [ 1.72599309e-02 -7.16402715e-04 9.99850780e-01 7.69182423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.674391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:249.66, Y:35.46, Z:7.69 [[ 9.98602973e-01 -5.00319891e-02 -1.69971156e-02 2.49655766e+02] [ 5.00356394e-02 9.98747411e-01 -2.10703175e-04 3.54638312e+01] [ 1.69863671e-02 -6.40052731e-04 9.99855516e-01 7.69220643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.704391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:249.69, Y:35.47, Z:7.69 [[ 9.98809989e-01 -4.57545339e-02 -1.68857527e-02 2.49686556e+02] [ 4.57575486e-02 9.98952553e-01 -2.07973195e-04 3.54657086e+01] [ 1.68775815e-02 -5.64924945e-04 9.99857404e-01 7.69291111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.734391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:249.72, Y:35.47, Z:7.69 [[ 9.99192901e-01 -3.62989883e-02 -1.72026314e-02 2.49718212e+02] [ 3.63007366e-02 9.99340889e-01 -2.10719513e-04 3.54698358e+01] [ 1.71989418e-02 -4.13918749e-04 9.99852002e-01 7.69335759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.764391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:249.75, Y:35.47, Z:7.69 [[ 9.99362986e-01 -3.11553432e-02 -1.74059186e-02 2.49750623e+02] [ 3.11563767e-02 9.99514500e-01 -2.11862146e-04 3.54718560e+01] [ 1.74040687e-02 -3.30578170e-04 9.99848483e-01 7.69389440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.794391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:249.78, Y:35.47, Z:7.69 [[ 9.99514749e-01 -2.58342165e-02 -1.74028849e-02 2.49781476e+02] [ 2.58344613e-02 9.99666212e-01 -2.10784060e-04 3.54738316e+01] [ 1.74025215e-02 -2.38912380e-04 9.99848536e-01 7.69414510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.824391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:249.81, Y:35.48, Z:7.69 [[ 9.99735923e-01 -1.50319264e-02 -1.73817828e-02 2.49811568e+02] [ 1.50305389e-02 9.99887013e-01 -2.10470143e-04 3.54769160e+01] [ 1.73829826e-02 -5.08429995e-05 9.99848903e-01 7.69471459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.854391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:249.84, Y:35.48, Z:7.69 [[ 9.99799569e-01 -9.97190784e-03 -1.73603735e-02 2.49838111e+02] [ 9.96973521e-03 9.99950279e-01 -2.11691836e-04 3.54784444e+01] [ 1.73616213e-02 3.85710793e-05 9.99849275e-01 7.69480217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.884391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:249.87, Y:35.48, Z:7.70 [[ 9.99796631e-01 -1.02623310e-02 -1.73603288e-02 2.49866491e+02] [ 1.02601393e-02 9.99947340e-01 -2.15309333e-04 3.54789363e+01] [ 1.73616242e-02 3.71461535e-05 9.99849275e-01 7.69506900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.914391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:249.89, Y:35.47, Z:7.69 [[ 9.99706499e-01 -4.70974254e-03 -2.37641233e-02 2.49891782e+02] [ 5.40737145e-03 9.99553746e-01 2.93780492e-02 3.54725373e+01] [ 2.36151554e-02 -2.94979282e-02 9.99285843e-01 7.69347382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.944391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:249.92, Y:35.49, Z:7.70 [[ 9.99728131e-01 -4.72445908e-03 -2.28329709e-02 2.49920703e+02] [ 4.72879082e-03 9.99988810e-01 1.35724247e-04 3.54868405e+01] [ 2.28320742e-02 -2.43659691e-04 9.99739285e-01 7.70352858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.974391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:249.96, Y:35.50, Z:7.71 [[ 9.99822009e-01 5.74509391e-03 -1.79706341e-02 2.49955087e+02] [-6.29591578e-03 9.99507390e-01 -3.07463467e-02 3.54986686e+01] [ 1.77851410e-02 3.08540157e-02 9.99365658e-01 7.70627392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.004391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:249.98, Y:35.48, Z:7.70 [[ 9.99778196e-01 8.63897001e-03 -1.92074923e-02 2.49983052e+02] [-8.64526096e-03 9.99962599e-01 -2.44514243e-04 3.54849797e+01] [ 1.92046616e-02 4.10513792e-04 9.99815489e-01 7.69575523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.034391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:250.01, Y:35.48, Z:7.69 [[ 9.99725124e-01 1.03055337e-02 -2.10587712e-02 2.50006439e+02] [-1.00280846e-02 9.99862082e-01 1.32383931e-02 3.54822080e+01] [ 2.11922955e-02 -1.30235750e-02 9.99690589e-01 7.69482992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.064391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:250.04, Y:35.49, Z:7.70 [[ 9.99752746e-01 1.16627141e-02 -1.89322167e-02 2.50038996e+02] [-1.19262476e-02 9.99832720e-01 -1.38671401e-02 3.54924004e+01] [ 1.87673212e-02 1.40895017e-02 9.99724599e-01 7.70089346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09439141800001 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:250.07, Y:35.49, Z:7.70 [[ 9.99759724e-01 1.14969391e-02 -1.86632082e-02 2.50066267e+02] [-1.15035834e-02 9.99933801e-01 -2.48687956e-04 3.54859217e+01] [ 1.86591135e-02 4.63321973e-04 9.99825796e-01 7.69636972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12439141800002 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:250.09, Y:35.49, Z:7.70 [[ 9.99803474e-01 9.03606915e-03 -1.76454639e-02 2.50093687e+02] [-9.04167874e-03 9.99959095e-01 -2.38150938e-04 3.54853654e+01] [ 1.76425902e-02 3.97648751e-04 9.99844278e-01 7.69720046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.154391418 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:250.12, Y:35.49, Z:7.70 [[ 9.99828627e-01 6.59262211e-03 -1.72989678e-02 2.50121489e+02] [-6.59768592e-03 9.99978207e-01 -2.35667838e-04 3.54851465e+01] [ 1.72970371e-02 3.49760607e-04 9.99850334e-01 7.69748910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.184391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:250.14, Y:35.48, Z:7.70 [[ 9.99803370e-01 6.77732583e-04 -1.98182005e-02 2.50144589e+02] [-4.46283996e-04 9.99931679e-01 1.16806789e-02 3.54843854e+01] [ 1.98247629e-02 -1.16695376e-02 9.99735365e-01 7.69846321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.214391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:250.18, Y:35.49, Z:7.70 [[ 9.99845607e-01 -4.41649938e-03 -1.70075575e-02 2.50178731e+02] [ 4.20475796e-03 9.99913461e-01 -1.24655413e-02 3.54885778e+01] [ 1.70611397e-02 1.23921041e-02 9.99777652e-01 7.70224673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.244391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:250.21, Y:35.48, Z:7.70 [[ 9.99806936e-01 -9.44307005e-03 -1.72313206e-02 2.50207007e+02] [ 9.44033591e-03 9.99955410e-01 -2.40008454e-04 3.54818071e+01] [ 1.72328187e-02 7.72926629e-05 9.99851501e-01 7.69803875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.274391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:250.24, Y:35.48, Z:7.70 [[ 9.99743750e-01 -1.48974925e-02 -1.70440261e-02 2.50235304e+02] [ 1.48955764e-02 9.99889026e-01 -2.39373407e-04 3.54805405e+01] [ 1.70457007e-02 -1.45685249e-05 9.99854711e-01 7.69775396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.304391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:250.26, Y:35.48, Z:7.70 [[ 9.99641504e-01 -2.05909334e-02 -1.71136483e-02 2.50262153e+02] [ 2.05897986e-02 9.99787978e-01 -2.42522253e-04 3.54789270e+01] [ 1.71150136e-02 -1.09931262e-04 9.99853521e-01 7.69806614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.334391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:250.29, Y:35.48, Z:7.70 [[ 9.99284538e-01 -3.27158690e-02 -1.89758787e-02 2.50291071e+02] [ 3.26136890e-02 9.99451952e-01 -5.66951388e-03 3.54778428e+01] [ 1.91509621e-02 5.04658415e-03 9.99803867e-01 7.69993499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.364391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:250.32, Y:35.47, Z:7.70 [[ 9.99099720e-01 -3.86200457e-02 -1.75568259e-02 2.50321726e+02] [ 3.87157049e-02 9.99237038e-01 5.14157953e-03 3.54708492e+01] [ 1.73448627e-02 -5.81667556e-03 9.99832647e-01 7.69626859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.394391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:250.35, Y:35.47, Z:7.70 [[ 9.98855669e-01 -4.44068783e-02 -1.77590019e-02 2.50353181e+02] [ 4.44093894e-02 9.99013384e-01 -2.53131390e-04 3.54721035e+01] [ 1.77527214e-02 -5.35824710e-04 9.99842264e-01 7.69823785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.424391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:250.39, Y:35.47, Z:7.70 [[ 9.98395775e-01 -5.36459504e-02 -1.81104266e-02 2.50385673e+02] [ 5.36501017e-02 9.98559763e-01 -2.56902723e-04 3.54696218e+01] [ 1.80981251e-02 -7.15135639e-04 9.99835960e-01 7.69851194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.454391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:250.42, Y:35.47, Z:7.70 [[ 9.98149092e-01 -5.77659183e-02 -1.90128570e-02 2.50416136e+02] [ 5.77932115e-02 9.98328180e-01 8.88742072e-04 3.54695527e+01] [ 1.89297320e-02 -1.98591116e-03 9.99818844e-01 7.69882313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.484391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:250.45, Y:35.47, Z:7.70 [[ 9.97957985e-01 -6.08568990e-02 -1.93984106e-02 2.50448090e+02] [ 6.07429626e-02 9.98132858e-01 -6.41011331e-03 3.54694171e+01] [ 1.97522907e-02 5.21870683e-03 9.99791284e-01 7.70103933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.514391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:250.48, Y:35.46, Z:7.70 [[ 9.97850079e-01 -6.30434136e-02 -1.79094124e-02 2.50482239e+02] [ 6.31351856e-02 9.97994358e-01 4.60533394e-03 3.54638917e+01] [ 1.75831565e-02 -5.72614692e-03 9.99829007e-01 7.69760585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.544391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:250.51, Y:35.47, Z:7.70 [[ 9.97798937e-01 -6.38345869e-02 -1.79562298e-02 2.50514863e+02] [ 6.38403685e-02 9.97960091e-01 -2.51631311e-04 3.54661010e+01] [ 1.79356636e-02 -8.95254875e-04 9.99838742e-01 7.69938894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.574391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:250.55, Y:35.47, Z:7.70 [[ 9.97789226e-01 -6.38718116e-02 -1.83589937e-02 2.50547833e+02] [ 6.38779032e-02 9.97957689e-01 -2.55022367e-04 3.54661142e+01] [ 1.83377877e-02 -9.18275452e-04 9.99831427e-01 7.69974584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.604391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:250.58, Y:35.47, Z:7.70 [[ 9.97805243e-01 -6.34535770e-02 -1.89298898e-02 2.50579753e+02] [ 6.34600189e-02 9.97984348e-01 -2.60811664e-04 3.54664400e+01] [ 1.89082832e-02 -9.41051920e-04 9.99820780e-01 7.69967633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.634391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:250.61, Y:35.47, Z:7.70 [[ 9.97816295e-01 -6.31144893e-02 -1.94731182e-02 2.50612916e+02] [ 6.31212845e-02 9.98005828e-01 -2.66107854e-04 3.54669751e+01] [ 1.94510807e-02 -9.63641480e-04 9.99810345e-01 7.69980049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.664391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:250.64, Y:35.47, Z:7.70 [[ 9.97870804e-01 -6.19041423e-02 -2.05362174e-02 2.50644453e+02] [ 6.19114903e-02 9.98081605e-01 -2.78390912e-04 3.54679833e+01] [ 2.05140543e-02 -9.93629659e-04 9.99789071e-01 7.69977659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.694391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:250.68, Y:35.47, Z:7.70 [[ 9.97904948e-01 -6.13250177e-02 -2.06144824e-02 2.50677731e+02] [ 6.13323450e-02 9.98117361e-01 -2.77196301e-04 3.54688819e+01] [ 2.05926718e-02 -9.87718985e-04 9.99787461e-01 7.69961133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.724391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:250.71, Y:35.47, Z:7.70 [[ 9.97938179e-01 -6.06977828e-02 -2.08607347e-02 2.50710228e+02] [ 6.07051909e-02 9.98155700e-01 -2.78525758e-04 3.54697734e+01] [ 2.08391671e-02 -9.88403393e-04 9.99782352e-01 7.69982649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.754391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:250.74, Y:35.47, Z:7.70 [[ 9.97770969e-01 -6.13661253e-02 -2.62162724e-02 2.50738645e+02] [ 6.18799487e-02 9.97897774e-01 1.92588979e-02 3.54662329e+01] [ 2.49793159e-02 -2.08382308e-02 9.99470761e-01 7.69978249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.784391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:250.77, Y:35.48, Z:7.71 [[ 9.98127593e-01 -5.73094642e-02 -2.13760126e-02 2.50773271e+02] [ 5.68753801e-02 9.98173033e-01 -2.03908694e-02 3.54830227e+01] [ 2.25055491e-02 1.91369205e-02 9.99563544e-01 7.70726409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.814391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:250.81, Y:35.48, Z:7.70 [[ 9.98208245e-01 -5.56138062e-02 -2.20772309e-02 2.50805549e+02] [ 5.56211065e-02 9.98451908e-01 -2.83721497e-04 3.54751987e+01] [ 2.20588322e-02 -9.44746874e-04 9.99756228e-01 7.70111810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84439141800001 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:250.84, Y:35.48, Z:7.70 [[ 9.98434084e-01 -5.12204209e-02 -2.24910599e-02 2.50837556e+02] [ 5.12269263e-02 9.98686998e-01 -2.87187450e-04 3.54785016e+01] [ 2.24762390e-02 -8.65410130e-04 9.99747003e-01 7.70160725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87439141800002 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:250.87, Y:35.48, Z:7.70 [[ 9.98573477e-01 -4.84029352e-02 -2.25425410e-02 2.50868890e+02] [ 4.84087883e-02 9.98827566e-01 -2.86299718e-04 3.54802949e+01] [ 2.25299691e-02 -8.05365789e-04 9.99745844e-01 7.70192401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.904391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:250.90, Y:35.48, Z:7.70 [[ 9.98704954e-01 -4.56412499e-02 -2.24786803e-02 2.50901388e+02] [ 4.56464085e-02 9.98957619e-01 -2.83828359e-04 3.54825365e+01] [ 2.24682033e-02 -7.42610236e-04 9.99747282e-01 7.70263482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.934391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:250.93, Y:35.49, Z:7.70 [[ 9.98956166e-01 -4.02736999e-02 -2.15547608e-02 2.50932178e+02] [ 4.02772258e-02 9.99188507e-01 -2.70702819e-04 3.54867014e+01] [ 2.15481715e-02 -5.97745719e-04 9.99767633e-01 7.70382621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.964391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:250.96, Y:35.49, Z:7.70 [[ 9.99073951e-01 -3.76331447e-02 -2.08563437e-02 2.50963444e+02] [ 3.76358916e-02 9.99291485e-01 -2.60935457e-04 3.54888910e+01] [ 2.08513864e-02 -5.24253271e-04 9.99782449e-01 7.70476562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.994391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:250.99, Y:35.49, Z:7.71 [[ 9.99151515e-01 -3.56294893e-02 -2.06589090e-02 2.50994500e+02] [ 3.56317736e-02 9.99364954e-01 -2.57633795e-04 3.54911113e+01] [ 2.06549690e-02 -4.78698373e-04 9.99786549e-01 7.70582206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.024391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:251.03, Y:35.49, Z:7.71 [[ 9.99256183e-01 -3.24402778e-02 -2.08496640e-02 2.51025256e+02] [ 3.24419229e-02 9.99473589e-01 -2.59419198e-04 3.54944168e+01] [ 2.08471041e-02 -4.17176955e-04 9.99782588e-01 7.70744815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.054391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:251.06, Y:35.50, Z:7.71 [[ 9.99263999e-01 -3.20150340e-02 -2.11305068e-02 2.51056861e+02] [ 3.20166431e-02 9.99487301e-01 -2.62231572e-04 3.54959365e+01] [ 2.11280686e-02 -4.14489327e-04 9.99776692e-01 7.70843996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.084391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:251.09, Y:35.50, Z:7.71 [[ 9.99257451e-01 -3.07949422e-02 -2.31564058e-02 2.51086620e+02] [ 3.06270404e-02 9.99502209e-01 -7.57088481e-03 3.55004475e+01] [ 2.33780237e-02 6.85605088e-03 9.99703187e-01 7.71198012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.114391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:251.12, Y:35.50, Z:7.71 [[ 9.99239793e-01 -3.22206236e-02 -2.19469171e-02 2.51116799e+02] [ 3.23765604e-02 9.99452696e-01 6.78721364e-03 3.54953563e+01] [ 2.17162172e-02 -7.49261964e-03 9.99736098e-01 7.70707715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.144391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:251.15, Y:35.50, Z:7.71 [[ 9.99193811e-01 -3.32979007e-02 -2.24271743e-02 2.51147134e+02] [ 3.33000138e-02 9.99445362e-01 -2.79335629e-04 3.55005068e+01] [ 2.24240366e-02 -4.67714784e-04 9.99748440e-01 7.71065049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.174391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:251.18, Y:35.50, Z:7.71 [[ 9.99170739e-01 -3.38608569e-02 -2.26114383e-02 2.51177801e+02] [ 3.38631618e-02 9.99426439e-01 -2.81063870e-04 3.55012607e+01] [ 2.26079863e-02 -4.84863998e-04 9.99744289e-01 7.71133558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.204391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:251.21, Y:35.50, Z:7.71 [[ 9.99140442e-01 -3.46018825e-02 -2.28273374e-02 2.51208368e+02] [ 3.46044249e-02 9.99401047e-01 -2.83747531e-04 3.55020030e+01] [ 2.28234831e-02 -5.06423250e-04 9.99739382e-01 7.71214299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.234391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:251.24, Y:35.50, Z:7.71 [[ 9.99048864e-01 -3.69179678e-02 -2.32041038e-02 2.51240089e+02] [ 3.69212332e-02 9.99318137e-01 -2.87827726e-04 3.55030295e+01] [ 2.31989078e-02 -5.69170163e-04 9.99730707e-01 7.71389020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.264391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:251.27, Y:35.50, Z:7.71 [[ 9.99005285e-01 -3.81705976e-02 -2.30531238e-02 2.51270001e+02] [ 3.81741686e-02 9.99271060e-01 -2.85313195e-04 3.55035884e+01] [ 2.30472100e-02 -5.95004444e-04 9.99734201e-01 7.71467982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.294391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:251.30, Y:35.50, Z:7.72 [[ 9.98891831e-01 -4.07470581e-02 -2.35539122e-02 2.51299947e+02] [ 4.07515126e-02 9.99169270e-01 -2.91043208e-04 3.55044309e+01] [ 2.35462044e-02 -6.69136867e-04 9.99722526e-01 7.71658730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.324391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:251.33, Y:35.50, Z:7.72 [[ 9.98860193e-01 -4.14955678e-02 -2.35888371e-02 2.51331229e+02] [ 4.15002624e-02 9.99138451e-01 -2.90699569e-04 3.55045443e+01] [ 2.35805769e-02 -6.88574702e-04 9.99721702e-01 7.71750417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.354391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:251.36, Y:35.50, Z:7.72 [[ 9.98822903e-01 -4.22629261e-02 -2.38044882e-02 2.51362272e+02] [ 4.22679809e-02 9.99106267e-01 -2.90993198e-04 3.55048079e+01] [ 2.37955116e-02 -7.15516981e-04 9.99716591e-01 7.71809613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.384391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:251.39, Y:35.50, Z:7.72 [[ 9.98783097e-01 -4.30036703e-02 -2.41455706e-02 2.51394103e+02] [ 4.30091450e-02 9.99074636e-01 -2.92776305e-04 3.55048374e+01] [ 2.41358176e-02 -7.46060323e-04 9.99708410e-01 7.71892674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.414391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:251.43, Y:35.51, Z:7.72 [[ 9.98790425e-01 -4.28723766e-02 -2.40758540e-02 2.51425749e+02] [ 4.28778128e-02 9.99080281e-01 -2.90634476e-04 3.55050279e+01] [ 2.40661712e-02 -7.42037028e-04 9.99710092e-01 7.71981516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.444391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:251.46, Y:35.51, Z:7.72 [[ 9.98795760e-01 -4.27672591e-02 -2.40414512e-02 2.51456428e+02] [ 4.27726825e-02 9.99084788e-01 -2.88836537e-04 3.55055729e+01] [ 2.40318010e-02 -7.39828652e-04 9.99710921e-01 7.72092515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.474391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:251.49, Y:35.51, Z:7.72 [[ 9.98897043e-01 -4.07071277e-02 -2.34014307e-02 2.51487650e+02] [ 4.07117280e-02 9.99170895e-01 -2.80001254e-04 3.55062499e+01] [ 2.33934265e-02 -6.73020259e-04 9.99726110e-01 7.72217040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.52, Y:35.51, Z:7.72 [[ 9.98954003e-01 -3.90191304e-02 -2.38412963e-02 2.51519442e+02] [ 3.90234480e-02 9.99238255e-01 -2.84305469e-04 3.55067190e+01] [ 2.38342287e-02 -6.46361502e-04 9.99715715e-01 7.72307635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.534391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:251.55, Y:35.51, Z:7.72 [[ 9.99087491e-01 -3.48267207e-02 -2.47241644e-02 2.51550142e+02] [ 3.48300980e-02 9.99393205e-01 -2.94157087e-04 3.55074320e+01] [ 2.47194064e-02 -5.67256402e-04 9.99694268e-01 7.72383528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.564391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:251.58, Y:35.51, Z:7.73 [[ 9.99200440e-01 -3.08424206e-02 -2.54406208e-02 2.51579406e+02] [ 3.07670969e-02 9.99520977e-01 -3.34699366e-03 3.55089019e+01] [ 2.55316635e-02 2.56158349e-03 9.99670732e-01 7.72502811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59439141800001 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:251.61, Y:35.51, Z:7.72 [[ 9.99237325e-01 -3.00637204e-02 -2.49186748e-02 2.51609199e+02] [ 3.01375403e-02 9.99542400e-01 2.59210883e-03 3.55063737e+01] [ 2.48293436e-02 -3.34111946e-03 9.99686121e-01 7.72302536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62439141800002 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:251.64, Y:35.51, Z:7.72 [[ 9.99299197e-01 -2.78403427e-02 -2.50205952e-02 2.51637950e+02] [ 2.78414554e-02 9.99612305e-01 -3.03956351e-04 3.55076927e+01] [ 2.50193571e-02 -3.92866449e-04 9.99686890e-01 7.72424722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.654391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:251.67, Y:35.51, Z:7.72 [[ 9.99415350e-01 -2.38058575e-02 -2.45405757e-02 2.51667086e+02] [ 2.38055934e-02 9.99716561e-01 -3.02947375e-04 3.55073245e+01] [ 2.45408318e-02 -2.81432709e-04 9.99698789e-01 7.72427335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.684391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:251.69, Y:35.51, Z:7.72 [[ 9.99485836e-01 -2.07377240e-02 -2.44542475e-02 2.51694547e+02] [ 2.07363636e-02 9.99784931e-01 -3.09241552e-04 3.55070206e+01] [ 2.44554011e-02 -1.98009617e-04 9.99700902e-01 7.72382551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.714391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:251.72, Y:35.51, Z:7.72 [[ 9.99513421e-01 -1.93671946e-02 -2.44506358e-02 2.51722272e+02] [ 1.93652312e-02 9.99812426e-01 -3.17102092e-04 3.55069720e+01] [ 2.44521909e-02 -1.56544420e-04 9.99700988e-01 7.72381823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.744391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:251.75, Y:35.51, Z:7.72 [[ 9.99507452e-01 -1.96729689e-02 -2.44505350e-02 2.51750644e+02] [ 1.96709098e-02 9.99806456e-01 -3.24754467e-04 3.55074751e+01] [ 2.44521916e-02 -1.56369758e-04 9.99700988e-01 7.72406087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.774391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:251.78, Y:35.51, Z:7.72 [[ 9.99528502e-01 -1.86167786e-02 -2.44169701e-02 2.51777731e+02] [ 1.86142916e-02 9.99826685e-01 -3.29154878e-04 3.55076517e+01] [ 2.44188661e-02 -1.25504921e-04 9.99701807e-01 7.72406721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.804391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:251.81, Y:35.51, Z:7.72 [[ 9.99549642e-01 -1.77811907e-02 -2.41731866e-02 2.51805420e+02] [ 1.77783581e-02 9.99841897e-01 -3.32101233e-04 3.55071711e+01] [ 2.41752699e-02 -9.78078978e-05 9.99707731e-01 7.72366830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.834391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:251.83, Y:35.51, Z:7.72 [[ 9.99544106e-01 -1.78877962e-02 -2.43229661e-02 2.51832417e+02] [ 1.78848092e-02 9.99839996e-01 -3.40356895e-04 3.55068185e+01] [ 2.43251625e-02 -9.48098778e-05 9.99704095e-01 7.72371212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.864391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:251.86, Y:35.51, Z:7.72 [[ 9.99517829e-01 -1.95750898e-02 -2.41024077e-02 2.51859949e+02] [ 1.95724824e-02 9.99808381e-01 -3.44104195e-04 3.55051987e+01] [ 2.41045251e-02 -1.27805671e-04 9.99709436e-01 7.72337522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.894391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:251.89, Y:35.50, Z:7.72 [[ 9.99484372e-01 -2.11026752e-02 -2.42005675e-02 2.51887044e+02] [ 2.11003751e-02 9.99777301e-01 -3.50424707e-04 3.55046234e+01] [ 2.42025730e-02 -1.60397034e-04 9.99707062e-01 7.72356450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.924391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:251.91, Y:35.51, Z:7.72 [[ 9.99436425e-01 -2.25052024e-02 -2.49067754e-02 2.51914628e+02] [ 2.24072022e-02 9.99740076e-01 -4.20683349e-03 3.55055879e+01] [ 2.49949771e-02 3.64637147e-03 9.99680927e-01 7.72485173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.954391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:251.94, Y:35.50, Z:7.72 [[ 9.99411525e-01 -2.52172544e-02 -2.32528090e-02 2.51942974e+02] [ 2.53028283e-02 9.99674073e-01 3.39326028e-03 3.55014939e+01] [ 2.31596616e-02 -3.97962526e-03 9.99723858e-01 7.72224689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.984391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:251.97, Y:35.50, Z:7.72 [[ 9.99368087e-01 -2.76240460e-02 -2.23682557e-02 2.51970486e+02] [ 2.76234644e-02 9.99618343e-01 -3.35042858e-04 3.55025285e+01] [ 2.23689739e-02 -2.83057574e-04 9.99749743e-01 7.72346639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.014391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:252.00, Y:35.50, Z:7.72 [[ 9.99262558e-01 -3.23843295e-02 -2.06299828e-02 2.51999533e+02] [ 3.23847622e-02 9.99475427e-01 -3.13199243e-04 3.55004109e+01] [ 2.06293036e-02 -3.55128810e-04 9.99787130e-01 7.72360682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.044391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:252.03, Y:35.50, Z:7.72 [[ 9.99197156e-01 -3.49204170e-02 -1.96368828e-02 2.52029981e+02] [ 3.49212578e-02 9.99390022e-01 -3.00191630e-04 3.54996358e+01] [ 1.96353876e-02 -3.85794025e-04 9.99807133e-01 7.72386255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.074391418 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:252.06, Y:35.50, Z:7.72 [[ 9.99038245e-01 -3.92360249e-02 -1.95734399e-02 2.52061595e+02] [ 3.92376998e-02 9.99229860e-01 -2.98615675e-04 3.54974972e+01] [ 1.95700821e-02 -4.69688278e-04 9.99808377e-01 7.72330425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.104391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:252.09, Y:35.50, Z:7.72 [[ 9.98953950e-01 -4.15022542e-02 -1.91981535e-02 2.52094289e+02] [ 4.15043064e-02 9.99138282e-01 -2.91708326e-04 3.54970739e+01] [ 1.91937166e-02 -5.05402858e-04 9.99815656e-01 7.72324279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.134391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:252.13, Y:35.50, Z:7.72 [[ 9.98868385e-01 -4.34418219e-02 -1.93586750e-02 2.52126831e+02] [ 4.34443024e-02 9.99055808e-01 -2.92599096e-04 3.54965661e+01] [ 1.93531078e-02 -5.48756146e-04 9.99812560e-01 7.72378767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.164391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:252.16, Y:35.50, Z:7.72 [[ 9.98690080e-01 -4.76878388e-02 -1.85470927e-02 2.52159494e+02] [ 4.76908737e-02 9.98862104e-01 -2.78889673e-04 3.54958235e+01] [ 1.85392877e-02 -6.06002704e-04 9.99827949e-01 7.72348826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.194391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:252.19, Y:35.50, Z:7.72 [[ 9.98507148e-01 -5.16291455e-02 -1.78299120e-02 2.52189707e+02] [ 5.15714708e-02 9.98662527e-01 -3.67980739e-03 3.55005991e+01] [ 1.79960503e-02 2.75479920e-03 9.99834263e-01 7.72395300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.224391418 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:252.22, Y:35.49, Z:7.72 [[ 9.98550441e-01 -5.07000252e-02 -1.80699684e-02 2.52223794e+02] [ 5.07633337e-02 9.98706017e-01 3.06193239e-03 3.54933422e+01] [ 1.78913461e-02 -3.97478577e-03 9.99832036e-01 7.72290777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.254391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:252.26, Y:35.49, Z:7.72 [[ 9.98437224e-01 -5.29940782e-02 -1.77408137e-02 2.52255545e+02] [ 5.29978482e-02 9.98594593e-01 -2.57910062e-04 3.54947389e+01] [ 1.77295483e-02 -6.82717944e-04 9.99842586e-01 7.72438606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.284391418 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:252.29, Y:35.50, Z:7.72 [[ 9.98393165e-01 -5.37917636e-02 -1.78195137e-02 2.52288107e+02] [ 5.37957200e-02 9.98551929e-01 -2.57592529e-04 3.54954627e+01] [ 1.78075661e-02 -7.01434950e-04 9.99841187e-01 7.72461098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.314391418 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:252.32, Y:35.50, Z:7.73 [[ 9.98387082e-01 -5.37920946e-02 -1.81561541e-02 2.52320446e+02] [ 5.37962294e-02 9.98551900e-01 -2.60951845e-04 3.54959162e+01] [ 1.81438994e-02 -7.16201682e-04 9.99835129e-01 7.72500944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34439141800001 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:252.35, Y:35.50, Z:7.73 [[ 9.98386323e-01 -5.36322334e-02 -1.86636803e-02 2.52352906e+02] [ 5.36366265e-02 9.98560485e-01 -2.65469713e-04 3.54967005e+01] [ 1.86510513e-02 -7.36015517e-04 9.99825783e-01 7.72501120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37439141800002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:252.38, Y:35.50, Z:7.72 [[ 9.98416624e-01 -5.28219672e-02 -1.93412732e-02 2.52383635e+02] [ 5.28265810e-02 9.98603664e-01 -2.72646711e-04 3.54978311e+01] [ 1.93286681e-02 -7.49518329e-04 9.99812903e-01 7.72496110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.404391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:252.42, Y:35.50, Z:7.72 [[ 9.98463002e-01 -5.19771788e-02 -1.92355342e-02 2.52416006e+02] [ 5.19816119e-02 9.98648006e-01 -2.69798897e-04 3.54985803e+01] [ 1.92235512e-02 -7.30509853e-04 9.99814944e-01 7.72488604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.434391418 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:252.45, Y:35.50, Z:7.72 [[ 9.98508745e-01 -5.11012745e-02 -1.92079560e-02 2.52448594e+02] [ 5.11055623e-02 9.98693221e-01 -2.67887535e-04 3.54991815e+01] [ 1.91965448e-02 -7.14145343e-04 9.99815474e-01 7.72497547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.464391418 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:252.48, Y:35.50, Z:7.73 [[ 9.98637093e-01 -4.85098324e-02 -1.92549437e-02 2.52481270e+02] [ 4.85136895e-02 9.98822482e-01 -2.67014578e-04 3.55005519e+01] [ 1.92452235e-02 -6.67477699e-04 9.99814571e-01 7.72566291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.494391418 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:252.51, Y:35.50, Z:7.73 [[ 9.98709221e-01 -4.70423205e-02 -1.91549326e-02 2.52513594e+02] [ 4.70458971e-02 9.98892694e-01 -2.64106477e-04 3.55019945e+01] [ 1.91461464e-02 -6.37395413e-04 9.99816493e-01 7.72626372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.524391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:252.55, Y:35.50, Z:7.73 [[ 9.98784718e-01 -4.55147922e-02 -1.89074311e-02 2.52545633e+02] [ 4.55180320e-02 9.98963484e-01 -2.59192179e-04 3.55034902e+01] [ 1.88996303e-02 -6.01751867e-04 9.99821205e-01 7.72672629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.554391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:252.58, Y:35.51, Z:7.73 [[ 9.98922358e-01 -4.25493366e-02 -1.85384935e-02 2.52577160e+02] [ 4.25519643e-02 9.99094223e-01 -2.52870866e-04 3.55057415e+01] [ 1.85324613e-02 -5.36250953e-04 9.99828115e-01 7.72742219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.584391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:252.61, Y:35.51, Z:7.73 [[ 9.98970347e-01 -4.12953656e-02 -1.87866361e-02 2.52609517e+02] [ 4.12978674e-02 9.99146847e-01 -2.54935046e-04 3.55067128e+01] [ 1.87811358e-02 -5.21175454e-04 9.99823483e-01 7.72817147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.614391418 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:252.64, Y:35.51, Z:7.73 [[ 9.99034441e-01 -3.96548927e-02 -1.89123273e-02 2.52641724e+02] [ 3.96571632e-02 9.99213313e-01 -2.55118580e-04 3.55080179e+01] [ 1.89075659e-02 -4.95137001e-04 9.99821113e-01 7.72860668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.644391418 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:252.67, Y:35.51, Z:7.73 [[ 9.99046707e-01 -3.92601806e-02 -1.90870417e-02 2.52673329e+02] [ 3.92624611e-02 9.99228900e-01 -2.55385795e-04 3.55086797e+01] [ 1.90823501e-02 -4.94261894e-04 9.99817793e-01 7.72873987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.674391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:252.71, Y:35.51, Z:7.73 [[ 9.99044940e-01 -3.91126866e-02 -1.94783408e-02 2.52705198e+02] [ 3.91150731e-02 9.99234679e-01 -2.58596519e-04 3.55092587e+01] [ 1.94735480e-02 -5.03547180e-04 9.99810246e-01 7.72889966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.704391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:252.74, Y:35.51, Z:7.73 [[ 9.99041448e-01 -3.84673393e-02 -2.08913760e-02 2.52737780e+02] [ 3.84699796e-02 9.99259718e-01 -2.75644729e-04 3.55104562e+01] [ 2.08865138e-02 -5.28310297e-04 9.99781713e-01 7.72945825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.734391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:252.77, Y:35.51, Z:7.73 [[ 9.99053466e-01 -3.83784350e-02 -2.04760141e-02 2.52769501e+02] [ 3.83809858e-02 9.99263142e-01 -2.68540886e-04 3.55112903e+01] [ 2.04712323e-02 -5.17602903e-04 9.99790308e-01 7.72956786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.764391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:252.80, Y:35.51, Z:7.73 [[ 9.99060009e-01 -3.80783033e-02 -2.07157273e-02 2.52801895e+02] [ 3.80808842e-02 9.99274624e-01 -2.70020994e-04 3.55121699e+01] [ 2.07109826e-02 -5.19106037e-04 9.99785370e-01 7.73036672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.794391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:252.83, Y:35.51, Z:7.73 [[ 9.99092005e-01 -3.72956605e-02 -2.05961011e-02 2.52833057e+02] [ 3.72980742e-02 9.99304149e-01 -2.67068847e-04 3.55138785e+01] [ 2.05917298e-02 -5.01368556e-04 9.99787842e-01 7.73132202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.824391418 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:252.86, Y:35.51, Z:7.73 [[ 9.99124909e-01 -3.66740725e-02 -2.01103912e-02 2.52864016e+02] [ 3.66762669e-02 9.99327166e-01 -2.59820908e-04 3.55147225e+01] [ 2.01063889e-02 -4.77980534e-04 9.99797732e-01 7.73166490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.854391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:252.90, Y:35.52, Z:7.73 [[ 9.99147072e-01 -3.60264288e-02 -2.01798228e-02 2.52895240e+02] [ 3.60285269e-02 9.99350728e-01 -2.59701141e-04 3.55156506e+01] [ 2.01760767e-02 -4.67569653e-04 9.99796333e-01 7.73202165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.884391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:252.93, Y:35.52, Z:7.73 [[ 9.99208182e-01 -3.44962311e-02 -1.98247278e-02 2.52926618e+02] [ 3.44979737e-02 9.99404735e-01 -2.54184843e-04 3.55172421e+01] [ 1.98216952e-02 -4.29929362e-04 9.99803438e-01 7.73235945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.914391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:252.96, Y:35.52, Z:7.73 [[ 9.99227609e-01 -3.39962708e-02 -1.97088453e-02 2.52957390e+02] [ 3.39979319e-02 9.99421872e-01 -2.50869302e-04 3.55184923e+01] [ 1.97059797e-02 -4.19384449e-04 9.99805730e-01 7.73277997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.944391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:252.99, Y:35.52, Z:7.73 [[ 9.99245451e-01 -3.36037460e-02 -1.94760607e-02 2.52988764e+02] [ 3.36053242e-02 9.99435151e-01 -2.46335881e-04 3.55195693e+01] [ 1.94733374e-02 -4.08349325e-04 9.99810293e-01 7.73327845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.974391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:253.02, Y:35.52, Z:7.73 [[ 9.99265345e-01 -3.35365148e-02 -1.85492029e-02 2.53019029e+02] [ 3.35379524e-02 9.99437417e-01 -2.33656977e-04 3.55205720e+01] [ 1.85466034e-02 -3.88616964e-04 9.99827921e-01 7.73365981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.004391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:253.05, Y:35.52, Z:7.73 [[ 9.99272122e-01 -3.32030653e-02 -1.87825120e-02 2.53050619e+02] [ 3.31749975e-02 9.99447930e-01 -1.80405768e-03 3.55216627e+01] [ 1.88320430e-02 1.17963476e-03 9.99821965e-01 7.73481095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.034391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:253.08, Y:35.52, Z:7.73 [[ 9.99238982e-01 -3.45443693e-02 -1.81147357e-02 2.53081912e+02] [ 3.45736016e-02 9.99401305e-01 1.30295882e-03 3.55211219e+01] [ 1.80588807e-02 -1.92825890e-03 9.99835066e-01 7.73369235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.064391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:253.11, Y:35.52, Z:7.73 [[ 9.99208349e-01 -3.48545514e-02 -1.91790474e-02 2.53112880e+02] [ 3.48563206e-02 9.99392305e-01 -2.42134251e-04 3.55227053e+01] [ 1.91758319e-02 -4.26568462e-04 9.99816036e-01 7.73483239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09439141800001 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:253.14, Y:35.52, Z:7.73 [[ 9.99192829e-01 -3.57070166e-02 -1.84038018e-02 2.53144601e+02] [ 3.57088137e-02 9.99362210e-01 -2.31064050e-04 3.55232046e+01] [ 1.84003146e-02 -4.26300388e-04 9.99830609e-01 7.73496723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12439141800002 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:253.18, Y:35.52, Z:7.74 [[ 9.99169344e-01 -3.61682126e-02 -1.87745182e-02 2.53175355e+02] [ 3.61701890e-02 9.99345617e-01 -2.34400409e-04 3.55240318e+01] [ 1.87707103e-02 -4.44872169e-04 9.99823716e-01 7.73537151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.154391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:253.21, Y:35.53, Z:7.74 [[ 9.99140293e-01 -3.57681249e-02 -2.09598472e-02 2.53206254e+02] [ 3.56693593e-02 9.99350799e-01 -5.06730894e-03 3.55275021e+01] [ 2.11274881e-02 4.31532822e-03 9.99767477e-01 7.73724685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.184391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:253.24, Y:35.52, Z:7.73 [[ 9.99122399e-01 -3.67200280e-02 -2.01511903e-02 2.53238657e+02] [ 3.68161988e-02 9.99312269e-01 4.42228848e-03 3.55236765e+01] [ 1.99749451e-02 -5.16029771e-03 9.99787164e-01 7.73401205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.214391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:253.27, Y:35.53, Z:7.73 [[ 9.99101856e-01 -3.67397774e-02 -2.11108899e-02 2.53269774e+02] [ 3.67424326e-02 9.99324734e-01 -2.62216140e-04 3.55272308e+01] [ 2.11062682e-02 -5.13684819e-04 9.99777106e-01 7.73493637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.244391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:253.30, Y:35.52, Z:7.73 [[ 9.98990959e-01 -3.81996342e-02 -2.36188814e-02 2.53300557e+02] [ 3.84894136e-02 9.99187690e-01 1.19384101e-02 3.55243553e+01] [ 2.31436526e-02 -1.28354406e-02 9.99649750e-01 7.73447742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.274391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:253.33, Y:35.54, Z:7.74 [[ 9.99111895e-01 -3.63113413e-02 -2.13753977e-02 2.53331544e+02] [ 3.60448896e-02 9.99269198e-01 -1.27214914e-02 3.55350622e+01] [ 2.18217109e-02 1.19397196e-02 9.99690580e-01 7.73942042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.304391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:253.36, Y:35.53, Z:7.74 [[ 9.99146602e-01 -3.51713153e-02 -2.16574936e-02 2.53362859e+02] [ 3.51737970e-02 9.99381175e-01 -2.66449384e-04 3.55311861e+01] [ 2.16534628e-02 -4.95554288e-04 9.99765413e-01 7.73525679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.334391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:253.39, Y:35.53, Z:7.74 [[ 9.99195610e-01 -3.36911738e-02 -2.17494505e-02 2.53393287e+02] [ 3.36933395e-02 9.99432183e-01 -2.66972774e-04 3.55322946e+01] [ 2.17460954e-02 -4.66053595e-04 9.99763417e-01 7.73573746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.364391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:253.42, Y:35.53, Z:7.74 [[ 9.99311572e-01 -3.02564726e-02 -2.14692540e-02 2.53423427e+02] [ 3.02577994e-02 9.99542093e-01 -2.63114587e-04 3.55349360e+01] [ 2.14673840e-02 -3.86678929e-04 9.99769474e-01 7.73653636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.394391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:253.45, Y:35.54, Z:7.74 [[ 9.99388247e-01 -2.77664868e-02 -2.12638997e-02 2.53454263e+02] [ 2.77672284e-02 9.99614382e-01 -2.60434069e-04 3.55362995e+01] [ 2.12629313e-02 -3.30164811e-04 9.99773864e-01 7.73696047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.424391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:253.48, Y:35.54, Z:7.74 [[ 9.99533253e-01 -2.28380910e-02 -2.02903271e-02 2.53483824e+02] [ 2.28377461e-02 9.99739154e-01 -2.48744119e-04 3.55384123e+01] [ 2.02907153e-02 -2.14757320e-04 9.99794099e-01 7.73764523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.454391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:253.51, Y:35.53, Z:7.73 [[ 9.99513266e-01 -2.22532737e-02 -2.18637571e-02 2.53510481e+02] [ 2.27503090e-02 9.99482209e-01 2.27538444e-02 3.55321250e+01] [ 2.13460887e-02 -2.32401765e-02 9.99501995e-01 7.73499057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.484391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:253.54, Y:35.55, Z:7.75 [[ 9.99640316e-01 -1.85808192e-02 -1.93388455e-02 2.53541959e+02] [ 1.81265505e-02 9.99561698e-01 -2.34059747e-02 3.55513959e+01] [ 1.97652715e-02 2.30470094e-02 9.99538978e-01 7.74670079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.514391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:253.57, Y:35.54, Z:7.74 [[ 9.99671913e-01 -1.67256227e-02 -1.93989728e-02 2.53570421e+02] [ 1.67240123e-02 9.99860114e-01 -2.45254390e-04 3.55417946e+01] [ 1.94003612e-02 -7.92547351e-05 9.99811792e-01 7.73854294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.544391418 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:253.60, Y:35.54, Z:7.74 [[ 9.99717069e-01 -1.30751438e-02 -1.98701247e-02 2.53597734e+02] [ 1.30726279e-02 9.99914517e-01 -2.56504529e-04 3.55428314e+01] [ 1.98717800e-02 -3.32279093e-06 9.99802537e-01 7.73847874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.574391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:253.63, Y:35.54, Z:7.74 [[ 9.99720955e-01 -1.18117434e-02 -2.04571661e-02 2.53625724e+02] [ 1.18086953e-02 9.99930239e-01 -2.69796881e-04 3.55434631e+01] [ 2.04589257e-02 2.81491548e-05 9.99790694e-01 7.73847812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.604391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:253.65, Y:35.54, Z:7.74 [[ 9.99712571e-01 -1.10146353e-02 -2.12944244e-02 2.53653389e+02] [ 1.10110048e-02 9.99939336e-01 -2.87738528e-04 3.55440064e+01] [ 2.12963019e-02 5.31828148e-05 9.99773207e-01 7.73866196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.634391418 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:253.68, Y:35.54, Z:7.74 [[ 9.99627623e-01 -1.14457783e-02 -2.47711309e-02 2.53677404e+02] [ 1.20222382e-02 9.99657416e-01 2.32490093e-02 3.55363026e+01] [ 2.44965417e-02 -2.35381564e-02 9.99422771e-01 7.73641751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.664391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:253.71, Y:35.56, Z:7.75 [[ 9.99712352e-01 -1.00571223e-02 -2.17730704e-02 2.53708783e+02] [ 9.53241471e-03 9.99664827e-01 -2.40700417e-02 3.55554530e+01] [ 2.20078480e-02 2.38555681e-02 9.99473144e-01 7.74795677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.694391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:253.74, Y:35.54, Z:7.74 [[ 9.99703942e-01 -1.01542875e-02 -2.21115280e-02 2.53737386e+02] [ 1.01497630e-02 9.99948440e-01 -3.16842988e-04 3.55448710e+01] [ 2.21136053e-02 9.23224156e-05 9.99755460e-01 7.73945066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.724391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:253.76, Y:35.53, Z:7.74 [[ 9.99372119e-01 -1.47110242e-02 -3.22327997e-02 2.53759933e+02] [ 1.63351920e-02 9.98579371e-01 5.07188374e-02 3.55276246e+01] [ 3.14408828e-02 -5.12135210e-02 9.98192690e-01 7.73764429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.754391418 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:253.80, Y:35.57, Z:7.76 [[ 9.99729869e-01 -9.26087337e-03 -2.13172396e-02 2.53796956e+02] [ 8.13179061e-03 9.98590114e-01 -5.24562579e-02 3.55674717e+01] [ 2.17729755e-02 5.22687406e-02 9.98395671e-01 7.75985409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.784391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:253.82, Y:35.53, Z:7.74 [[ 9.99456137e-01 -1.40884899e-02 -2.98151839e-02 2.53819367e+02] [ 1.53880834e-02 9.98921037e-01 4.38174526e-02 3.55292727e+01] [ 2.91656927e-02 -4.42524205e-02 9.98594555e-01 7.73817174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.814391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:253.85, Y:35.55, Z:7.75 [[ 9.99490269e-01 -1.43502006e-02 -2.85179537e-02 2.53846527e+02] [ 1.42861687e-02 9.99894951e-01 -2.44780814e-03 3.55490361e+01] [ 2.85500845e-02 2.03914812e-03 9.99590283e-01 7.75403102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84439141800001 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:253.88, Y:35.55, Z:7.75 [[ 9.99530594e-01 -1.40674974e-02 -2.72157399e-02 2.53875537e+02] [ 1.39986337e-02 9.99898317e-01 -2.71917615e-03 3.55480310e+01] [ 2.72512245e-02 2.33691658e-03 9.99625885e-01 7.75326407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87439141800002 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:253.90, Y:35.55, Z:7.75 [[ 9.99519081e-01 -1.44072887e-02 -2.74597423e-02 2.53901962e+02] [ 1.44310329e-02 9.99895645e-01 6.66705122e-04 3.55458666e+01] [ 2.74472713e-02 -1.06265694e-03 9.99622688e-01 7.75282493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.904391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:253.93, Y:35.55, Z:7.76 [[ 9.99596643e-01 -1.42003318e-02 -2.45947626e-02 2.53932836e+02] [ 1.39104375e-02 9.99832215e-01 -1.19180900e-02 3.55483485e+01] [ 2.47598768e-02 1.15711588e-02 9.99626459e-01 7.75512411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.934391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:253.97, Y:35.55, Z:7.75 [[ 9.99700254e-01 -1.29393431e-02 -2.07840426e-02 2.53966248e+02] [ 1.23154338e-02 9.99477883e-01 -2.98712335e-02 3.55516184e+01] [ 2.11597050e-02 2.96063152e-02 9.99337647e-01 7.75415338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.964391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:253.99, Y:35.54, Z:7.74 [[ 9.99689485e-01 -1.37774134e-02 -2.07633649e-02 2.53994209e+02] [ 1.37733886e-02 9.99905086e-01 -3.36843832e-04 3.55367025e+01] [ 2.07660350e-02 5.07573428e-05 9.99784361e-01 7.74381637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.994391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:254.02, Y:35.54, Z:7.74 [[ 9.99671433e-01 -1.47951603e-02 -2.09315317e-02 2.54021293e+02] [ 1.47911986e-02 9.99890545e-01 -3.44082605e-04 3.55354444e+01] [ 2.09343314e-02 3.43671085e-05 9.99780852e-01 7.74456230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.024391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:254.05, Y:35.53, Z:7.75 [[ 9.99631526e-01 -1.71945262e-02 -2.10038210e-02 2.54049441e+02] [ 1.71909651e-02 9.99852163e-01 -3.50104164e-04 3.55321729e+01] [ 2.10067357e-02 -1.11007937e-05 9.99779334e-01 7.74549913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.054391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:254.08, Y:35.53, Z:7.75 [[ 9.99589840e-01 -1.97504766e-02 -2.07381177e-02 2.54076474e+02] [ 1.97474465e-02 9.99804939e-01 -3.50907985e-04 3.55286536e+01] [ 2.07410031e-02 -5.87608123e-05 9.99784881e-01 7.74569805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.084391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:254.10, Y:35.53, Z:7.75 [[ 9.99563009e-01 -2.10820051e-02 -2.07205088e-02 2.54104146e+02] [ 2.10791540e-02 9.99777747e-01 -3.56021002e-04 3.55272557e+01] [ 2.07234092e-02 -8.09053705e-05 9.99785244e-01 7.74586315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.114391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:254.13, Y:35.53, Z:7.75 [[ 9.99550259e-01 -2.16376190e-02 -2.07627938e-02 2.54131172e+02] [ 2.16347861e-02 9.99765875e-01 -3.61084994e-04 3.55255371e+01] [ 2.07657457e-02 -8.82760024e-05 9.99784365e-01 7.74590724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.144391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:254.16, Y:35.52, Z:7.75 [[ 9.99533250e-01 -2.24198229e-02 -2.07517190e-02 2.54159040e+02] [ 2.24171141e-02 9.99748639e-01 -3.63174410e-04 3.55218473e+01] [ 2.07546451e-02 -1.02188755e-04 9.99784594e-01 7.74570093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.174391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:254.19, Y:35.52, Z:7.75 [[ 9.99526977e-01 -2.26978451e-02 -2.07516478e-02 2.54187424e+02] [ 2.26951125e-02 9.99742365e-01 -3.67206276e-04 3.55225031e+01] [ 2.07546363e-02 -1.03928404e-04 9.99784594e-01 7.74596757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.204391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:254.21, Y:35.52, Z:7.75 [[ 9.99534599e-01 -2.13316396e-02 -2.18070294e-02 2.54214428e+02] [ 2.13727195e-02 9.99770212e-01 1.65243815e-03 3.55179433e+01] [ 2.17667692e-02 -2.11774462e-03 9.99760833e-01 7.74517793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.234391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:254.24, Y:35.52, Z:7.75 [[ 9.99495910e-01 -2.24079246e-02 -2.24902457e-02 2.54244394e+02] [ 2.23568181e-02 9.99746876e-01 -2.52128336e-03 3.55189890e+01] [ 2.25410496e-02 2.01720208e-03 9.99743883e-01 7.74699604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.264391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:254.27, Y:35.52, Z:7.75 [[ 9.99499302e-01 -2.14529789e-02 -2.32575927e-02 2.54272570e+02] [ 2.14488652e-02 9.99769856e-01 -4.26349139e-04 3.55154806e+01] [ 2.32613865e-02 -7.27133017e-05 9.99729415e-01 7.74665504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.294391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:254.30, Y:35.51, Z:7.75 [[ 9.99506130e-01 -2.10956804e-02 -2.32909623e-02 2.54300831e+02] [ 2.10912939e-02 9.99777460e-01 -4.33996676e-04 3.55143543e+01] [ 2.32949346e-02 -5.74541937e-05 9.99728635e-01 7.74724655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.324391418 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:254.33, Y:35.51, Z:7.75 [[ 9.99591875e-01 -1.79357600e-02 -2.22349400e-02 2.54326055e+02] [ 1.79379387e-02 9.99839097e-01 -1.01474532e-04 3.55104936e+01] [ 2.22331823e-02 -2.97415873e-04 9.99752768e-01 7.74736180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.354391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:254.36, Y:35.51, Z:7.75 [[ 9.99563558e-01 -1.66073078e-02 -2.44313623e-02 2.54355492e+02] [ 1.64403933e-02 9.99840224e-01 -7.01706313e-03 3.55121277e+01] [ 2.45439933e-02 6.61233938e-03 9.99676882e-01 7.75162028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.384391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:254.39, Y:35.51, Z:7.75 [[ 9.99582583e-01 -1.64766575e-02 -2.37313955e-02 2.54386386e+02] [ 1.64837526e-02 9.99864128e-01 1.03376648e-04 3.55077463e+01] [ 2.37264677e-02 -4.94515949e-04 9.99718365e-01 7.74957550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.414391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:254.41, Y:35.50, Z:7.75 [[ 9.99600100e-01 -1.68242383e-02 -2.27285276e-02 2.54414925e+02] [ 1.69290233e-02 9.99846899e-01 4.42575313e-03 3.55023676e+01] [ 2.26505879e-02 -4.80875505e-03 9.99731877e-01 7.74769869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.444391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:254.44, Y:35.50, Z:7.75 [[ 9.99565729e-01 -1.81726127e-02 -2.31971886e-02 2.54441954e+02] [ 1.81674445e-02 9.99834864e-01 -4.33539347e-04 3.55009162e+01] [ 2.32012365e-02 1.19174370e-05 9.99730815e-01 7.74904325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.474391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:254.47, Y:35.50, Z:7.75 [[ 9.99533619e-01 -1.84667196e-02 -2.43212805e-02 2.54468872e+02] [ 1.83858257e-02 9.99824680e-01 -3.54550018e-03 3.55002347e+01] [ 2.43824902e-02 3.09667980e-03 9.99697907e-01 7.75022138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.504391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:254.50, Y:35.50, Z:7.75 [[ 9.99481969e-01 -2.18139393e-02 -2.36631783e-02 2.54498741e+02] [ 2.18782068e-02 9.99757616e-01 2.46041568e-03 3.54960403e+01] [ 2.36037714e-02 -2.97684901e-03 9.99716960e-01 7.74815440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.534391418 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:254.53, Y:35.50, Z:7.75 [[ 9.99422332e-01 -2.46219098e-02 -2.34257085e-02 2.54526573e+02] [ 2.46181148e-02 9.99696827e-01 -4.50422223e-04 3.54956247e+01] [ 2.34296967e-02 -1.26534751e-04 9.99725479e-01 7.74892421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.564391418 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:254.55, Y:35.49, Z:7.75 [[ 9.99292708e-01 -3.00567167e-02 -2.25981920e-02 2.54553106e+02] [ 3.01444123e-02 9.99539250e-01 3.54999136e-03 3.54896140e+01] [ 2.24810788e-02 -4.22868970e-03 9.99738325e-01 7.74793751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59439141800001 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:254.58, Y:35.49, Z:7.75 [[ 9.99146106e-01 -3.43115144e-02 -2.30169291e-02 2.54581407e+02] [ 3.42177683e-02 9.99404473e-01 -4.45458996e-03 3.54916754e+01] [ 2.31560657e-02 3.66319827e-03 9.99725151e-01 7.75070418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62439141800002 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:254.61, Y:35.49, Z:7.75 [[ 9.98910090e-01 -4.04517509e-02 -2.32870764e-02 2.54609186e+02] [ 4.04518996e-02 9.99181379e-01 -4.64873757e-04 3.54856175e+01] [ 2.32868181e-02 -4.77639392e-04 9.99728711e-01 7.74996280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.654391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:254.64, Y:35.48, Z:7.75 [[ 9.98788721e-01 -4.36271581e-02 -2.27543900e-02 2.54639047e+02] [ 4.36280563e-02 9.99047738e-01 -4.57191155e-04 3.54841094e+01] [ 2.27526679e-02 -5.36092440e-04 9.99740981e-01 7.75026649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.684391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:254.67, Y:35.48, Z:7.75 [[ 9.98687239e-01 -4.59594989e-02 -2.26168970e-02 2.54669193e+02] [ 4.59609794e-02 9.98943132e-01 -4.54624291e-04 3.54829301e+01] [ 2.26138882e-02 -5.85467260e-04 9.99744102e-01 7.75074081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.714391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:254.70, Y:35.48, Z:7.75 [[ 9.98580356e-01 -4.82589754e-02 -2.25465003e-02 2.54699877e+02] [ 4.82610323e-02 9.98834655e-01 -4.53209241e-04 3.54819760e+01] [ 2.25420973e-02 -6.35551535e-04 9.99745693e-01 7.75096363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.744391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:254.73, Y:35.48, Z:7.75 [[ 9.98393524e-01 -5.20827415e-02 -2.23105278e-02 2.54731073e+02] [ 5.20857196e-02 9.98642517e-01 -4.47995190e-04 3.54800929e+01] [ 2.23035744e-02 -7.14784396e-04 9.99750989e-01 7.75144738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.774391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:254.76, Y:35.48, Z:7.75 [[ 9.98311583e-01 -5.37855885e-02 -2.19338278e-02 2.54762105e+02] [ 5.37888964e-02 9.98552233e-01 -4.39551887e-04 3.54796333e+01] [ 2.19257142e-02 -7.40986650e-04 9.99759328e-01 7.75169678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.804391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:254.79, Y:35.48, Z:7.75 [[ 9.98143191e-01 -5.69044839e-02 -2.17267072e-02 2.54793663e+02] [ 5.69084866e-02 9.98379304e-01 -4.34514932e-04 3.54782978e+01] [ 2.17162207e-02 -8.02725907e-04 9.99763853e-01 7.75182853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.834391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:254.82, Y:35.47, Z:7.75 [[ 9.97759995e-01 -6.05892604e-02 -2.83537395e-02 2.54822903e+02] [ 6.14804072e-02 9.97605076e-01 3.16902473e-02 3.54656779e+01] [ 2.63657458e-02 -3.33624604e-02 9.99095488e-01 7.75278543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.864391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:254.85, Y:35.49, Z:7.76 [[ 9.97957396e-01 -6.03525730e-02 -2.09428509e-02 2.54854780e+02] [ 5.96395396e-02 9.97669473e-01 -3.31473573e-02 3.54934984e+01] [ 2.28945713e-02 3.18306284e-02 9.99231029e-01 7.76117683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.894391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:254.89, Y:35.48, Z:7.75 [[ 9.97722520e-01 -6.38582401e-02 -2.17232240e-02 2.54887747e+02] [ 6.38639804e-02 9.97958520e-01 -4.30102591e-04 3.54782171e+01] [ 2.17063420e-02 -9.58208510e-04 9.99763930e-01 7.75213069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.924391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:254.92, Y:35.46, Z:7.75 [[ 9.97302609e-01 -6.76361461e-02 -2.85106751e-02 2.54917756e+02] [ 6.85624238e-02 9.97105206e-01 3.28694703e-02 3.54649851e+01] [ 2.62049783e-02 -3.47355695e-02 9.99052921e-01 7.75275797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.954391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:254.95, Y:35.49, Z:7.76 [[ 9.97317130e-01 -7.01076479e-02 -2.10585079e-02 2.54950164e+02] [ 6.93608210e-02 9.97001198e-01 -3.43174406e-02 3.54936698e+01] [ 2.34012726e-02 3.27647360e-02 9.99189097e-01 7.76103068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.984391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:254.98, Y:35.48, Z:7.75 [[ 9.97201057e-01 -7.14683148e-02 -2.19620409e-02 2.54981402e+02] [ 7.14760868e-02 9.97442220e-01 -4.31891102e-04 3.54776986e+01] [ 2.19367334e-02 -1.13907848e-03 9.99758712e-01 7.75160124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.014391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:255.01, Y:35.48, Z:7.75 [[ 9.97060007e-01 -7.33782225e-02 -2.20676148e-02 2.55013205e+02] [ 7.33865709e-02 9.97303477e-01 -4.32377616e-04 3.54781494e+01] [ 2.20398361e-02 -1.18836015e-03 9.99756387e-01 7.75178873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.044391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:255.04, Y:35.48, Z:7.75 [[ 9.96878129e-01 -7.58793731e-02 -2.18247027e-02 2.55044728e+02] [ 7.58881692e-02 9.97116244e-01 -4.26099347e-04 3.54792902e+01] [ 2.17940978e-02 -1.23146761e-03 9.99761722e-01 7.75181888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.074391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:255.08, Y:35.48, Z:7.75 [[ 9.96846621e-01 -7.62929944e-02 -2.18218717e-02 2.55077080e+02] [ 7.63019203e-02 9.97084669e-01 -4.24509354e-04 3.54802909e+01] [ 2.17906408e-02 -1.24188000e-03 9.99761784e-01 7.75204359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.104391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:255.11, Y:35.48, Z:7.75 [[ 9.96897465e-01 -7.57043578e-02 -2.15475090e-02 2.55109495e+02] [ 7.57129606e-02 9.97129567e-01 -4.17449479e-04 3.54821371e+01] [ 2.15172611e-02 -1.21527137e-03 9.99767738e-01 7.75216117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.134391418 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:255.14, Y:35.48, Z:7.75 [[ 9.96997216e-01 -7.44703551e-02 -2.12300858e-02 2.55140167e+02] [ 7.44784590e-02 9.97222538e-01 -4.09809143e-04 3.54838405e+01] [ 2.12016387e-02 -1.17260550e-03 9.99774532e-01 7.75250962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.164391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:255.17, Y:35.49, Z:7.75 [[ 9.97329288e-01 -6.99751328e-02 -2.09230157e-02 2.55171957e+02] [ 6.99820483e-02 9.97548170e-01 -4.02394438e-04 3.54875215e+01] [ 2.08998736e-02 -1.06291574e-03 9.99781009e-01 7.75317132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.194391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:255.20, Y:35.49, Z:7.75 [[ 9.97566587e-01 -6.66965396e-02 -2.03094901e-02 2.55203820e+02] [ 6.67024103e-02 9.97772838e-01 -3.88973017e-04 3.54897365e+01] [ 2.02902008e-02 -9.66665459e-04 9.99793665e-01 7.75356568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.224391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:255.23, Y:35.49, Z:7.75 [[ 9.98086258e-01 -5.87388817e-02 -1.93278496e-02 2.55234772e+02] [ 5.87427343e-02 9.98273086e-01 -3.68841460e-04 3.54946187e+01] [ 1.93161374e-02 -7.67235139e-04 9.99813132e-01 7.75474638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.254391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:255.26, Y:35.49, Z:7.75 [[ 9.98565161e-01 -5.12614394e-02 -1.54882180e-02 2.55262211e+02] [ 5.15024881e-02 9.98551217e-01 1.55871715e-02 3.54892031e+01] [ 1.46667581e-02 -1.63624881e-02 9.99758548e-01 7.74999247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.284391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:255.30, Y:35.51, Z:7.76 [[ 9.98662221e-01 -4.87842647e-02 -1.71424797e-02 2.55296813e+02] [ 4.85151858e-02 9.98697834e-01 -1.57769703e-02 3.55072361e+01] [ 1.78898252e-02 1.49241936e-02 9.99728574e-01 7.76011168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.314391418 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:255.33, Y:35.50, Z:7.76 [[ 9.98908025e-01 -4.35052642e-02 -1.70308446e-02 2.55329482e+02] [ 4.35062287e-02 9.99053106e-01 -3.14042985e-04 3.55026758e+01] [ 1.70283807e-02 -4.27247763e-04 9.99854915e-01 7.75621549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34439141800001 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:255.36, Y:35.51, Z:7.76 [[ 9.99130985e-01 -3.82073879e-02 -1.66574450e-02 2.55361484e+02] [ 3.82075965e-02 9.99269776e-01 -3.05836997e-04 3.55052116e+01] [ 1.66569665e-02 -3.30869715e-04 9.99861208e-01 7.75669798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37439141800002 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:255.39, Y:35.51, Z:7.76 [[ 9.99493376e-01 -2.74309253e-02 -1.61410872e-02 2.55392412e+02] [ 2.74297341e-02 9.99623690e-01 -2.95225536e-04 3.55096193e+01] [ 1.61431115e-02 -1.47669764e-04 9.99869681e-01 7.75705399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.404391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:255.42, Y:35.51, Z:7.76 [[ 9.99615055e-01 -2.21753945e-02 -1.66731366e-02 2.55423225e+02] [ 2.21734018e-02 9.99754094e-01 -3.04391150e-04 3.55119507e+01] [ 1.66757866e-02 -6.54261805e-05 9.99860947e-01 7.75736716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.434391418 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:255.45, Y:35.52, Z:7.76 [[ 9.99746462e-01 -1.77195923e-02 -1.38934460e-02 2.55450635e+02] [ 1.74689402e-02 9.99686098e-01 -1.79594684e-02 3.55245089e+01] [ 1.42073193e-02 1.77122112e-02 9.99742182e-01 7.75797805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.464391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:255.48, Y:35.51, Z:7.75 [[ 9.99757976e-01 -1.33066080e-02 -1.75192175e-02 2.55482486e+02] [ 1.36061713e-02 9.99761332e-01 1.70924360e-02 3.55082030e+01] [ 1.72875938e-02 -1.73266687e-02 9.99700418e-01 7.75300005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.494391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:255.51, Y:35.52, Z:7.76 [[ 9.99823083e-01 -7.26939864e-03 -1.73481573e-02 2.55508914e+02] [ 7.26494092e-03 9.99973559e-01 -3.19964275e-04 3.55187631e+01] [ 1.73500245e-02 1.93874330e-04 9.99849458e-01 7.75910978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.524391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:255.54, Y:35.52, Z:7.76 [[ 9.99842359e-01 -4.47970767e-03 -1.71810514e-02 2.55537003e+02] [ 4.47485882e-03 9.99989936e-01 -3.20655003e-04 3.55194998e+01] [ 1.71823149e-02 2.43721676e-04 9.99852343e-01 7.75960967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.554391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:255.57, Y:35.52, Z:7.76 [[ 9.99840982e-01 -4.77757042e-03 -1.71809513e-02 2.55565389e+02] [ 4.77267458e-03 9.99988558e-01 -3.25948665e-04 3.55201725e+01] [ 1.71823120e-02 2.43897743e-04 9.99852343e-01 7.75987066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.584391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:255.59, Y:35.52, Z:7.76 [[ 9.99842415e-01 -4.72130552e-03 -1.71129679e-02 2.55592448e+02] [ 4.71637487e-03 9.99988824e-01 -3.28471304e-04 3.55207679e+01] [ 1.71143275e-02 2.47708370e-04 9.99853508e-01 7.76016236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.614391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:255.62, Y:35.52, Z:7.76 [[ 9.99827270e-01 -5.74458770e-03 -1.76756784e-02 2.55620718e+02] [ 5.73941542e-03 9.99983470e-01 -3.43335944e-04 3.55212750e+01] [ 1.76773586e-02 2.41828579e-04 9.99843714e-01 7.76066781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.644391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:255.65, Y:35.52, Z:7.76 [[ 9.99797275e-01 -9.54640187e-03 -1.77277915e-02 2.55647799e+02] [ 9.54172240e-03 9.99954416e-01 -3.48528652e-04 3.55205974e+01] [ 1.77303106e-02 1.79304331e-04 9.99842790e-01 7.76059573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.674391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:255.68, Y:35.52, Z:7.76 [[ 9.99721310e-01 -1.61861283e-02 -1.71846047e-02 2.55675960e+02] [ 1.61826772e-02 9.99868994e-01 -3.39872372e-04 3.55180912e+01] [ 1.71878546e-02 6.16847424e-05 9.99852276e-01 7.76027321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.704391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:255.70, Y:35.52, Z:7.76 [[ 9.99652919e-01 -2.06819263e-02 -1.63186978e-02 2.55703514e+02] [ 2.06793632e-02 9.99786106e-01 -3.25811685e-04 3.55165244e+01] [ 1.63219458e-02 -1.17616771e-05 9.99866788e-01 7.76032085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.734391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:255.73, Y:35.51, Z:7.76 [[ 9.99544791e-01 -2.58938118e-02 -1.54829413e-02 2.55732252e+02] [ 2.58920609e-02 9.99664695e-01 -3.13563427e-04 3.55149106e+01] [ 1.54858691e-02 -8.74645681e-05 9.99880083e-01 7.76046473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.764391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:255.76, Y:35.51, Z:7.76 [[ 9.99391742e-01 -3.13628022e-02 -1.52486076e-02 2.55762440e+02] [ 3.13617024e-02 9.99508052e-01 -3.11302280e-04 3.55136492e+01] [ 1.52508694e-02 -1.67109367e-04 9.99883685e-01 7.76147151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.794391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:255.79, Y:35.51, Z:7.76 [[ 9.99213543e-01 -3.68265717e-02 -1.47002939e-02 2.55793587e+02] [ 3.68261438e-02 9.99321643e-01 -2.99885344e-04 3.55120457e+01] [ 1.47013656e-02 -2.41705642e-04 9.99891900e-01 7.76202807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.824391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:255.82, Y:35.51, Z:7.76 [[ 9.98696926e-01 -4.87397192e-02 -1.51291030e-02 2.55824988e+02] [ 4.87406427e-02 9.98811421e-01 -3.07894218e-04 3.55082754e+01] [ 1.51261275e-02 -4.29909193e-04 9.99885501e-01 7.76321554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.854391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:255.85, Y:35.47, Z:7.76 [[ 9.97930138e-01 -5.72939227e-02 -2.92035133e-02 2.55851753e+02] [ 5.93562398e-02 9.95379357e-01 7.54769692e-02 3.54748990e+01] [ 2.47442026e-02 -7.70541531e-02 9.96719811e-01 7.75999626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.884391418 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:255.89, Y:35.54, Z:7.79 [[ 9.97809870e-01 -6.48669320e-02 -1.29516030e-02 2.55885277e+02] [ 6.36749631e-02 9.94954545e-01 -7.75303366e-02 3.55370806e+01] [ 1.79154113e-02 7.65358422e-02 9.96905865e-01 7.78525268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.914391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:255.92, Y:35.50, Z:7.76 [[ 9.97582327e-01 -6.80070657e-02 -1.43017109e-02 2.55917663e+02] [ 6.80099380e-02 9.97684603e-01 -2.85985888e-04 3.54995113e+01] [ 1.42880458e-02 -6.87364001e-04 9.99897684e-01 7.76237466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.944391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:255.95, Y:35.47, Z:7.76 [[ 9.96861761e-01 -7.57935625e-02 -2.28465545e-02 2.55947956e+02] [ 7.68695509e-02 9.95755391e-01 5.06188950e-02 3.54740413e+01] [ 1.89129934e-02 -5.22162452e-02 9.98456690e-01 7.76206188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.974391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:255.98, Y:35.52, Z:7.78 [[ 9.96932244e-01 -7.73651369e-02 -1.18632319e-02 2.55980247e+02] [ 7.66464602e-02 9.95687072e-01 -5.22740433e-02 3.55205550e+01] [ 1.58562551e-02 5.12044046e-02 9.98562311e-01 7.77759515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.004391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:256.01, Y:35.50, Z:7.76 [[ 9.96835398e-01 -7.83729134e-02 -1.32994794e-02 2.56013699e+02] [ 7.83763899e-02 9.96923805e-01 -2.60406233e-04 3.54963374e+01] [ 1.32789764e-02 -7.82783031e-04 9.99911524e-01 7.76352695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.034391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:256.04, Y:35.50, Z:7.77 [[ 9.96763017e-01 -7.88872897e-02 -1.55010693e-02 2.56044382e+02] [ 7.88284498e-02 9.96878610e-01 -4.37183808e-03 3.54979314e+01] [ 1.57975668e-02 3.13576126e-03 9.99870294e-01 7.76537846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.064391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:256.08, Y:35.50, Z:7.76 [[ 9.96832128e-01 -7.81686155e-02 -1.46757135e-02 2.56077920e+02] [ 7.80486290e-02 9.96912642e-01 -8.57880524e-03 3.54995369e+01] [ 1.53009977e-02 7.40620936e-03 9.99855503e-01 7.76389992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09439141800001 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:256.11, Y:35.49, Z:7.76 [[ 9.96897246e-01 -7.69902801e-02 -1.63822353e-02 2.56109144e+02] [ 7.71872950e-02 9.96947330e-01 1.17534405e-02 3.54918806e+01] [ 1.54273250e-02 -1.29814728e-02 9.99796719e-01 7.76137576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12439141800002 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:256.14, Y:35.50, Z:7.76 [[ 9.96987752e-01 -7.58080204e-02 -1.63879914e-02 2.56142526e+02] [ 7.58130767e-02 9.97121998e-01 -3.13395302e-04 3.54983675e+01] [ 1.63645847e-02 -9.29972775e-04 9.99865659e-01 7.76481437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.154391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:256.17, Y:35.50, Z:7.77 [[ 9.97057908e-01 -7.47509029e-02 -1.69655856e-02 2.56174142e+02] [ 7.47562016e-02 9.97201788e-01 -3.22541624e-04 3.54993789e+01] [ 1.69422226e-02 -9.46690063e-04 9.99856022e-01 7.76528854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.184391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:256.21, Y:35.50, Z:7.77 [[ 9.97183122e-01 -7.25589191e-02 -1.90006427e-02 2.56206122e+02] [ 7.25000915e-02 9.97361289e-01 -3.76774186e-03 3.55025862e+01] [ 1.92238888e-02 2.37958026e-03 9.99812372e-01 7.76617266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.214391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:256.24, Y:35.50, Z:7.77 [[ 9.97196166e-01 -7.23319185e-02 -1.91807038e-02 2.56238082e+02] [ 7.24025712e-02 9.97370935e-01 3.01413639e-03 3.55009521e+01] [ 1.89122583e-02 -4.39441752e-03 9.99811490e-01 7.76533133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.244391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:256.27, Y:35.50, Z:7.77 [[ 9.97358384e-01 -7.00470232e-02 -1.92267809e-02 2.56274184e+02] [ 6.99156518e-02 9.97525290e-01 -7.42275072e-03 3.55041428e+01] [ 1.96991418e-02 6.05888974e-03 9.99787594e-01 7.76681509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.274391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:256.30, Y:35.50, Z:7.76 [[ 9.97356547e-01 -6.99862858e-02 -1.95406952e-02 2.56301736e+02] [ 7.03357667e-02 9.97364379e-01 1.78094451e-02 3.54971173e+01] [ 1.82427764e-02 -1.91367764e-02 9.99650431e-01 7.76234475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.304391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:256.34, Y:35.51, Z:7.77 [[ 9.97371154e-01 -6.92617847e-02 -2.12975554e-02 2.56336883e+02] [ 6.89248639e-02 9.97490842e-01 -1.61673414e-02 3.55121610e+01] [ 2.23638953e-02 1.46569089e-02 9.99642452e-01 7.77160240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.334391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:256.37, Y:35.51, Z:7.77 [[ 9.97467009e-01 -6.77548795e-02 -2.16527556e-02 2.56369021e+02] [ 6.77836037e-02 9.97699869e-01 5.94564158e-04 3.55073848e+01] [ 2.15626668e-02 -2.06075993e-03 9.99765375e-01 7.76831684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.364391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:256.40, Y:35.51, Z:7.77 [[ 9.97542040e-01 -6.67129149e-02 -2.14304653e-02 2.56400721e+02] [ 6.67017349e-02 9.97772193e-01 -1.23686893e-03 3.55101340e+01] [ 2.14652375e-02 -1.95620458e-04 9.99769576e-01 7.76951677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.394391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:256.43, Y:35.51, Z:7.77 [[ 9.97695911e-01 -6.46202132e-02 -2.06663541e-02 2.56432693e+02] [ 6.46163648e-02 9.97909813e-01 -8.54627055e-04 3.55134709e+01] [ 2.06783838e-02 -4.82726758e-04 9.99786063e-01 7.77073634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.424391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:256.46, Y:35.51, Z:7.77 [[ 9.97779422e-01 -6.34136416e-02 -2.03699462e-02 2.56460831e+02] [ 6.35472744e-02 9.97960908e-01 5.98074064e-03 3.55136186e+01] [ 1.99491495e-02 -7.26191451e-03 9.99774623e-01 7.77089229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.454391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:256.49, Y:35.52, Z:7.77 [[ 9.97927290e-01 -6.11589308e-02 -2.00177002e-02 2.56493192e+02] [ 6.11636783e-02 9.98127679e-01 -3.75559115e-04 3.55181361e+01] [ 2.00031894e-02 -8.49575486e-04 9.99799555e-01 7.77342167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.484391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:256.53, Y:35.52, Z:7.77 [[ 9.98068773e-01 -5.88252186e-02 -1.99579129e-02 2.56525725e+02] [ 5.88295044e-02 9.98267975e-01 -3.72816113e-04 3.55197439e+01] [ 1.99452763e-02 -8.02018003e-04 9.99800752e-01 7.77398353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.514391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:256.56, Y:35.52, Z:7.77 [[ 9.98370190e-01 -5.35466196e-02 -1.97414345e-02 2.56556873e+02] [ 5.35498087e-02 9.98565112e-01 -3.67426888e-04 3.55228965e+01] [ 1.97327822e-02 -6.90321987e-04 9.99805051e-01 7.77449749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.544391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:256.59, Y:35.52, Z:7.77 [[ 9.98542168e-01 -5.03116197e-02 -1.95519654e-02 2.56589269e+02] [ 5.03141563e-02 9.98733375e-01 -3.62473001e-04 3.55249670e+01] [ 1.95454370e-02 -6.21796069e-04 9.99808776e-01 7.77490681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.574391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:256.62, Y:35.52, Z:7.77 [[ 9.98615320e-01 -4.65716031e-02 -2.44648544e-02 2.56620197e+02] [ 4.70277384e-02 9.98723880e-01 1.84120388e-02 3.55223381e+01] [ 2.35761561e-02 -1.95370707e-02 9.99531124e-01 7.77490040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.604391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:256.65, Y:35.54, Z:7.78 [[ 9.99019845e-01 -3.93734354e-02 -2.02257962e-02 2.56649877e+02] [ 3.88425550e-02 9.98906972e-01 -2.60022355e-02 3.55410175e+01] [ 2.12274862e-02 2.51911277e-02 9.99457253e-01 7.78303993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.634391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:256.68, Y:35.53, Z:7.77 [[ 9.99125619e-01 -3.72424991e-02 -1.89998382e-02 2.56680382e+02] [ 3.73422065e-02 9.99290424e-01 4.92017337e-03 3.55296804e+01] [ 1.88031168e-02 -5.62536715e-03 9.99807380e-01 7.77369330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.664391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:256.71, Y:35.53, Z:7.77 [[ 9.99261376e-01 -3.35827739e-02 -1.86788738e-02 2.56710819e+02] [ 3.35820458e-02 9.99435902e-01 -3.52727992e-04 3.55326293e+01] [ 1.86801826e-02 -2.74807336e-04 9.99825472e-01 7.77454865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.694391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:256.74, Y:35.54, Z:7.78 [[ 9.99415393e-01 -2.71131954e-02 -2.08265961e-02 2.56740175e+02] [ 2.69687635e-02 9.99610456e-01 -7.18486208e-03 3.55378049e+01] [ 2.10132878e-02 6.61899421e-03 9.99757286e-01 7.77724077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.724391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:256.77, Y:35.53, Z:7.77 [[ 9.99533213e-01 -2.20555144e-02 -2.11402619e-02 2.56769055e+02] [ 2.23621403e-02 9.99646522e-01 1.43793700e-02 3.55317327e+01] [ 2.08156449e-02 -1.48453994e-02 9.99673108e-01 7.77393029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.754391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:256.80, Y:35.54, Z:7.78 [[ 9.99643497e-01 -1.93181670e-02 -1.84306208e-02 2.56798007e+02] [ 1.91587487e-02 9.99777838e-01 -8.78737302e-03 3.55421831e+01] [ 1.85962822e-02 8.43113266e-03 9.99791525e-01 7.77791649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.784391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:256.83, Y:35.54, Z:7.78 [[ 9.99679037e-01 -1.75632686e-02 -1.82579934e-02 2.56825924e+02] [ 1.75597530e-02 9.99845753e-01 -3.52865782e-04 3.55391645e+01] [ 1.82613747e-02 3.21466706e-05 9.99833247e-01 7.77526513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.814391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:256.85, Y:35.54, Z:7.77 [[ 9.99706096e-01 -1.56839354e-02 -1.84860984e-02 2.56852873e+02] [ 1.56799217e-02 9.99876997e-01 -3.62053831e-04 3.55395446e+01] [ 1.84895030e-02 7.20868475e-05 9.99829052e-01 7.77495628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84439141800001 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:256.88, Y:35.54, Z:7.77 [[ 9.99709974e-01 -1.55787058e-02 -1.83649552e-02 2.56880269e+02] [ 1.55746517e-02 9.99878642e-01 -3.63765830e-04 3.55393406e+01] [ 1.83683935e-02 7.76325466e-05 9.99831284e-01 7.77471843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87439141800002 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:256.91, Y:35.54, Z:7.78 [[ 9.99697997e-01 -1.62772674e-02 -1.84109874e-02 2.56908436e+02] [ 1.62732159e-02 9.99867514e-01 -3.69864259e-04 3.55392321e+01] [ 1.84145686e-02 7.01465858e-05 9.99830435e-01 7.77508214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.904391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:256.94, Y:35.54, Z:7.77 [[ 9.99670975e-01 -1.92975962e-02 -1.68980352e-02 2.56936199e+02] [ 1.92945277e-02 9.99813784e-01 -3.44617848e-04 3.55378081e+01] [ 1.69015388e-02 1.84648512e-05 9.99857159e-01 7.77466545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.934391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:256.96, Y:35.54, Z:7.78 [[ 9.99616907e-01 -2.19246219e-02 -1.68922862e-02 2.56963761e+02] [ 2.19218427e-02 9.99759626e-01 -3.49696476e-04 3.55374345e+01] [ 1.68958927e-02 -2.07475317e-05 9.99857254e-01 7.77501984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.964391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:256.99, Y:35.53, Z:7.78 [[ 9.99350162e-01 -2.66969497e-02 -2.42183273e-02 2.56991428e+02] [ 2.72437081e-02 9.99374795e-01 2.25344008e-02 3.55300239e+01] [ 2.36015862e-02 -2.31795542e-02 9.99452687e-01 7.77763462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.994391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:257.02, Y:35.54, Z:7.78 [[ 9.99391966e-01 -3.13221134e-02 -1.53174494e-02 2.57024555e+02] [ 3.09648624e-02 9.99255140e-01 -2.30291680e-02 3.55447448e+01] [ 1.60273622e-02 2.25408628e-02 9.99617443e-01 7.78137775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:257.06, Y:35.53, Z:7.77 [[ 9.99264653e-01 -3.49200931e-02 -1.58348148e-02 2.57055786e+02] [ 3.49192729e-02 9.99390082e-01 -3.28365852e-04 3.55329138e+01] [ 1.58366234e-02 -2.24815829e-04 9.99874568e-01 7.77483969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.054391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:257.09, Y:35.53, Z:7.77 [[ 9.98985087e-01 -4.21687535e-02 -1.58301252e-02 2.57087886e+02] [ 4.21688552e-02 9.99110445e-01 -3.27514940e-04 3.55291928e+01] [ 1.58298543e-02 -3.40355717e-04 9.99874642e-01 7.77481274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:257.12, Y:35.53, Z:7.77 [[ 9.98839937e-01 -4.55493841e-02 -1.56216071e-02 2.57118686e+02] [ 4.55499130e-02 9.98962012e-01 -3.22129260e-04 3.55279373e+01] [ 1.56200648e-02 -3.89807275e-04 9.99877923e-01 7.77467599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.114391418 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:257.15, Y:35.53, Z:7.78 [[ 9.98512925e-01 -5.17351950e-02 -1.71874165e-02 2.57151474e+02] [ 5.15875880e-02 9.98628605e-01 -8.92351736e-03 3.55292073e+01] [ 1.76255057e-02 8.02359006e-03 9.99812464e-01 7.77724722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:257.18, Y:35.52, Z:7.77 [[ 9.98439621e-01 -5.37114739e-02 -1.52774400e-02 2.57183907e+02] [ 5.38415630e-02 9.98515534e-01 8.23493317e-03 3.55204727e+01] [ 1.48124507e-02 -9.04464480e-03 9.99849382e-01 7.77261128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.174391418 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:257.22, Y:35.53, Z:7.78 [[ 9.98286308e-01 -5.61930028e-02 -1.63338369e-02 2.57216078e+02] [ 5.60712442e-02 9.98396149e-01 -7.81948963e-03 3.55274661e+01] [ 1.67470404e-02 6.89023087e-03 9.99836017e-01 7.77745670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:257.25, Y:35.52, Z:7.77 [[ 9.98281367e-01 -5.65586973e-02 -1.53435684e-02 2.57246308e+02] [ 5.66747957e-02 9.98366441e-01 7.23998409e-03 3.55200436e+01] [ 1.49090197e-02 -8.09713482e-03 9.99856068e-01 7.77348645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23439141800003 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:257.28, Y:35.52, Z:7.78 [[ 9.98257988e-01 -5.69477002e-02 -1.54256193e-02 2.57277341e+02] [ 5.69496368e-02 9.98377003e-01 -3.14056222e-04 3.55227044e+01] [ 1.54184684e-02 -5.64974284e-04 9.99880969e-01 7.77566610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.264391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:257.31, Y:35.52, Z:7.78 [[ 9.98359084e-01 -5.51676710e-02 -1.53514453e-02 2.57309705e+02] [ 5.51693951e-02 9.98476961e-01 -3.11481454e-04 3.55229016e+01] [ 1.53452482e-02 -5.35959614e-04 9.99882111e-01 7.77627237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.294391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:257.34, Y:35.53, Z:7.78 [[ 9.98278610e-01 -5.54535899e-02 -1.90975380e-02 2.57344081e+02] [ 5.51652967e-02 9.98359914e-01 -1.53059274e-02 3.55308676e+01] [ 1.99149851e-02 1.42260585e-02 9.99700461e-01 7.78222941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:257.37, Y:35.52, Z:7.77 [[ 9.98518387e-01 -5.23092711e-02 -1.49923488e-02 2.57373469e+02] [ 5.25307224e-02 9.98509949e-01 1.47785124e-02 3.55171642e+01] [ 1.41969562e-02 -1.55441753e-02 9.99778388e-01 7.77300934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.354391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:257.41, Y:35.53, Z:7.78 [[ 9.98675895e-01 -4.94337153e-02 -1.42395122e-02 2.57405162e+02] [ 4.94346618e-02 9.98777319e-01 -2.85714866e-04 3.55255242e+01] [ 1.42362258e-02 -4.18588921e-04 9.99898572e-01 7.77698322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384391418 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:257.44, Y:35.53, Z:7.78 [[ 9.98749707e-01 -4.79602319e-02 -1.41010101e-02 2.57437636e+02] [ 4.79610293e-02 9.98849168e-01 -2.81800028e-04 3.55263809e+01] [ 1.40982974e-02 -3.94851263e-04 9.99900536e-01 7.77689912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.414391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:257.46, Y:35.52, Z:7.78 [[ 9.98566660e-01 -4.82063271e-02 -2.32545877e-02 2.57463111e+02] [ 4.90291204e-02 9.98140600e-01 3.62144787e-02 3.55160306e+01] [ 2.14655811e-02 -3.73027231e-02 9.99073439e-01 7.77768995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:257.50, Y:35.55, Z:7.79 [[ 9.98950673e-01 -4.34928420e-02 -1.43501098e-02 2.57497512e+02] [ 4.29305695e-02 9.98377618e-01 -3.74045072e-02 3.55452077e+01] [ 1.59536567e-02 3.67491992e-02 9.99197166e-01 7.78694666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.474391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:257.53, Y:35.53, Z:7.78 [[ 9.98954374e-01 -4.31564610e-02 -1.50889913e-02 2.57530614e+02] [ 4.31568846e-02 9.99068263e-01 -2.97695828e-04 3.55287097e+01] [ 1.50877799e-02 -3.53809308e-04 9.99886110e-01 7.77668079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:257.56, Y:35.53, Z:7.78 [[ 9.99018893e-01 -4.14627533e-02 -1.55592914e-02 2.57561601e+02] [ 4.14630283e-02 9.99139992e-01 -3.05053728e-04 3.55297883e+01] [ 1.55585587e-02 -3.40380903e-04 9.99878900e-01 7.77698176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.534391418 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:257.59, Y:35.53, Z:7.78 [[ 9.99120087e-01 -3.87401195e-02 -1.60703296e-02 2.57592843e+02] [ 3.87400840e-02 9.99249272e-01 -3.13631962e-04 3.55320516e+01] [ 1.60704153e-02 -3.09209925e-04 9.99870815e-01 7.77756980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:257.62, Y:35.53, Z:7.78 [[ 9.99178276e-01 -3.69483934e-02 -1.66610075e-02 2.57623786e+02] [ 3.69328315e-02 9.99316980e-01 -1.24085833e-03 3.55338761e+01] [ 1.66954755e-02 6.24500500e-04 9.99860426e-01 7.77814741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.594391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:257.66, Y:35.53, Z:7.78 [[ 9.99233096e-01 -3.57361258e-02 -1.60046814e-02 2.57655255e+02] [ 3.57495843e-02 9.99360625e-01 5.55512350e-04 3.55345118e+01] [ 1.59745966e-02 -1.12724703e-03 9.99871763e-01 7.77806547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:257.69, Y:35.54, Z:7.78 [[ 9.99324644e-01 -3.32750023e-02 -1.55893931e-02 2.57686459e+02] [ 3.32743130e-02 9.99446211e-01 -3.03667547e-04 3.55368264e+01] [ 1.55908644e-02 -2.15263884e-04 9.99878432e-01 7.77894787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.654391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:257.72, Y:35.54, Z:7.78 [[ 9.99358948e-01 -3.24297794e-02 -1.51658177e-02 2.57717567e+02] [ 3.24290471e-02 9.99473997e-01 -2.94270814e-04 3.55382743e+01] [ 1.51673836e-02 -1.97730845e-04 9.99884949e-01 7.77936411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.684391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:257.75, Y:35.54, Z:7.78 [[ 9.99398270e-01 -3.17607682e-02 -1.39410147e-02 2.57749060e+02] [ 3.17600916e-02 9.99495485e-01 -2.69983781e-04 3.55412228e+01] [ 1.39425561e-02 -1.72946579e-04 9.99902783e-01 7.77960534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.714391418 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:257.78, Y:35.54, Z:7.78 [[ 9.99389426e-01 -3.21420593e-02 -1.36990239e-02 2.57780532e+02] [ 3.21414490e-02 9.99483295e-01 -2.64768015e-04 3.55428717e+01] [ 1.37004558e-02 -1.75700124e-04 9.99906129e-01 7.77995491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.744391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:257.81, Y:35.54, Z:7.78 [[ 9.99379439e-01 -3.25759318e-02 -1.33994416e-02 2.57812149e+02] [ 3.25753957e-02 9.99469248e-01 -2.58325621e-04 3.55439388e+01] [ 1.34007450e-02 -1.78326798e-04 9.99910190e-01 7.77984411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.774391418 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:257.84, Y:35.55, Z:7.78 [[ 9.99293540e-01 -3.52591321e-02 -1.30082388e-02 2.57844142e+02] [ 3.52588655e-02 9.99378182e-01 -2.49902851e-04 3.55457421e+01] [ 1.30089614e-02 -2.08929438e-04 9.99915358e-01 7.77974124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.804391418 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:257.88, Y:35.55, Z:7.78 [[ 9.99230184e-01 -3.70828786e-02 -1.28022875e-02 2.57876500e+02] [ 3.70827830e-02 9.99312167e-01 -2.44931660e-04 3.55468647e+01] [ 1.28025645e-02 -2.30001342e-04 9.99918017e-01 7.77978316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.834391418 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:257.91, Y:35.55, Z:7.78 [[ 9.99036626e-01 -4.19512595e-02 -1.28807092e-02 2.57908013e+02] [ 4.19515789e-02 9.99119615e-01 -2.45515153e-04 3.55484337e+01] [ 1.28796689e-02 -2.95087460e-04 9.99917010e-01 7.77955204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.864391418 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:257.94, Y:35.55, Z:7.78 [[ 9.98915459e-01 -4.47220931e-02 -1.29553352e-02 2.57940381e+02] [ 4.47226608e-02 9.98999411e-01 -2.46029174e-04 3.55492413e+01] [ 1.29533752e-02 -3.33634717e-04 9.99916046e-01 7.77964598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.894391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:257.97, Y:35.55, Z:7.78 [[ 9.98625439e-01 -5.08119277e-02 -1.28600772e-02 2.57972836e+02] [ 5.08130045e-02 9.98708155e-01 -2.43205282e-04 3.55505293e+01] [ 1.28558217e-02 -4.10588179e-04 9.99917276e-01 7.77945687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.924391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:258.01, Y:35.55, Z:7.78 [[ 9.98466781e-01 -5.37601559e-02 -1.31883408e-02 2.58005427e+02] [ 5.37615593e-02 9.98553771e-01 -2.48354921e-04 3.55515590e+01] [ 1.31826190e-02 -4.61051625e-04 9.99912999e-01 7.77930738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.954391418 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:258.04, Y:35.55, Z:7.78 [[ 9.98148057e-01 -5.92444131e-02 -1.38042142e-02 2.58037440e+02] [ 5.92465006e-02 9.98243350e-01 -2.58037634e-04 3.55529335e+01] [ 1.37952523e-02 -5.60291621e-04 9.99904684e-01 7.77890363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98439141800003 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:258.07, Y:35.55, Z:7.78 [[ 9.97979523e-01 -6.20261477e-02 -1.37705509e-02 2.58070944e+02] [ 6.20285181e-02 9.98074345e-01 -2.55310143e-04 3.55540720e+01] [ 1.37598694e-02 -5.99372570e-04 9.99905149e-01 7.77910950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.014391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:258.10, Y:35.56, Z:7.78 [[ 9.97842921e-01 -6.43702767e-02 -1.28830541e-02 2.58103911e+02] [ 6.43725657e-02 9.97925907e-01 -2.37345060e-04 3.55550182e+01] [ 1.28716114e-02 -5.92482158e-04 9.99916982e-01 7.77856254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:258.14, Y:35.56, Z:7.78 [[ 9.97694905e-01 -6.67728922e-02 -1.20936616e-02 2.58136132e+02] [ 6.67751011e-02 9.97768028e-01 -2.21496444e-04 3.55564465e+01] [ 1.20814588e-02 -5.86569601e-04 9.99926844e-01 7.77893415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.074391418 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:258.17, Y:35.56, Z:7.78 [[ 9.97472404e-01 -7.01306954e-02 -1.14231556e-02 2.58168366e+02] [ 7.01328984e-02 9.97537635e-01 -2.08111309e-04 3.55587797e+01] [ 1.14096226e-02 -5.93553723e-04 9.99934732e-01 7.77910575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:258.20, Y:35.56, Z:7.78 [[ 9.97315571e-01 -7.22282416e-02 -1.20305189e-02 2.58201150e+02] [ 7.22308533e-02 9.97387917e-01 -2.17837139e-04 3.55610526e+01] [ 1.20148282e-02 -6.51722277e-04 9.99927607e-01 7.77852292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.134391418 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:258.23, Y:35.56, Z:7.78 [[ 9.97128210e-01 -7.46931742e-02 -1.25004822e-02 2.58232924e+02] [ 7.47333315e-02 9.97199690e-01 2.77612592e-03 3.55629817e+01] [ 1.22581194e-02 -3.70235615e-03 9.99918012e-01 7.77827462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:258.27, Y:35.57, Z:7.78 [[ 9.97164075e-01 -7.42108846e-02 -1.25120545e-02 2.58265654e+02] [ 7.41748201e-02 9.97239718e-01 -3.32285001e-03 3.55663698e+01] [ 1.27241093e-02 2.38534727e-03 9.99916200e-01 7.77976710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.194391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:258.30, Y:35.57, Z:7.78 [[ 9.97142020e-01 -7.44721405e-02 -1.27158072e-02 2.58299048e+02] [ 7.44753469e-02 9.97222830e-01 -2.21840731e-04 3.55664360e+01] [ 1.26970142e-02 -7.25807437e-04 9.99919126e-01 7.77930554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:258.33, Y:35.57, Z:7.78 [[ 9.97114216e-01 -7.48167666e-02 -1.28721088e-02 2.58332080e+02] [ 7.48201005e-02 9.97197023e-01 -2.23048320e-04 3.55677378e+01] [ 1.28527163e-02 -7.40687820e-04 9.99917126e-01 7.77938333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.254391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:258.36, Y:35.57, Z:7.78 [[ 9.97053747e-01 -7.54822661e-02 -1.36474285e-02 2.58363962e+02] [ 7.54860962e-02 9.97146827e-01 -2.34988505e-04 3.55691429e+01] [ 1.36262275e-02 -7.95894934e-04 9.99906842e-01 7.77991483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:258.40, Y:35.57, Z:7.78 [[ 9.96983690e-01 -7.62658180e-02 -1.43890907e-02 2.58396769e+02] [ 7.62701800e-02 9.97087157e-01 -2.46168841e-04 3.55718942e+01] [ 1.43659518e-02 -8.52032214e-04 9.99896441e-01 7.78034158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.314391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:258.43, Y:35.57, Z:7.78 [[ 9.97003694e-01 -7.58880069e-02 -1.49881701e-02 2.58428717e+02] [ 7.58927337e-02 9.97115955e-01 -2.53977410e-04 3.55735496e+01] [ 1.49642174e-02 -8.84276784e-04 9.99887639e-01 7.78079580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344391418 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:258.46, Y:35.58, Z:7.78 [[ 9.97028716e-01 -7.54404837e-02 -1.55715271e-02 2.58462189e+02] [ 7.54455677e-02 9.97149887e-01 -2.61524381e-04 3.55752667e+01] [ 1.55468760e-02 -9.14055384e-04 9.99878722e-01 7.78151950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.374391418 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:258.49, Y:35.58, Z:7.78 [[ 9.97090855e-01 -7.46768652e-02 -1.52706291e-02 2.58494849e+02] [ 7.46816924e-02 9.97207391e-01 -2.54698815e-04 3.55770982e+01] [ 1.52470043e-02 -8.86478566e-04 9.99883365e-01 7.78178513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404391418 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:258.53, Y:35.58, Z:7.78 [[ 9.97358670e-01 -7.09777889e-02 -1.54219559e-02 2.58527435e+02] [ 7.09822998e-02 9.97477543e-01 -2.55371615e-04 3.55804222e+01] [ 1.54011804e-02 -8.39988806e-04 9.99881042e-01 7.78314222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.434391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:258.56, Y:35.58, Z:7.78 [[ 9.97531805e-01 -6.85790582e-02 -1.50735030e-02 2.58559221e+02] [ 6.85831186e-02 9.97645375e-01 -2.47989553e-04 3.55824230e+01] [ 1.50550174e-02 -7.86410378e-04 9.99886358e-01 7.78365486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:258.59, Y:35.59, Z:7.78 [[ 9.97937846e-01 -6.25321166e-02 -1.44841294e-02 2.58592571e+02] [ 6.25352525e-02 9.98042728e-01 -2.36745079e-04 3.55865170e+01] [ 1.44705842e-02 -6.69511813e-04 9.99895071e-01 7.78458295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.494391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:258.63, Y:35.59, Z:7.79 [[ 9.98164921e-01 -5.87614297e-02 -1.46248215e-02 2.58625383e+02] [ 5.87642484e-02 9.98271860e-01 -2.37297189e-04 3.55887099e+01] [ 1.46134917e-02 -6.22554913e-04 9.99893023e-01 7.78553522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:258.66, Y:35.59, Z:7.79 [[ 9.98397481e-01 -5.47406025e-02 -1.43504576e-02 2.58657369e+02] [ 5.47429343e-02 9.98500455e-01 -2.30570599e-04 3.55907703e+01] [ 1.43415600e-02 -5.55385053e-04 9.99897000e-01 7.78637825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.554391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:258.69, Y:35.59, Z:7.79 [[ 9.98792927e-01 -4.70231819e-02 -1.41954072e-02 2.58690735e+02] [ 4.70247152e-02 9.98893701e-01 -2.25942285e-04 3.55947059e+01] [ 1.41903273e-02 -4.41865424e-04 9.99899215e-01 7.78691961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584391418 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:258.72, Y:35.60, Z:7.79 [[ 9.98951478e-01 -4.33694030e-02 -1.46642417e-02 2.58721487e+02] [ 4.33706644e-02 9.99059023e-01 -2.32133027e-04 3.55967045e+01] [ 1.46605105e-02 -4.04108275e-04 9.99892447e-01 7.78740783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.614391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:258.75, Y:35.60, Z:7.79 [[ 9.99223794e-01 -3.63536439e-02 -1.51731035e-02 2.58752855e+02] [ 3.63541995e-02 9.99338939e-01 -2.39292727e-04 3.55993986e+01] [ 1.51717723e-02 -3.12499044e-04 9.99884853e-01 7.78783058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:258.79, Y:35.60, Z:7.79 [[ 9.99318345e-01 -3.34975084e-02 -1.55165221e-02 2.58785293e+02] [ 3.34977620e-02 9.99438763e-01 -2.43629987e-04 3.56008719e+01] [ 1.55159746e-02 -2.76304848e-04 9.99879582e-01 7.78799057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.674391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:258.82, Y:35.60, Z:7.79 [[ 9.99438608e-01 -2.92390121e-02 -1.63569202e-02 2.58816166e+02] [ 2.92387416e-02 9.99572424e-01 -2.55733097e-04 3.56031771e+01] [ 1.63574037e-02 -2.22666232e-04 9.99866184e-01 7.78835187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:258.85, Y:35.60, Z:7.79 [[ 9.99472862e-01 -2.80109316e-02 -1.64129862e-02 2.58847324e+02] [ 2.80105064e-02 9.99607596e-01 -2.55837437e-04 3.56044150e+01] [ 1.64137119e-02 -2.04033478e-04 9.99865265e-01 7.78823689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73439141800003 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:258.88, Y:35.61, Z:7.79 [[ 9.99499197e-01 -2.67427064e-02 -1.69169514e-02 2.58877498e+02] [ 2.67420810e-02 9.99642332e-01 -2.63217399e-04 3.56057307e+01] [ 1.69179399e-02 -1.89308907e-04 9.99856863e-01 7.78843330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.764391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:258.91, Y:35.61, Z:7.79 [[ 9.99494216e-01 -2.70465980e-02 -1.67270374e-02 2.58908883e+02] [ 2.70460380e-02 9.99634155e-01 -2.59735806e-04 3.56065611e+01] [ 1.67279429e-02 -1.92795653e-04 9.99860060e-01 7.78834888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.794391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:258.94, Y:35.61, Z:7.79 [[ 9.99484113e-01 -2.76122831e-02 -1.64033248e-02 2.58940428e+02] [ 2.76118312e-02 9.99618688e-01 -2.54068939e-04 3.56072042e+01] [ 1.64040854e-02 -1.98987967e-04 9.99865424e-01 7.78858006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:258.97, Y:35.61, Z:7.79 [[ 9.99431667e-01 -2.98568823e-02 -1.56495746e-02 2.58971561e+02] [ 2.98567556e-02 9.99554158e-01 -2.41782498e-04 3.56081945e+01] [ 1.56498163e-02 -2.25600441e-04 9.99877509e-01 7.78895851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.854391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:259.00, Y:35.61, Z:7.79 [[ 9.99402186e-01 -3.11933463e-02 -1.49079327e-02 2.59002857e+02] [ 3.11933912e-02 9.99513341e-01 -2.29572987e-04 3.56088044e+01] [ 1.49078388e-02 -2.35593231e-04 9.99888844e-01 7.78925238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:259.03, Y:35.61, Z:7.79 [[ 9.99354112e-01 -3.30667758e-02 -1.40694012e-02 2.59034306e+02] [ 3.30670126e-02 9.99453114e-01 -2.15859142e-04 3.56093390e+01] [ 1.40688446e-02 -2.49513345e-04 9.99900998e-01 7.78963762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.914391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:259.07, Y:35.61, Z:7.79 [[ 9.99191201e-01 -3.79376239e-02 -1.33297097e-02 2.59066747e+02] [ 3.79382813e-02 9.99280064e-01 -2.03633244e-04 3.56095230e+01] [ 1.33278385e-02 -3.02237729e-04 9.99911135e-01 7.78946485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:259.10, Y:35.61, Z:7.79 [[ 9.99075838e-01 -4.08534963e-02 -1.33589521e-02 2.59099258e+02] [ 4.08544312e-02 9.99165089e-01 -2.03026618e-04 3.56094837e+01] [ 1.33560929e-02 -3.42933402e-04 9.99910745e-01 7.78919077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.974391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:259.13, Y:35.61, Z:7.79 [[ 9.98937772e-01 -4.41398879e-02 -1.32287126e-02 2.59130860e+02] [ 4.41411083e-02 9.99025286e-01 -1.99849098e-04 3.56093402e+01] [ 1.32246397e-02 -3.84293224e-04 9.99912477e-01 7.78879150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004391418 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:259.16, Y:35.61, Z:7.79 [[ 9.98789728e-01 -4.73137121e-02 -1.34347455e-02 2.59163141e+02] [ 4.73152738e-02 9.98879985e-01 -2.01761735e-04 3.56089097e+01] [ 1.34292445e-02 -4.34151115e-04 9.99909729e-01 7.78874971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.034391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:259.20, Y:35.61, Z:7.79 [[ 9.98442705e-01 -5.43081496e-02 -1.27589388e-02 2.59195059e+02] [ 5.43101420e-02 9.98524097e-01 -1.90530597e-04 3.56078318e+01] [ 1.27504552e-02 -5.02705895e-04 9.99918583e-01 7.78768748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064391418 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:259.23, Y:35.61, Z:7.79 [[ 9.98266849e-01 -5.74527645e-02 -1.27467211e-02 2.59226758e+02] [ 5.74550317e-02 9.98348077e-01 -1.88566220e-04 3.56074785e+01] [ 1.27364982e-02 -5.44123859e-04 9.99918739e-01 7.78758363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.094391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:259.26, Y:35.61, Z:7.79 [[ 9.98074834e-01 -6.07325759e-02 -1.25769995e-02 2.59260088e+02] [ 6.07350669e-02 9.98153905e-01 -1.84144124e-04 3.56072921e+01] [ 1.25649647e-02 -5.80075291e-04 9.99920889e-01 7.78749481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124391418 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:259.29, Y:35.61, Z:7.79 [[ 9.97742297e-01 -6.60236348e-02 -1.22958531e-02 2.59293003e+02] [ 6.60264343e-02 9.97817858e-01 -1.78562916e-04 3.56066426e+01] [ 1.22808111e-02 -6.33691561e-04 9.99924387e-01 7.78737756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.154391418 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:259.32, Y:35.61, Z:7.79 [[ 9.97606619e-01 -6.80752200e-02 -1.21160033e-02 2.59324833e+02] [ 6.80781053e-02 9.97679979e-01 -1.74615295e-04 3.56064528e+01] [ 1.20997808e-02 -6.50637171e-04 9.99926583e-01 7.78725872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.184391418 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:259.36, Y:35.61, Z:7.79 [[ 9.97480531e-01 -6.98964950e-02 -1.21272713e-02 2.59357979e+02] [ 6.98995357e-02 9.97554021e-01 -1.73468874e-04 3.56063276e+01] [ 1.21097331e-02 -6.74658808e-04 9.99926447e-01 7.78689617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.214391418 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:259.39, Y:35.61, Z:7.79 [[ 9.97483362e-01 -6.98605774e-02 -1.21013602e-02 2.59389549e+02] [ 6.98636182e-02 9.97556537e-01 -1.71799238e-04 3.56069314e+01] [ 1.20837930e-02 -6.74077927e-04 9.99926761e-01 7.78683039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.244391418 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:259.42, Y:35.61, Z:7.79 [[ 9.97562438e-01 -6.87038167e-02 -1.22052289e-02 2.59422351e+02] [ 6.87068393e-02 9.97636878e-01 -1.71975847e-04 3.56074051e+01] [ 1.21882018e-02 -6.67026053e-04 9.99925499e-01 7.78669655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.274391418 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:259.46, Y:35.61, Z:7.79 [[ 9.97839611e-01 -6.45751398e-02 -1.20897526e-02 2.59455412e+02] [ 6.45778207e-02 9.97912660e-01 -1.68909817e-04 3.56087616e+01] [ 1.20754246e-02 -6.12184971e-04 9.99926902e-01 7.78660196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.304391418 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:259.49, Y:35.61, Z:7.79 [[ 9.98012959e-01 -6.18113711e-02 -1.22265672e-02 2.59487165e+02] [ 6.18139231e-02 9.98087677e-01 -1.69425345e-04 3.56099681e+01] [ 1.22136585e-02 -5.86683395e-04 9.99925238e-01 7.78680289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.334391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:259.52, Y:35.61, Z:7.79 [[ 9.98205910e-01 -5.86179496e-02 -1.22023721e-02 2.59520152e+02] [ 5.86202700e-02 9.98280339e-01 -1.67724849e-04 3.56112418e+01] [ 1.21912198e-02 -5.47882411e-04 9.99925534e-01 7.78747244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.364391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:259.55, Y:35.61, Z:7.79 [[ 9.98567520e-01 -5.21491515e-02 -1.19738614e-02 2.59553578e+02] [ 5.21509389e-02 9.98639201e-01 -1.63119543e-04 3.56133667e+01] [ 1.19660739e-02 -4.61562238e-04 9.99928297e-01 7.78761127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.394391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:259.59, Y:35.61, Z:7.79 [[ 9.98575030e-01 -5.20051430e-02 -1.19738830e-02 2.59587131e+02] [ 5.20069392e-02 9.98646710e-01 -1.61523593e-04 3.56137050e+01] [ 1.19660789e-02 -4.61431579e-04 9.99928297e-01 7.78782794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.424391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:259.62, Y:35.61, Z:7.79 [[ 9.98726822e-01 -4.89187076e-02 -1.23164946e-02 2.59619137e+02] [ 4.89203929e-02 9.98802667e-01 -1.64586725e-04 3.56148711e+01] [ 1.23097990e-02 -4.38150576e-04 9.99924136e-01 7.78795550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.454391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:259.65, Y:35.62, Z:7.79 [[ 9.98976016e-01 -4.33303275e-02 -1.30154496e-02 2.59652615e+02] [ 4.33317550e-02 9.99060724e-01 -1.72437296e-04 3.56173290e+01] [ 1.30106963e-02 -3.91721551e-04 9.99915281e-01 7.78821716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48439141800003 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:259.68, Y:35.62, Z:7.79 [[ 9.99081737e-01 -4.06948699e-02 -1.34019043e-02 2.59684692e+02] [ 4.06961649e-02 9.99171552e-01 -1.76188237e-04 3.56185284e+01] [ 1.33979715e-02 -3.69379657e-04 9.99910175e-01 7.78818469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.514391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:259.72, Y:35.62, Z:7.79 [[ 9.99158743e-01 -3.84790537e-02 -1.41833751e-02 2.59715627e+02] [ 3.84802956e-02 9.99259342e-01 -1.85433996e-04 3.56198326e+01] [ 1.41800054e-02 -3.60502467e-04 9.99899394e-01 7.78821623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:259.75, Y:35.62, Z:7.79 [[ 9.99305915e-01 -3.43731998e-02 -1.43586662e-02 2.59747641e+02] [ 3.43740637e-02 9.99409020e-01 -1.86699664e-04 3.56213839e+01] [ 1.43565980e-02 -3.06995627e-04 9.99896892e-01 7.78797543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.574391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:259.78, Y:35.62, Z:7.79 [[ 9.99375098e-01 -3.22970941e-02 -1.43635712e-02 2.59779720e+02] [ 3.22977607e-02 9.99478274e-01 -1.85618131e-04 3.56221190e+01] [ 1.43620723e-02 -2.78409049e-04 9.99896821e-01 7.78818065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604391418 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:259.81, Y:35.62, Z:7.79 [[ 9.99428570e-01 -3.06184747e-02 -1.43193052e-02 2.59811355e+02] [ 3.06189872e-02 9.99531112e-01 -1.83493947e-04 3.56233378e+01] [ 1.43182093e-02 -2.55053528e-04 9.99897457e-01 7.78847653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.634391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:259.84, Y:35.63, Z:7.79 [[ 9.99516017e-01 -2.80775695e-02 -1.33933177e-02 2.59844014e+02] [ 2.80778077e-02 9.99605726e-01 -1.70289157e-04 3.56250870e+01] [ 1.33928184e-02 -2.05848258e-04 9.99910291e-01 7.78851155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:259.88, Y:35.63, Z:7.79 [[ 9.99545948e-01 -2.72290144e-02 -1.29026510e-02 2.59876376e+02] [ 2.72291777e-02 9.99629204e-01 -1.63051259e-04 3.56257194e+01] [ 1.29023065e-02 -1.88351351e-04 9.99916744e-01 7.78870960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.694391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:259.91, Y:35.63, Z:7.79 [[ 9.99561581e-01 -2.65956656e-02 -1.30121377e-02 2.59907448e+02] [ 2.65957961e-02 9.99646256e-01 -1.63045555e-04 3.56262942e+01] [ 1.30118710e-02 -1.83094087e-04 9.99915325e-01 7.78937623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:259.94, Y:35.63, Z:7.79 [[ 9.99549901e-01 -2.72374749e-02 -1.25743951e-02 2.59940075e+02] [ 2.72376640e-02 9.99628974e-01 -1.56245250e-04 3.56271285e+01] [ 1.25739854e-02 -1.86322225e-04 9.99920927e-01 7.78941410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.754391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:259.97, Y:35.63, Z:7.79 [[ 9.99532969e-01 -2.79540954e-02 -1.23455547e-02 2.59971297e+02] [ 2.79543429e-02 9.99609189e-01 -1.52547955e-04 3.56272321e+01] [ 1.23449943e-02 -1.92635160e-04 9.99923779e-01 7.78966748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:260.00, Y:35.63, Z:7.79 [[ 9.99461733e-01 -3.05327632e-02 -1.19998043e-02 2.60003591e+02] [ 3.05331925e-02 9.99533743e-01 -1.47462421e-04 3.56273519e+01] [ 1.19987117e-02 -2.19009288e-04 9.99927989e-01 7.79042521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.814391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:260.04, Y:35.63, Z:7.79 [[ 9.99422433e-01 -3.18164817e-02 -1.19378774e-02 2.60035391e+02] [ 3.18170095e-02 9.99493700e-01 -1.45756066e-04 3.56276609e+01] [ 1.19364707e-02 -2.34155676e-04 9.99928730e-01 7.79083217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:260.07, Y:35.63, Z:7.79 [[ 9.99335709e-01 -3.41553289e-02 -1.27103622e-02 2.60066093e+02] [ 3.41561278e-02 9.99416497e-01 -1.54274612e-04 3.56277410e+01] [ 1.27082150e-02 -2.79964627e-04 9.99919208e-01 7.79114433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.874391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:260.10, Y:35.63, Z:7.79 [[ 9.99291597e-01 -3.53344845e-02 -1.29529651e-02 2.60098552e+02] [ 3.53354250e-02 9.99375497e-01 -1.56316916e-04 3.56281308e+01] [ 1.29503993e-02 -3.01492346e-04 9.99916095e-01 7.79140118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:260.13, Y:35.63, Z:7.79 [[ 9.99255677e-01 -3.62069790e-02 -1.33096717e-02 2.60131184e+02] [ 3.62080635e-02 9.99344260e-01 -1.59556306e-04 3.56282789e+01] [ 1.33067211e-02 -3.22479895e-04 9.99911410e-01 7.79169610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.934391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:260.16, Y:35.63, Z:7.79 [[ 9.99219805e-01 -3.69996112e-02 -1.38134129e-02 2.60162813e+02] [ 3.70008683e-02 9.99315220e-01 -1.64635443e-04 3.56287205e+01] [ 1.38100452e-02 -3.46601277e-04 9.99904577e-01 7.79240623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:260.19, Y:35.63, Z:7.79 [[ 9.99217576e-01 -3.69395842e-02 -1.41316071e-02 2.60194091e+02] [ 3.69409056e-02 9.99317438e-01 -1.67596143e-04 3.56290232e+01] [ 1.41281524e-02 -3.54569353e-04 9.99900130e-01 7.79262735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.994391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:260.22, Y:35.63, Z:7.79 [[ 9.99211595e-01 -3.66331497e-02 -1.53035927e-02 2.60224887e+02] [ 3.66346869e-02 9.99328708e-01 -1.79971684e-04 3.56295623e+01] [ 1.52999124e-02 -3.80812532e-04 9.99882877e-01 7.79337810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:260.26, Y:35.63, Z:7.79 [[ 9.99217851e-01 -3.61395423e-02 -1.60505186e-02 2.60256979e+02] [ 3.61411950e-02 9.99346676e-01 -1.87171035e-04 3.56303254e+01] [ 1.60467967e-02 -3.93060282e-04 9.99871165e-01 7.79397994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.054391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:260.29, Y:35.63, Z:7.79 [[ 9.99230123e-01 -3.55684525e-02 -1.65543342e-02 2.60288301e+02] [ 3.55701501e-02 9.99367164e-01 -1.91970903e-04 3.56311339e+01] [ 1.65506861e-02 -3.97017044e-04 9.99862949e-01 7.79453549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:260.32, Y:35.63, Z:7.80 [[ 9.99260828e-01 -3.43452617e-02 -1.72684793e-02 2.60320316e+02] [ 3.43469480e-02 9.99409950e-01 -1.99007205e-04 3.56323489e+01] [ 1.72651250e-02 -3.94259455e-04 9.99850869e-01 7.79520075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.114391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:260.35, Y:35.63, Z:7.80 [[ 9.99277790e-01 -3.38168184e-02 -1.73298022e-02 2.60351419e+02] [ 3.38184575e-02 9.99427973e-01 -1.98546965e-04 3.56330053e+01] [ 1.73266033e-02 -3.87663605e-04 9.99849808e-01 7.79564803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:260.38, Y:35.63, Z:7.80 [[ 9.99295658e-01 -3.31883974e-02 -1.75133784e-02 2.60383685e+02] [ 3.31899972e-02 9.99449040e-01 -1.99380332e-04 3.56337213e+01] [ 1.75103463e-02 -3.82029078e-04 9.99846609e-01 7.79671900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.174391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:260.42, Y:35.63, Z:7.80 [[ 9.99289762e-01 -3.31809190e-02 -1.78605048e-02 2.60415467e+02] [ 3.31826075e-02 9.99449285e-01 -2.01890262e-04 3.56341884e+01] [ 1.78573676e-02 -3.90911248e-04 9.99840468e-01 7.79727918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204391418 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:260.45, Y:35.63, Z:7.80 [[ 9.99280586e-01 -3.34790315e-02 -1.78175343e-02 2.60446868e+02] [ 3.34807805e-02 9.99439341e-01 -2.00206349e-04 3.56346815e+01] [ 1.78142474e-02 -3.96482637e-04 9.99841235e-01 7.79726901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23439141800003 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:260.48, Y:35.64, Z:7.80 [[ 9.99259588e-01 -3.38921901e-02 -1.82097675e-02 2.60479389e+02] [ 3.38941095e-02 9.99425409e-01 -2.03299324e-04 3.56351392e+01] [ 1.82061946e-02 -4.14055054e-04 9.99834168e-01 7.79796743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.264391418 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:260.51, Y:35.64, Z:7.80 [[ 9.99178467e-01 -3.59443482e-02 -1.87188495e-02 2.60511393e+02] [ 3.59467642e-02 9.99353685e-01 -2.07495952e-04 3.56359451e+01] [ 1.87142095e-02 -4.65556581e-04 9.99824765e-01 7.79897199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.294391418 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:260.54, Y:35.64, Z:7.80 [[ 9.99117008e-01 -3.74372672e-02 -1.90697534e-02 2.60543422e+02] [ 3.74400753e-02 9.99298853e-01 -2.09868765e-04 3.56363710e+01] [ 1.90642396e-02 -5.04289551e-04 9.99818134e-01 7.79953401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:260.57, Y:35.64, Z:7.80 [[ 9.99052343e-01 -3.90825465e-02 -1.91564562e-02 2.60574143e+02] [ 3.90857241e-02 9.99235839e-01 -2.08644728e-04 3.56365763e+01] [ 1.91499720e-02 -5.40296958e-04 9.99816476e-01 7.79973391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.354391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:260.61, Y:35.64, Z:7.80 [[ 9.98872087e-01 -4.30509985e-02 -2.00290970e-02 2.60605512e+02] [ 4.30553223e-02 9.99072666e-01 -2.15496688e-04 3.56362651e+01] [ 2.00198007e-02 -6.47105599e-04 9.99799374e-01 7.80013002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384391418 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:260.64, Y:35.64, Z:7.80 [[ 9.98766908e-01 -4.53548768e-02 -2.01890868e-02 2.60637422e+02] [ 4.53597792e-02 9.98970692e-01 -2.15279460e-04 3.56365092e+01] [ 2.01780700e-02 -7.00758518e-04 9.99796156e-01 7.80038166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.414391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:260.67, Y:35.64, Z:7.80 [[ 9.98635257e-01 -4.80960169e-02 -2.03567555e-02 2.60669105e+02] [ 4.81015969e-02 9.98842425e-01 -2.15727338e-04 3.56367147e+01] [ 2.03435667e-02 -7.63759525e-04 9.99792757e-01 7.80068923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:260.70, Y:35.64, Z:7.80 [[ 9.98366508e-01 -5.33641611e-02 -2.04103367e-02 2.60701724e+02] [ 5.33708997e-02 9.98574735e-01 -2.14803744e-04 3.56365286e+01] [ 2.03927094e-02 -8.74865170e-04 9.99791664e-01 7.80094258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.474391418 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:260.73, Y:35.64, Z:7.80 [[ 9.98227389e-01 -5.59915076e-02 -2.01750319e-02 2.60733163e+02] [ 5.59986537e-02 9.98430822e-01 -2.11007530e-04 3.56364990e+01] [ 2.01551883e-02 -9.19141130e-04 9.99796441e-01 7.80103568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:260.77, Y:35.64, Z:7.80 [[ 9.98084404e-01 -5.84171757e-02 -2.03704538e-02 2.60765441e+02] [ 5.84249949e-02 9.98291779e-01 -2.11583714e-04 3.56365562e+01] [ 2.03480167e-02 -9.78965254e-04 9.99792478e-01 7.80170307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.534391418 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:260.80, Y:35.64, Z:7.80 [[ 9.97959287e-01 -6.06674386e-02 -1.99179394e-02 2.60798502e+02] [ 6.06754024e-02 9.98157529e-01 -2.04807342e-04 3.56365217e+01] [ 1.98936664e-02 -1.00413960e-03 9.99801597e-01 7.80208574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:260.83, Y:35.64, Z:7.80 [[ 9.97747462e-01 -6.43945054e-02 -1.87976053e-02 2.60830722e+02] [ 6.44022937e-02 9.97923999e-01 -1.91366316e-04 3.56364468e+01] [ 1.87709044e-02 -1.01967364e-03 9.99823291e-01 7.80260884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.594391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:260.86, Y:35.64, Z:7.80 [[ 9.97679820e-01 -6.56039197e-02 -1.81962428e-02 2.60864121e+02] [ 6.56114542e-02 9.97845230e-01 -1.83254194e-04 3.56363437e+01] [ 1.81690562e-02 -1.01105294e-03 9.99834418e-01 7.80271878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:260.90, Y:35.64, Z:7.80 [[ 9.97604229e-01 -6.69524028e-02 -1.74120320e-02 2.60897590e+02] [ 6.69595422e-02 9.97755676e-01 -1.73302983e-04 3.56358088e+01] [ 1.73845568e-02 -9.93013901e-04 9.99848384e-01 7.80293375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.654391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:260.93, Y:35.64, Z:7.80 [[ 9.97584147e-01 -6.73090343e-02 -1.71861432e-02 2.60931063e+02] [ 6.73160776e-02 9.97731686e-01 -1.68992041e-04 3.56358004e+01] [ 1.71585343e-02 -9.88319968e-04 9.99852293e-01 7.80307545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.684391418 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:260.96, Y:35.64, Z:7.80 [[ 9.97598187e-01 -6.71761866e-02 -1.68883588e-02 2.60964478e+02] [ 6.71830031e-02 9.97740656e-01 -1.64039781e-04 3.56356170e+01] [ 1.68612218e-02 -9.70964876e-04 9.99857368e-01 7.80319370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.714391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:261.00, Y:35.64, Z:7.80 [[ 9.97675730e-01 -6.61276591e-02 -1.64399113e-02 2.60997056e+02] [ 6.61340085e-02 9.97810738e-01 -1.57729819e-04 3.56356015e+01] [ 1.64143503e-02 -9.29874019e-04 9.99864843e-01 7.80281132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.744391418 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:261.03, Y:35.64, Z:7.80 [[ 9.97761454e-01 -6.48172753e-02 -1.64560608e-02 2.61030306e+02] [ 6.48234919e-02 9.97896733e-01 -1.55917057e-04 3.56355655e+01] [ 1.64315554e-02 -9.11171291e-04 9.99864578e-01 7.80265920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.774391418 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:261.06, Y:35.64, Z:7.80 [[ 9.97825226e-01 -6.35950436e-02 -1.73346147e-02 2.61063366e+02] [ 6.36017945e-02 9.97975343e-01 -1.62131269e-04 3.56357630e+01] [ 1.73098288e-02 -9.40733932e-04 9.99849731e-01 7.80271065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.804391418 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:261.10, Y:35.64, Z:7.80 [[ 9.97923635e-01 -6.19064218e-02 -1.77767663e-02 2.61095214e+02] [ 6.19132882e-02 9.98081519e-01 -1.64359850e-04 3.56363243e+01] [ 1.77528369e-02 -9.36599480e-04 9.99841967e-01 7.80261012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.834391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:261.13, Y:35.64, Z:7.80 [[ 9.98180654e-01 -5.71692164e-02 -1.91588584e-02 2.61128175e+02] [ 5.71763636e-02 9.98364078e-01 -1.74958630e-04 3.56375990e+01] [ 1.91375183e-02 -9.20793537e-04 9.99816437e-01 7.80280244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.864391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:261.16, Y:35.64, Z:7.80 [[ 9.98349223e-01 -5.42175796e-02 -1.89547776e-02 2.61160011e+02] [ 5.42240817e-02 9.98528778e-01 -1.71129012e-04 3.56383788e+01] [ 1.89361692e-02 -8.56958895e-04 9.99820327e-01 7.80286973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.894391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:261.19, Y:35.64, Z:7.80 [[ 9.98748197e-01 -4.65313238e-02 -1.83541341e-02 2.61192603e+02] [ 4.65361520e-02 9.98916593e-01 -1.64187958e-04 3.56401579e+01] [ 1.83418889e-02 -6.90148346e-04 9.99831535e-01 7.80294923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.924391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:261.22, Y:35.64, Z:7.80 [[ 9.98958654e-01 -4.19949303e-02 -1.78335062e-02 2.61224306e+02] [ 4.19987903e-02 9.99117649e-01 -1.58185492e-04 3.56414956e+01] [ 1.78244138e-02 -5.90964923e-04 9.99840958e-01 7.80351152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.954391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:261.26, Y:35.64, Z:7.80 [[ 9.99171331e-01 -3.70626593e-02 -1.68229410e-02 2.61255705e+02] [ 3.70654133e-02 9.99312831e-01 -1.48170874e-04 3.56428441e+01] [ 1.68168724e-02 -4.75501172e-04 9.99858473e-01 7.80356629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98439141800003 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:261.29, Y:35.64, Z:7.80 [[ 9.99354958e-01 -3.20090178e-02 -1.62816003e-02 2.61288285e+02] [ 3.20109448e-02 9.99487508e-01 -1.42312192e-04 3.56441308e+01] [ 1.62778113e-02 -3.78969012e-04 9.99867436e-01 7.80396228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.014391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:261.32, Y:35.65, Z:7.80 [[ 9.99665347e-01 -2.17376584e-02 -1.40238553e-02 2.61319715e+02] [ 2.17380891e-02 9.99763692e-01 -1.21738674e-04 3.56466841e+01] [ 1.40231876e-02 -1.83153881e-04 9.99901653e-01 7.80454477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:261.35, Y:35.65, Z:7.80 [[ 9.99769625e-01 -1.68587907e-02 -1.32845390e-02 2.61350036e+02] [ 1.68587511e-02 9.99857875e-01 -1.14979116e-04 3.56480688e+01] [ 1.32845893e-02 -1.09008108e-04 9.99911750e-01 7.80468412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.074391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:261.38, Y:35.65, Z:7.80 [[ 9.99846850e-01 -1.22580650e-02 -1.24906875e-02 2.61380045e+02] [ 1.22576709e-02 9.99924866e-01 -1.08108246e-04 3.56491630e+01] [ 1.24910742e-02 -4.50150473e-05 9.99921982e-01 7.80485689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:261.41, Y:35.65, Z:7.80 [[ 9.99913692e-01 -4.69803557e-03 -1.22693736e-02 2.61408532e+02] [ 4.69706591e-03 9.99988963e-01 -1.07845787e-04 3.56501483e+01] [ 1.22697449e-02 5.02064222e-05 9.99924723e-01 7.80476965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.134391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:261.44, Y:35.65, Z:7.80 [[ 9.99926214e-01 -1.40790953e-03 -1.20658130e-02 2.61435515e+02] [ 1.40670092e-03 9.99999005e-01 -1.08654937e-04 3.56506815e+01] [ 1.20659540e-02 9.16739300e-05 9.99927200e-01 7.80431600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:261.46, Y:35.65, Z:7.80 [[ 9.99922978e-01 3.29531789e-03 -1.19657335e-02 2.61463423e+02] [-3.29687448e-03 9.99994559e-01 -1.10364302e-04 3.56505805e+01] [ 1.19653047e-02 1.49805323e-04 9.99928402e-01 7.80359851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.194391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:261.49, Y:35.65, Z:7.80 [[ 9.99921419e-01 4.77511234e-03 -1.15911619e-02 2.61491416e+02] [-4.77670203e-03 9.99988586e-01 -1.09465324e-04 3.56502554e+01] [ 1.15905068e-02 1.64824249e-04 9.99932814e-01 7.80337567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:261.52, Y:35.65, Z:7.80 [[ 9.99924466e-01 5.35922798e-03 -1.10607784e-02 2.61519494e+02] [-5.36072538e-03 9.99985626e-01 -1.05735785e-04 3.56497184e+01] [ 1.10600527e-02 1.65021594e-04 9.99938822e-01 7.80307959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.254391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:261.55, Y:35.65, Z:7.80 [[ 9.99928277e-01 5.44168273e-03 -1.06690445e-02 2.61547324e+02] [-5.44309378e-03 9.99985181e-01 -1.03223739e-04 3.56488084e+01] [ 1.06683246e-02 1.61288945e-04 9.99943079e-01 7.80279553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:261.58, Y:35.65, Z:7.80 [[ 9.99929325e-01 5.24563855e-03 -1.06690289e-02 2.61575743e+02] [-5.24705534e-03 9.99986229e-01 -1.04807586e-04 3.56492113e+01] [ 1.06683322e-02 1.60781164e-04 9.99943079e-01 7.80297954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.314391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:261.60, Y:35.65, Z:7.80 [[ 9.99946174e-01 3.53079198e-03 -9.75618395e-03 2.61602230e+02] [-3.53191157e-03 9.99993758e-01 -9.75298947e-05 3.56467223e+01] [ 9.75577869e-03 1.31982624e-04 9.99952403e-01 7.80199302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:261.63, Y:35.65, Z:7.80 [[ 9.99954139e-01 1.43559856e-03 -9.46880726e-03 2.61630243e+02] [-1.43657217e-03 9.99998964e-01 -9.60217138e-05 3.56453685e+01] [ 9.46865960e-03 1.09619935e-04 9.99955165e-01 7.80146648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.374391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:261.66, Y:35.64, Z:7.80 [[ 9.99949580e-01 -4.05884271e-03 -9.18495641e-03 2.61657906e+02] [ 4.05814910e-03 9.99991761e-01 -9.41520413e-05 3.56415169e+01] [ 9.18526288e-03 5.68733716e-05 9.99957813e-01 7.80026251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:261.69, Y:35.64, Z:7.80 [[ 9.99930891e-01 -7.53670190e-03 -9.02286141e-03 2.61686363e+02] [ 7.53616665e-03 9.99971598e-01 -9.33203848e-05 3.56398628e+01] [ 9.02330847e-03 2.53161483e-05 9.99959289e-01 7.80018734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.434391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:261.72, Y:35.64, Z:7.80 [[ 9.99896308e-01 -1.13859659e-02 -8.81664273e-03 2.61715093e+02] [ 1.13855986e-02 9.99935178e-01 -9.18548861e-05 3.56379509e+01] [ 8.81711708e-03 -8.53739380e-06 9.99961128e-01 7.79972916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:261.75, Y:35.63, Z:7.80 [[ 9.99802553e-01 -1.80655970e-02 -8.27583984e-03 2.61746027e+02] [ 1.80654982e-02 9.99836802e-01 -8.66931392e-05 3.56330106e+01] [ 8.27605540e-03 -6.28311480e-05 9.99965751e-01 7.79948460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.494391418 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:261.78, Y:35.63, Z:7.80 [[ 9.99738834e-01 -2.14398385e-02 -7.91185876e-03 2.61777903e+02] [ 2.14398548e-02 9.99770136e-01 -8.27645758e-05 3.56309364e+01] [ 7.91181457e-03 -8.68861424e-05 9.99968697e-01 7.79950548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:261.81, Y:35.63, Z:7.80 [[ 9.99620327e-01 -2.67389777e-02 -6.65049552e-03 2.61809127e+02] [ 2.67391095e-02 9.99642444e-01 -6.91200040e-05 3.56263275e+01] [ 6.64996579e-03 -1.08734567e-04 9.99977883e-01 7.79923493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.554391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:261.84, Y:35.62, Z:7.80 [[ 9.99541066e-01 -2.95413680e-02 -6.70563676e-03 2.61841347e+02] [ 2.95415687e-02 9.99563550e-01 -6.91388428e-05 3.56244655e+01] [ 6.70475254e-03 -1.28987916e-04 9.99977515e-01 7.79927658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:261.87, Y:35.62, Z:7.80 [[ 9.99473611e-01 -3.17049948e-02 -6.87710819e-03 2.61873288e+02] [ 3.17052611e-02 9.99497259e-01 -7.03299434e-05 3.56222995e+01] [ 6.87588060e-03 -1.47747588e-04 9.99976350e-01 7.79910753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.614391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:261.91, Y:35.62, Z:7.80 [[ 9.99407321e-01 -3.37091865e-02 -6.97836555e-03 2.61905405e+02] [ 3.37095135e-02 9.99431670e-01 -7.07900722e-05 3.56203845e+01] [ 6.97678581e-03 -1.64489191e-04 9.99975648e-01 7.79877550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:261.94, Y:35.62, Z:7.80 [[ 9.99324002e-01 -3.61521876e-02 -6.67520661e-03 2.61938248e+02] [ 3.61525455e-02 9.99346281e-01 -6.70734489e-05 3.56157987e+01] [ 6.67326775e-03 -1.74297604e-04 9.99977718e-01 7.79775618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.674391418 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:261.97, Y:35.61, Z:7.80 [[ 9.99284919e-01 -3.72200220e-02 -6.65737914e-03 2.61970825e+02] [ 3.72204069e-02 9.99307078e-01 -6.61086804e-05 3.56141215e+01] [ 6.65522667e-03 -1.81728953e-04 9.99977837e-01 7.79766778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.704391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:262.00, Y:35.61, Z:7.80 [[ 9.99283008e-01 -3.73036387e-02 -6.47370466e-03 2.62002807e+02] [ 3.73040092e-02 9.99303961e-01 -6.35401941e-05 3.56108208e+01] [ 6.47156899e-03 -1.78000502e-04 9.99979043e-01 7.79755854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73439141800003 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:262.04, Y:35.61, Z:7.80 [[ 9.99305027e-01 -3.66988248e-02 -6.53136488e-03 2.62035414e+02] [ 3.66991924e-02 9.99326356e-01 -6.35914413e-05 3.56098954e+01] [ 6.52929879e-03 -1.76148569e-04 9.99978668e-01 7.79745895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.764391418 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:262.07, Y:35.61, Z:7.80 [[ 9.99369778e-01 -3.48109334e-02 -6.94585902e-03 2.62066870e+02] [ 3.47993232e-02 9.99392725e-01 -1.78548009e-03 3.56097238e+01] [ 7.00379520e-03 1.54264365e-03 9.99974283e-01 7.79793488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.794391418 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:262.10, Y:35.61, Z:7.80 [[ 9.99403964e-01 -3.38743558e-02 -6.65167726e-03 2.62099636e+02] [ 3.38859583e-02 9.99424361e-01 1.63937287e-03 3.56065462e+01] [ 6.59231560e-03 -1.86379421e-03 9.99976534e-01 7.79644855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824391418 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:262.14, Y:35.62, Z:7.80 [[ 9.99532521e-01 -3.05715141e-02 3.50382180e-04 2.62137002e+02] [ 3.05628375e-02 9.98814650e-01 -3.78841478e-02 3.56213497e+01] [ 8.08208902e-04 3.78771464e-02 9.99282077e-01 7.79927302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.854391418 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:262.16, Y:35.59, Z:7.79 [[ 9.99426624e-01 -3.30548614e-02 -7.33484775e-03 2.62161513e+02] [ 3.33143587e-02 9.98697548e-01 3.86440264e-02 3.55874072e+01] [ 6.04792153e-03 -3.88662245e-02 9.99226120e-01 7.78636756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:262.19, Y:35.61, Z:7.80 [[ 9.99412958e-01 -3.35589560e-02 -6.89459312e-03 2.62194103e+02] [ 3.35593015e-02 9.99436726e-01 -6.56063181e-05 3.56051303e+01] [ 6.89291126e-03 -1.65809925e-04 9.99976230e-01 7.79762637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.914391418 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:262.23, Y:35.60, Z:7.80 [[ 9.99348943e-01 -3.53381039e-02 -7.27388237e-03 2.62226528e+02] [ 3.53385419e-02 9.99375396e-01 -6.83458669e-05 3.56034067e+01] [ 7.27175429e-03 -1.88747027e-04 9.99973543e-01 7.79742210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944391418 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:262.26, Y:35.60, Z:7.80 [[ 9.99294352e-01 -3.67637063e-02 -7.69603006e-03 2.62258650e+02] [ 3.67642447e-02 9.99323964e-01 -7.15572976e-05 3.56026244e+01] [ 7.69345797e-03 -2.11431929e-04 9.99970383e-01 7.79737672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.974391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:262.29, Y:35.60, Z:7.80 [[ 9.99219795e-01 -3.86016460e-02 -8.34948018e-03 2.62289444e+02] [ 3.86023493e-02 9.99254649e-01 -7.69711261e-05 3.56019808e+01] [ 8.34622809e-03 -2.45398477e-04 9.99965140e-01 7.79746299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:262.32, Y:35.60, Z:7.80 [[ 9.99139948e-01 -4.05047890e-02 -8.87274442e-03 2.62322060e+02] [ 4.05056632e-02 9.99179306e-01 -8.12260153e-05 3.56012894e+01] [ 8.86875265e-03 -2.78240241e-04 9.99960633e-01 7.79755007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.034391418 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:262.35, Y:35.60, Z:7.80 [[ 9.98943352e-01 -4.50950100e-02 -8.86671302e-03 2.62354750e+02] [ 4.50960702e-02 9.98982652e-01 -8.04249083e-05 3.55997055e+01] [ 8.86131925e-03 -3.19513986e-04 9.99960687e-01 7.79787304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:262.39, Y:35.60, Z:7.80 [[ 9.98706117e-01 -5.01591371e-02 -8.37567231e-03 2.62385465e+02] [ 5.01602680e-02 9.98741179e-01 -7.51284758e-05 3.55981427e+01] [ 8.36889722e-03 -3.45094699e-04 9.99964921e-01 7.79853598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.094391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:262.42, Y:35.60, Z:7.80 [[ 9.98571255e-01 -5.28454979e-02 -7.92477471e-03 2.62418616e+02] [ 5.28465985e-02 9.98602640e-01 -7.05994211e-05 3.55974967e+01] [ 7.91743181e-03 -3.48298835e-04 9.99968596e-01 7.79882263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124391418 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:262.45, Y:35.60, Z:7.80 [[ 9.98426617e-01 -5.55489351e-02 -7.65552118e-03 2.62452051e+02] [ 5.55500480e-02 9.98455902e-01 -6.73559170e-05 3.55967891e+01] [ 7.64744185e-03 -3.58014629e-04 9.99970694e-01 7.79929978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.154391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:262.49, Y:35.60, Z:7.80 [[ 9.98152364e-01 -6.03630129e-02 -6.94013815e-03 2.62485457e+02] [ 6.03640485e-02 9.98176426e-01 -6.03479789e-05 3.55950679e+01] [ 6.93112508e-03 -3.58698358e-04 9.99975915e-01 7.79960987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.184391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:262.52, Y:35.59, Z:7.80 [[ 9.98043429e-01 -6.21543734e-02 -6.79314350e-03 2.62518818e+02] [ 6.21554123e-02 9.98066481e-01 -5.82892734e-05 3.55943472e+01] [ 6.78363176e-03 -3.64055408e-04 9.99976925e-01 7.79990242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.214391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:262.55, Y:35.59, Z:7.80 [[ 9.97893405e-01 -6.45698668e-02 -6.28360399e-03 2.62550897e+02] [ 6.45708078e-02 9.97913126e-01 -5.32187561e-05 3.55933841e+01] [ 6.27392723e-03 -3.52630740e-04 9.99980257e-01 7.80007248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.244391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:262.58, Y:35.59, Z:7.80 [[ 9.97848615e-01 -6.52823281e-02 -6.02987773e-03 2.62584011e+02] [ 6.52832109e-02 9.97866775e-01 -5.05210478e-05 3.55935078e+01] [ 6.02031277e-03 -3.43237422e-04 9.99981819e-01 7.80042264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.274391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:262.62, Y:35.59, Z:7.80 [[ 9.97846494e-01 -6.52716099e-02 -6.48014261e-03 2.62616923e+02] [ 6.52726344e-02 9.97867466e-01 -5.34861811e-05 3.55937419e+01] [ 6.46981462e-03 -3.69604982e-04 9.99979002e-01 7.80072266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.304391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:262.65, Y:35.60, Z:7.80 [[ 9.98032538e-01 -6.25887215e-02 -3.70215578e-03 2.62652343e+02] [ 6.25115561e-02 9.97878358e-01 -1.81958162e-02 3.56018703e+01] [ 4.83315400e-03 1.79285891e-02 9.99827588e-01 7.80201026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.334391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:262.68, Y:35.59, Z:7.80 [[ 9.98060456e-01 -6.18004938e-02 -7.48493524e-03 2.62681662e+02] [ 6.19290311e-02 9.97911500e-01 1.83693628e-02 3.55871441e+01] [ 6.33406726e-03 -1.87972694e-02 9.99803252e-01 7.79666740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.364391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:262.71, Y:35.60, Z:7.80 [[ 9.98161128e-01 -6.01112001e-02 -7.81061166e-03 2.62713973e+02] [ 6.01125585e-02 9.98191603e-01 -6.09407806e-05 3.55972387e+01] [ 7.80015019e-03 -4.08687132e-04 9.99969495e-01 7.80225872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.394391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:262.75, Y:35.60, Z:7.80 [[ 9.98465729e-01 -5.45581897e-02 -9.46535068e-03 2.62746604e+02] [ 5.45599464e-02 9.98510494e-01 -7.27152137e-05 3.55992425e+01] [ 9.45521919e-03 -4.43825377e-04 9.99955200e-01 7.80374416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.424391418 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:262.78, Y:35.60, Z:7.80 [[ 9.98645552e-01 -5.10697020e-02 -9.94722023e-03 2.62779214e+02] [ 5.10714817e-02 9.98694998e-01 -7.51852888e-05 3.56007579e+01] [ 9.93807877e-03 -4.32935822e-04 9.99950522e-01 7.80389295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.454391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:262.81, Y:35.60, Z:7.80 [[ 9.98824719e-01 -4.73332193e-02 -1.04281503e-02 2.62811620e+02] [ 4.73349847e-02 9.98879068e-01 -7.75908124e-05 3.56022695e+01] [ 1.04201336e-02 -4.16116712e-04 9.99945622e-01 7.80475581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48439141800003 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:262.84, Y:35.61, Z:7.81 [[ 9.99168620e-01 -3.92602278e-02 -1.09865017e-02 2.62844045e+02] [ 3.92617114e-02 9.99228959e-01 -8.06910195e-05 3.56059470e+01] [ 1.09811986e-02 -3.50724923e-04 9.99939643e-01 7.80592117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.514391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:262.88, Y:35.61, Z:7.81 [[ 9.99309392e-01 -3.54491264e-02 -1.11399387e-02 2.62876000e+02] [ 3.54504250e-02 9.99371433e-01 -8.09312673e-05 3.56082151e+01] [ 1.11358055e-02 -3.14040187e-04 9.99937946e-01 7.80656695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:262.91, Y:35.61, Z:7.81 [[ 9.99534142e-01 -2.85427992e-02 -1.08077477e-02 2.62908486e+02] [ 2.85436270e-02 9.99592545e-01 -7.76830918e-05 3.56114658e+01] [ 1.08055613e-02 -2.30845415e-04 9.99941592e-01 7.80725841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.574391418 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:262.94, Y:35.61, Z:7.81 [[ 9.99605141e-01 -2.59013320e-02 -1.08941374e-02 2.62940045e+02] [ 2.59020249e-02 9.99664483e-01 -7.75106440e-05 3.56122706e+01] [ 1.08924898e-02 -2.04700178e-04 9.99940654e-01 7.80759846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:262.97, Y:35.61, Z:7.81 [[ 9.99643472e-01 -2.41376016e-02 -1.14150836e-02 2.62971144e+02] [ 2.41382544e-02 9.99708627e-01 -8.06050894e-05 3.56132323e+01] [ 1.14137031e-02 -1.94963840e-04 9.99934843e-01 7.80814949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.634391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:263.00, Y:35.61, Z:7.81 [[ 9.99672338e-01 -2.29559793e-02 -1.13242690e-02 2.63001810e+02] [ 2.29565501e-02 9.99736461e-01 -7.95990533e-05 3.56140761e+01] [ 1.13231119e-02 -1.80393176e-04 9.99935875e-01 7.80854123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:263.03, Y:35.62, Z:7.81 [[ 9.99670678e-01 -2.25407922e-02 -1.22657670e-02 2.63033599e+02] [ 2.25414349e-02 9.99745906e-01 -8.58637077e-05 3.56150654e+01] [ 1.22645858e-02 -1.90652558e-04 9.99924769e-01 7.80906733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.694391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:263.07, Y:35.62, Z:7.81 [[ 9.99646119e-01 -2.33801603e-02 -1.26887502e-02 2.63065223e+02] [ 2.33809221e-02 9.99726625e-01 -8.83208756e-05 3.56153319e+01] [ 1.26873464e-02 -2.08385060e-04 9.99919491e-01 7.80902241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:263.10, Y:35.62, Z:7.81 [[ 9.99605773e-01 -2.47815315e-02 -1.31975085e-02 2.63096388e+02] [ 2.47824847e-02 9.99692863e-01 -9.13303406e-05 3.56154283e+01] [ 1.31957183e-02 -2.35772716e-04 9.99912905e-01 7.80930108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.754391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:263.13, Y:35.62, Z:7.81 [[ 9.99485444e-01 -2.91035965e-02 -1.34843432e-02 2.63127187e+02] [ 2.91049905e-02 9.99576356e-01 -9.28958883e-05 3.56151058e+01] [ 1.34813342e-02 -2.99613591e-04 9.99909078e-01 7.80947520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:263.16, Y:35.61, Z:7.81 [[ 9.99413946e-01 -3.14527752e-02 -1.35087698e-02 2.63158206e+02] [ 3.14543939e-02 9.99505184e-01 -9.26748878e-05 3.56145573e+01] [ 1.35050003e-02 -3.32289590e-04 9.99908748e-01 7.80991152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.814391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:263.19, Y:35.61, Z:7.81 [[ 9.99246902e-01 -3.63317099e-02 -1.36248478e-02 2.63190422e+02] [ 3.63338204e-02 9.99339704e-01 -9.26800744e-05 3.56134907e+01] [ 1.36192186e-02 -4.02432495e-04 9.99907173e-01 7.81033434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844391418 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:263.22, Y:35.61, Z:7.81 [[ 9.99165469e-01 -3.84558859e-02 -1.37662706e-02 2.63222093e+02] [ 3.84582551e-02 9.99260203e-01 -9.26826259e-05 3.56132379e+01] [ 1.37596506e-02 -4.36821468e-04 9.99905236e-01 7.81076868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.874391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:263.25, Y:35.61, Z:7.81 [[ 9.99090340e-01 -4.03460375e-02 -1.38090725e-02 2.63254754e+02] [ 4.03486149e-02 9.99185659e-01 -9.20209800e-05 3.56128491e+01] [ 1.38015398e-02 -4.65239675e-04 9.99904646e-01 7.81055486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:263.29, Y:35.61, Z:7.81 [[ 9.99008388e-01 -4.22975790e-02 -1.38980185e-02 2.63287408e+02] [ 4.23003935e-02 9.99104934e-01 -9.15120604e-05 3.56129099e+01] [ 1.38894496e-02 -4.96470337e-04 9.99903414e-01 7.81066686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.934391418 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:263.32, Y:35.61, Z:7.81 [[ 9.98869436e-01 -4.53582540e-02 -1.42295077e-02 2.63319402e+02] [ 4.53615306e-02 9.98970632e-01 -9.25650182e-05 3.56128096e+01] [ 1.42190588e-02 -5.53011880e-04 9.99898751e-01 7.81035350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:263.35, Y:35.61, Z:7.81 [[ 9.98825218e-01 -4.61654189e-02 -1.47288307e-02 2.63351701e+02] [ 4.61690343e-02 9.98933637e-01 -9.46471359e-05 3.56128493e+01] [ 1.47174938e-02 -5.85479943e-04 9.99891520e-01 7.81080209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.994391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:263.38, Y:35.61, Z:7.81 [[ 9.98770918e-01 -4.73080866e-02 -1.47851032e-02 2.63383309e+02] [ 4.73118694e-02 9.98880162e-01 -9.40104502e-05 3.56128128e+01] [ 1.47729937e-02 -6.05615966e-04 9.99890690e-01 7.81097356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:263.42, Y:35.61, Z:7.81 [[ 9.98760361e-01 -4.75874940e-02 -1.46004190e-02 2.63415462e+02] [ 4.75912270e-02 9.98866891e-01 -9.18587219e-05 3.56130503e+01] [ 1.45882465e-02 -6.03107005e-04 9.99893404e-01 7.81144137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.054391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:263.45, Y:35.61, Z:7.81 [[ 9.98751997e-01 -4.77805155e-02 -1.45420099e-02 2.63446315e+02] [ 4.77842531e-02 9.98857676e-01 -9.05276850e-05 3.56134246e+01] [ 1.45297237e-02 -6.04464375e-04 9.99894255e-01 7.81218454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:263.48, Y:35.61, Z:7.81 [[ 9.98757208e-01 -4.78533590e-02 -1.39318206e-02 2.63478988e+02] [ 4.78568094e-02 9.98854203e-01 -8.58024905e-05 3.56141186e+01] [ 1.39199635e-02 -5.81036627e-04 9.99902944e-01 7.81250550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.114391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:263.51, Y:35.62, Z:7.81 [[ 9.98741506e-01 -4.82029829e-02 -1.38519445e-02 2.63511484e+02] [ 4.82064426e-02 9.98837390e-01 -8.42188825e-05 3.56157607e+01] [ 1.38398997e-02 -5.83640072e-04 9.99904054e-01 7.81331984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:263.54, Y:35.62, Z:7.81 [[ 9.98708565e-01 -4.86170480e-02 -1.47507539e-02 2.63542375e+02] [ 4.86210318e-02 9.98817294e-01 -8.86372573e-05 3.56170027e+01] [ 1.47376174e-02 -6.28674086e-04 9.99891198e-01 7.81373908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.174391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:263.57, Y:35.62, Z:7.81 [[ 9.98684752e-01 -4.90854635e-02 -1.48116119e-02 2.63574079e+02] [ 4.90895466e-02 9.98794378e-01 -8.79962429e-05 3.56174213e+01] [ 1.47980741e-02 -6.39214808e-04 9.99890298e-01 7.81335466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.204391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:263.61, Y:35.62, Z:7.81 [[ 9.98689431e-01 -4.89901738e-02 -1.48116195e-02 2.63606778e+02] [ 4.89942653e-02 9.98799056e-01 -8.67185488e-05 3.56175288e+01] [ 1.47980799e-02 -6.39079515e-04 9.99890298e-01 7.81358754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23439141800003 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:263.64, Y:35.62, Z:7.81 [[ 9.98650673e-01 -4.96322962e-02 -1.52796890e-02 2.63639363e+02] [ 4.96367460e-02 9.98767333e-01 -8.81155939e-05 3.56179417e+01] [ 1.52652276e-02 -6.70437344e-04 9.99883255e-01 7.81355928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.264391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:263.67, Y:35.62, Z:7.81 [[ 9.98621320e-01 -5.02101176e-02 -1.53102120e-02 2.63670712e+02] [ 5.02146689e-02 9.98738444e-01 -8.72498683e-05 3.56185001e+01] [ 1.52952782e-02 -6.81667649e-04 9.99882788e-01 7.81367234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.294391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:263.70, Y:35.62, Z:7.81 [[ 9.98521506e-01 -5.19406549e-02 -1.60302932e-02 2.63703249e+02] [ 5.19458849e-02 9.98649897e-01 -9.02329799e-05 3.56202930e+01] [ 1.60133374e-02 -7.42608195e-04 9.99871503e-01 7.81429137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:263.74, Y:35.62, Z:7.81 [[ 9.98460327e-01 -5.29083793e-02 -1.66637011e-02 2.63735082e+02] [ 5.29141872e-02 9.98599059e-01 -9.24858757e-05 3.56212283e+01] [ 1.66452495e-02 -7.89402721e-04 9.99861147e-01 7.81454682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.354391418 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:263.77, Y:35.62, Z:7.81 [[ 9.98327053e-01 -5.50597184e-02 -1.76500312e-02 2.63765834e+02] [ 5.50665908e-02 9.98482679e-01 -9.67598484e-05 3.56227142e+01] [ 1.76285780e-02 -8.75329073e-04 9.99844221e-01 7.81456993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384391418 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:263.80, Y:35.62, Z:7.82 [[ 9.98254316e-01 -5.62233460e-02 -1.80902329e-02 2.63798043e+02] [ 5.62307798e-02 9.98417793e-01 -9.78684953e-05 3.56236933e+01] [ 1.80671129e-02 -9.19530254e-04 9.99836354e-01 7.81514806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.414391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:263.83, Y:35.62, Z:7.82 [[ 9.98203682e-01 -5.71739867e-02 -1.79037450e-02 2.63830272e+02] [ 5.71814461e-02 9.98363798e-01 -9.54206504e-05 3.56245998e+01] [ 1.78799064e-02 -9.28512783e-04 9.99839711e-01 7.81568411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:263.86, Y:35.63, Z:7.82 [[ 9.98134523e-01 -5.86261072e-02 -1.70426869e-02 2.63862252e+02] [ 5.86331037e-02 9.98279596e-01 -8.92825506e-05 3.56271955e+01] [ 1.70186009e-02 -9.10149633e-04 9.99854759e-01 7.81679210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.474391418 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:263.89, Y:35.63, Z:7.82 [[ 9.98163791e-01 -5.84175518e-02 -1.60136204e-02 2.63893919e+02] [ 5.84237268e-02 9.98291872e-01 -8.23356477e-05 3.56287320e+01] [ 1.59910769e-02 -8.53390919e-04 9.99871770e-01 7.81731259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:263.93, Y:35.63, Z:7.82 [[ 9.98208122e-01 -5.78026807e-02 -1.54724029e-02 2.63926573e+02] [ 5.78083976e-02 9.98327693e-01 -7.78704266e-05 3.56301911e+01] [ 1.54510294e-02 -8.16703925e-04 9.99880292e-01 7.81771965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.534391418 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:263.96, Y:35.63, Z:7.82 [[ 9.98265626e-01 -5.69843784e-02 -1.47824298e-02 2.63960063e+02] [ 5.69895328e-02 9.98374773e-01 -7.26703914e-05 3.56316904e+01] [ 1.47625461e-02 -7.69899413e-04 9.99890731e-01 7.81845996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564391418 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:263.99, Y:35.63, Z:7.82 [[ 9.98442191e-01 -5.44704386e-02 -1.20897630e-02 2.63994415e+02] [ 5.45237330e-02 9.98503962e-01 4.12304465e-03 3.56332674e+01] [ 1.18470922e-02 -4.77580074e-03 9.99918416e-01 7.81781233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.594391418 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:264.03, Y:35.64, Z:7.82 [[ 9.98758473e-01 -4.85769764e-02 -1.10358860e-02 2.64025767e+02] [ 4.85332886e-02 9.98812766e-01 -4.19276966e-03 3.56408967e+01] [ 1.12264558e-02 3.65195638e-03 9.99930313e-01 7.82085594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:264.06, Y:35.64, Z:7.82 [[ 9.98897565e-01 -4.57858561e-02 -1.03590664e-02 2.64058927e+02] [ 4.57878104e-02 9.98951187e-01 -4.85604439e-05 3.56408662e+01] [ 1.03504251e-02 -4.25812059e-04 9.99946342e-01 7.81963539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.654391418 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:264.09, Y:35.64, Z:7.82 [[ 9.99018285e-01 -4.32169716e-02 -9.73441518e-03 2.64091430e+02] [ 4.32185860e-02 9.99065639e-01 -4.45529898e-05 3.56429786e+01] [ 9.72724517e-03 -3.76198408e-04 9.99952618e-01 7.82001668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.684391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:264.12, Y:35.65, Z:7.82 [[ 9.99219589e-01 -3.83573275e-02 -9.43020657e-03 2.64124797e+02] [ 3.83586356e-02 9.99264036e-01 -4.21827195e-05 3.56469732e+01] [ 9.42488430e-03 -3.19580058e-04 9.99955534e-01 7.82090240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.714391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:264.16, Y:35.65, Z:7.82 [[ 9.99343817e-01 -3.49306897e-02 -9.58035472e-03 2.64156533e+02] [ 3.49318928e-02 9.99389694e-01 -4.17786925e-05 3.56503057e+01] [ 9.57596714e-03 -2.92908646e-04 9.99954106e-01 7.82095528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.744391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:264.19, Y:35.65, Z:7.82 [[ 9.99347345e-01 -3.48295959e-02 -9.58035827e-03 2.64189237e+02] [ 3.48308023e-02 9.99393223e-01 -4.09515694e-05 3.56503669e+01] [ 9.57597145e-03 -2.92766722e-04 9.99954106e-01 7.82118608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.774391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:264.22, Y:35.65, Z:7.82 [[ 9.99395998e-01 -3.34038497e-02 -9.58236876e-03 2.64220245e+02] [ 3.34049994e-02 9.99441896e-01 -4.00935516e-05 3.56518208e+01] [ 9.57836008e-03 -2.80029687e-04 9.99954087e-01 7.82119763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.804391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:264.25, Y:35.65, Z:7.82 [[ 9.99428212e-01 -3.23497924e-02 -9.83564499e-03 2.64252063e+02] [ 3.23509591e-02 9.99476570e-01 -4.04943523e-05 3.56532084e+01] [ 9.83180670e-03 -2.77721351e-04 9.99951628e-01 7.82142285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.834391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:264.28, Y:35.65, Z:7.82 [[ 9.99461674e-01 -3.12489635e-02 -9.99325756e-03 2.64283957e+02] [ 3.12501210e-02 9.99511595e-01 -4.03361248e-05 3.56544834e+01] [ 9.98963727e-03 -2.71976097e-04 9.99950065e-01 7.82142838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.864391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:264.32, Y:35.66, Z:7.82 [[ 9.99524902e-01 -2.89696960e-02 -1.05226949e-02 2.64316000e+02] [ 2.89708623e-02 9.99580256e-01 -4.16004870e-05 3.56571114e+01] [ 1.05194832e-02 -2.63270823e-04 9.99944634e-01 7.82151121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.894391418 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:264.35, Y:35.66, Z:7.82 [[ 9.99547332e-01 -2.80091914e-02 -1.09825402e-02 2.64347858e+02] [ 2.80104140e-02 9.99607630e-01 -4.25089419e-05 3.56586293e+01] [ 1.09794216e-02 -2.65135798e-04 9.99939689e-01 7.82166406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.924391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:264.38, Y:35.66, Z:7.82 [[ 9.99618560e-01 -2.51250179e-02 -1.14659430e-02 2.64379598e+02] [ 2.51261717e-02 9.99684287e-01 -4.34375428e-05 3.56613584e+01] [ 1.14634144e-02 -2.44674277e-04 9.99934263e-01 7.82137811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.954391418 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:264.41, Y:35.66, Z:7.82 [[ 9.99660714e-01 -2.34608843e-02 -1.13156737e-02 2.64410805e+02] [ 2.34619106e-02 9.99724731e-01 -4.20579282e-05 3.56628838e+01] [ 1.13135455e-02 -2.23443666e-04 9.99935975e-01 7.82143778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98439141800003 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:264.44, Y:35.66, Z:7.82 [[ 9.99697498e-01 -2.18947961e-02 -1.12040319e-02 2.64443190e+02] [ 2.18957123e-02 9.99760259e-01 -4.08952577e-05 3.56642351e+01] [ 1.12022412e-02 -2.04437372e-04 9.99937232e-01 7.82173898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.014391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:264.47, Y:35.67, Z:7.82 [[ 9.99762162e-01 -1.92423789e-02 -1.02640518e-02 2.64474702e+02] [ 1.92430147e-02 9.99814835e-01 -3.68187699e-05 3.56664163e+01] [ 1.02628597e-02 -1.60701286e-04 9.99947323e-01 7.82238210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:264.51, Y:35.67, Z:7.82 [[ 9.99782612e-01 -1.83274469e-02 -9.94152387e-03 2.64506206e+02] [ 1.83280020e-02 9.99832027e-01 -3.52723029e-05 3.56669398e+01] [ 9.94050041e-03 -1.46943634e-04 9.99950581e-01 7.82235368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.074391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:264.54, Y:35.67, Z:7.82 [[ 9.99794045e-01 -1.78531281e-02 -9.65052804e-03 2.64537875e+02] [ 1.78536350e-02 9.99840611e-01 -3.36246322e-05 3.56675907e+01] [ 9.64959015e-03 -1.38679298e-04 9.99953432e-01 7.82219041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:264.57, Y:35.67, Z:7.82 [[ 9.99783890e-01 -1.84456274e-02 -9.58814277e-03 2.64570169e+02] [ 1.84461657e-02 9.99829855e-01 -3.22961932e-05 3.56687206e+01] [ 9.58710711e-03 -1.44575256e-04 9.99954032e-01 7.82169832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.134391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:264.60, Y:35.67, Z:7.82 [[ 9.99776804e-01 -1.81729946e-02 -1.07742928e-02 2.64601701e+02] [ 1.81451463e-02 9.99831780e-01 -2.67685892e-03 3.56704088e+01] [ 1.08211269e-02 2.48076034e-03 9.99938373e-01 7.82240438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:264.63, Y:35.67, Z:7.82 [[ 9.99727492e-01 -2.03018274e-02 -1.15228834e-02 2.64633101e+02] [ 2.03330591e-02 9.99789882e-01 2.59974489e-03 3.56689257e+01] [ 1.14676827e-02 -2.83333191e-03 9.99930230e-01 7.81979928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.194391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:264.66, Y:35.65, Z:7.82 [[ 9.99443120e-01 -2.55661801e-02 -2.14434077e-02 2.64657196e+02] [ 2.66603269e-02 9.98270527e-01 5.23944823e-02 3.56530759e+01] [ 2.00667951e-02 -5.29369931e-02 9.98396213e-01 7.81733221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:264.69, Y:35.69, Z:7.84 [[ 9.99680457e-01 -2.18276669e-02 -1.27489740e-02 2.64693729e+02] [ 2.11250743e-02 9.98378317e-01 -5.28627184e-02 3.56941778e+01] [ 1.38821690e-02 5.25765035e-02 9.98520404e-01 7.83894725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.254391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:264.72, Y:35.67, Z:7.82 [[ 9.99663028e-01 -2.21801424e-02 -1.34859858e-02 2.64724346e+02] [ 2.21816026e-02 9.99753957e-01 -4.13111304e-05 3.56696849e+01] [ 1.34835839e-02 -2.57843567e-04 9.99909059e-01 7.81914526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:264.76, Y:35.67, Z:7.82 [[ 9.99643589e-01 -2.27004273e-02 -1.40494117e-02 2.64756024e+02] [ 2.27020674e-02 9.99742274e-01 -4.27520795e-05 3.56696250e+01] [ 1.40467613e-02 -2.76213850e-04 9.99901301e-01 7.81924521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.314391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:264.79, Y:35.67, Z:7.82 [[ 9.99631854e-01 -2.30043132e-02 -1.43860510e-02 2.64786879e+02] [ 2.30060728e-02 9.99735324e-01 -4.31942340e-05 3.56696662e+01] [ 1.43832371e-02 -2.87788205e-04 9.99896514e-01 7.81960218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:264.82, Y:35.67, Z:7.82 [[ 9.99602451e-01 -2.38881368e-02 -1.49765413e-02 2.64816761e+02] [ 2.38901555e-02 9.99714589e-01 -4.41237201e-05 3.56695517e+01] [ 1.49733209e-02 -3.13685723e-04 9.99887844e-01 7.81952738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.374391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:264.85, Y:35.67, Z:7.82 [[ 9.99582702e-01 -2.43988167e-02 -1.54634935e-02 2.64847205e+02] [ 2.44010400e-02 9.99702249e-01 -4.49064218e-05 3.56694185e+01] [ 1.54599848e-02 -3.32437640e-04 9.99880432e-01 7.81941054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:264.88, Y:35.67, Z:7.82 [[ 9.99557237e-01 -2.47782500e-02 -1.64732870e-02 2.64879036e+02] [ 2.47808332e-02 9.99692907e-01 -4.73232434e-05 3.56690011e+01] [ 1.64694007e-02 -3.60919487e-04 9.99864305e-01 7.81946748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.434391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:264.91, Y:35.67, Z:7.82 [[ 9.99515393e-01 -2.60999371e-02 -1.69638468e-02 2.64910084e+02] [ 2.61028782e-02 9.99659261e-01 -4.80611387e-05 3.56675008e+01] [ 1.69593209e-02 -3.94767378e-04 9.99856102e-01 7.81849489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:264.94, Y:35.67, Z:7.82 [[ 9.99503936e-01 -2.66185932e-02 -1.68325114e-02 2.64941786e+02] [ 2.66215734e-02 9.99645582e-01 -4.70322669e-05 3.56666857e+01] [ 1.68277976e-02 -4.01099003e-04 9.99858322e-01 7.81837604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.494391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:264.97, Y:35.67, Z:7.82 [[ 9.99454097e-01 -2.78360201e-02 -1.77950602e-02 2.64973452e+02] [ 2.78395566e-02 9.99612403e-01 -4.90020834e-05 3.56654178e+01] [ 1.77895269e-02 -4.46431254e-04 9.99841654e-01 7.81855939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:265.00, Y:35.66, Z:7.82 [[ 9.99439323e-01 -2.81535748e-02 -1.81222537e-02 2.65004467e+02] [ 2.81573081e-02 9.99603503e-01 -4.91693857e-05 3.56644549e+01] [ 1.81164526e-02 -4.61132063e-04 9.99835777e-01 7.81899435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.554391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:265.04, Y:35.66, Z:7.82 [[ 9.99401310e-01 -2.88644335e-02 -1.90752963e-02 2.65035935e+02] [ 2.88687143e-02 9.99583211e-01 -5.09712165e-05 3.56637500e+01] [ 1.90688172e-02 -4.99738579e-04 9.99818049e-01 7.81936929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:265.07, Y:35.66, Z:7.82 [[ 9.99371710e-01 -2.94535478e-02 -1.97148029e-02 2.65067302e+02] [ 2.94582507e-02 9.99566010e-01 -5.18807379e-05 3.56630471e+01] [ 1.97077750e-02 -5.28915466e-04 9.99805643e-01 7.81940340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.614391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:265.10, Y:35.66, Z:7.82 [[ 9.99311970e-01 -3.05036196e-02 -2.10977489e-02 2.65098030e+02] [ 3.05092458e-02 9.99534483e-01 -5.52269014e-05 3.56609750e+01] [ 2.10896122e-02 -5.88487503e-04 9.99777416e-01 7.81928810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:265.13, Y:35.66, Z:7.82 [[ 9.99276067e-01 -3.11934146e-02 -2.17787276e-02 2.65127519e+02] [ 3.11995748e-02 9.99513173e-01 -5.69549251e-05 3.56598326e+01] [ 2.17699018e-02 -6.22573349e-04 9.99762814e-01 7.81942179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.674391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:265.16, Y:35.66, Z:7.82 [[ 9.99198342e-01 -3.24994334e-02 -2.33765081e-02 2.65156648e+02] [ 3.25068812e-02 9.99471510e-01 -6.14279040e-05 3.56580808e+01] [ 2.33661502e-02 -6.98518711e-04 9.99726730e-01 7.81947626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.704391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:265.19, Y:35.66, Z:7.82 [[ 9.99178383e-01 -3.30225381e-02 -2.34962082e-02 2.65185838e+02] [ 3.30301884e-02 9.99454353e-01 -6.25301401e-05 3.56570703e+01] [ 2.34854524e-02 -7.13605419e-04 9.99723924e-01 7.81921572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73439141800003 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:265.22, Y:35.66, Z:7.82 [[ 9.99150924e-01 -3.34579736e-02 -2.40415325e-02 2.65215075e+02] [ 3.34660863e-02 9.99439852e-01 -6.49343556e-05 3.56564058e+01] [ 2.40302382e-02 -7.39696779e-04 9.99710958e-01 7.81948455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.764391418 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:265.24, Y:35.66, Z:7.82 [[ 9.99149076e-01 -3.34482991e-02 -2.41316254e-02 2.65244749e+02] [ 3.34564470e-02 9.99440174e-01 -6.61255744e-05 3.56557712e+01] [ 2.41203277e-02 -7.41289139e-04 9.99708788e-01 7.81969071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.794391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:265.27, Y:35.66, Z:7.82 [[ 9.99182129e-01 -3.25884791e-02 -2.39387725e-02 2.65274474e+02] [ 3.25962284e-02 9.99468600e-01 -6.65288289e-05 3.56555348e+01] [ 2.39282195e-02 -7.13839280e-04 9.99713424e-01 7.82054731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:265.30, Y:35.66, Z:7.82 [[ 9.99226392e-01 -3.16990044e-02 -2.32763985e-02 2.65304547e+02] [ 3.17060686e-02 9.99497234e-01 -6.55884910e-05 3.56557308e+01] [ 2.32667750e-02 -6.72465337e-04 9.99729066e-01 7.82117658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.854391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:265.33, Y:35.66, Z:7.82 [[ 9.99264575e-01 -3.05262754e-02 -2.32046583e-02 2.65333678e+02] [ 3.05329667e-02 9.99533758e-01 -6.59693379e-05 3.56557503e+01] [ 2.31958531e-02 -6.42586237e-04 9.99730733e-01 7.82223194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:265.36, Y:35.64, Z:7.82 [[ 9.98956705e-01 -3.37792772e-02 -3.07320855e-02 2.65358372e+02] [ 3.50601758e-02 9.98496283e-01 4.21421149e-02 3.56431478e+01] [ 2.92623429e-02 -4.31756206e-02 9.98638864e-01 7.82136433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.914391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:265.39, Y:35.67, Z:7.84 [[ 9.99373571e-01 -2.80249657e-02 -2.16117537e-02 2.65394852e+02] [ 2.70735014e-02 9.98702670e-01 -4.31277533e-02 3.56749834e+01] [ 2.27923700e-02 4.25156309e-02 9.98835787e-01 7.83781247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944391418 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:265.42, Y:35.65, Z:7.82 [[ 9.99401194e-01 -2.73538870e-02 -2.11900411e-02 2.65423552e+02] [ 2.73587623e-02 9.99625677e-01 -5.98417418e-05 3.56540169e+01] [ 2.11837460e-02 -5.19927388e-04 9.99775464e-01 7.82300566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.974391418 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:265.45, Y:35.65, Z:7.82 [[ 9.99395233e-01 -2.75630249e-02 -2.12002062e-02 2.65453019e+02] [ 2.75679019e-02 9.99619931e-01 -6.22337099e-05 3.56535514e+01] [ 2.11938640e-02 -5.22249131e-04 9.99775248e-01 7.82307810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:265.48, Y:35.65, Z:7.82 [[ 9.99383311e-01 -2.80679186e-02 -2.10995276e-02 2.65481728e+02] [ 2.80728321e-02 9.99605878e-01 -6.33431846e-05 3.56531950e+01] [ 2.10929897e-02 -5.29019375e-04 9.99777378e-01 7.82318324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.034391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:265.51, Y:35.65, Z:7.82 [[ 9.99368147e-01 -2.86510535e-02 -2.10338618e-02 2.65511178e+02] [ 2.86560429e-02 9.99589329e-01 -6.42251528e-05 3.56528047e+01] [ 2.10270639e-02 -5.38562674e-04 9.99778762e-01 7.82345562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:265.54, Y:35.65, Z:7.82 [[ 9.99323516e-01 -3.03482386e-02 -2.07724737e-02 2.65541277e+02] [ 3.03534538e-02 9.99539226e-01 -6.42526824e-05 3.56521419e+01] [ 2.07648523e-02 -5.66307106e-04 9.99784227e-01 7.82347819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.094391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:265.57, Y:35.65, Z:7.82 [[ 9.99322908e-01 -3.03682547e-02 -2.07724720e-02 2.65571435e+02] [ 3.03734629e-02 9.99538618e-01 -6.47972776e-05 3.56522717e+01] [ 2.07648558e-02 -5.66178506e-04 9.99784227e-01 7.82367210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:265.60, Y:35.65, Z:7.82 [[ 9.99289102e-01 -3.13446282e-02 -2.09476638e-02 2.65600484e+02] [ 3.13501303e-02 9.99508462e-01 -6.57619282e-05 3.56520761e+01] [ 2.09394285e-02 -5.90996810e-04 9.99780571e-01 7.82399403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.154391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:265.63, Y:35.65, Z:7.82 [[ 9.99260429e-01 -3.22868524e-02 -2.08842971e-02 2.65631082e+02] [ 3.22925241e-02 9.99478458e-01 -6.56902341e-05 3.56519058e+01] [ 2.08755260e-02 -6.08765017e-04 9.99781897e-01 7.82410421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.184391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:265.66, Y:35.65, Z:7.82 [[ 9.99209599e-01 -3.39876175e-02 -2.06159745e-02 2.65661438e+02] [ 3.39935119e-02 9.99422051e-01 -6.45653451e-05 3.56519035e+01] [ 2.06062539e-02 -6.36295060e-04 9.99787466e-01 7.82439481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.214391418 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:265.69, Y:35.65, Z:7.83 [[ 9.99173626e-01 -3.48913073e-02 -2.08485399e-02 2.65692333e+02] [ 3.48975346e-02 9.99390893e-01 -6.51650501e-05 3.56519636e+01] [ 2.08381146e-02 -6.62451444e-04 9.99782643e-01 7.82500720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.244391418 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:265.72, Y:35.65, Z:7.83 [[ 9.99144620e-01 -3.58382590e-02 -2.06312511e-02 2.65722965e+02] [ 3.58445587e-02 9.99357375e-01 -6.44858831e-05 3.56519281e+01] [ 2.06203040e-02 -6.75087367e-04 9.99787151e-01 7.82507148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.274391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:265.75, Y:35.65, Z:7.83 [[ 9.99132506e-01 -3.65315550e-02 -1.99920087e-02 2.65754141e+02] [ 3.65376194e-02 9.99332276e-01 -6.19630581e-05 3.56519379e+01] [ 1.99809232e-02 -6.68551099e-04 9.99800138e-01 7.82504386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.304391418 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:265.79, Y:35.65, Z:7.83 [[ 9.99125176e-01 -3.75247672e-02 -1.84600865e-02 2.65785309e+02] [ 3.75301240e-02 9.99295495e-01 -5.62897761e-05 3.56524232e+01] [ 1.84491936e-02 -6.36568805e-04 9.99829597e-01 7.82537210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.334391418 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:265.82, Y:35.65, Z:7.83 [[ 9.99136369e-01 -3.75990517e-02 -1.76869412e-02 2.65817604e+02] [ 3.76040022e-02 9.99292718e-01 -5.27142887e-05 3.56529511e+01] [ 1.76764135e-02 -6.12431012e-04 9.99843572e-01 7.82572808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.364391418 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:265.85, Y:35.65, Z:7.83 [[ 9.99210442e-01 -3.62855787e-02 -1.61817836e-02 2.65849460e+02] [ 3.62895704e-02 9.99341316e-01 -4.69878165e-05 3.56541988e+01] [ 1.61728299e-02 -5.40279258e-04 9.99869065e-01 7.82609803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.394391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:265.88, Y:35.65, Z:7.83 [[ 9.99276470e-01 -3.46962332e-02 -1.55791078e-02 2.65880738e+02] [ 3.46997564e-02 9.99397781e-01 -4.41842685e-05 3.56549541e+01] [ 1.55712587e-02 -4.96438944e-04 9.99878637e-01 7.82631575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.424391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:265.91, Y:35.66, Z:7.83 [[ 9.99407544e-01 -3.08622140e-02 -1.52343102e-02 2.65913374e+02] [ 3.08651543e-02 9.99523557e-01 -4.21287943e-05 3.56569087e+01] [ 1.52283521e-02 -4.28105499e-04 9.99883950e-01 7.82664916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.454391418 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:265.94, Y:35.66, Z:7.83 [[ 9.99482926e-01 -2.86774257e-02 -1.45425769e-02 2.65944589e+02] [ 2.86798880e-02 9.99588647e-01 -3.92507727e-05 3.56575486e+01] [ 1.45377204e-02 -3.77849000e-04 9.99894250e-01 7.82689605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48439141800003 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:265.98, Y:35.66, Z:7.83 [[ 9.99545995e-01 -2.67351977e-02 -1.38936497e-02 2.65976633e+02] [ 2.67372707e-02 9.99642495e-01 -3.65539283e-05 3.56581230e+01] [ 1.38896599e-02 -3.34940940e-04 9.99903478e-01 7.82665531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.514391418 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:266.01, Y:35.66, Z:7.83 [[ 9.99602500e-01 -2.48707413e-02 -1.32773924e-02 2.66007787e+02] [ 2.48724799e-02 9.99690631e-01 -3.41872973e-05 3.56585321e+01] [ 1.32741350e-02 -2.96067967e-04 9.99911851e-01 7.82677672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544391418 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:266.04, Y:35.66, Z:7.83 [[ 9.99696499e-01 -2.11297944e-02 -1.26665758e-02 2.66038870e+02] [ 2.11310827e-02 9.99776713e-01 -3.21326033e-05 3.56589158e+01] [ 1.26644265e-02 -2.35535611e-04 9.99919775e-01 7.82692615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.574391418 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:266.07, Y:35.66, Z:7.83 [[ 9.99718456e-01 -2.00019236e-02 -1.27644369e-02 2.66070621e+02] [ 2.00031465e-02 9.99799917e-01 -3.18742771e-05 3.56588080e+01] [ 1.27625205e-02 -2.23463598e-04 9.99918531e-01 7.82725555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:266.10, Y:35.66, Z:7.83 [[ 9.99747209e-01 -1.88435485e-02 -1.22653725e-02 2.66100975e+02] [ 1.88445948e-02 9.99822424e-01 -3.02659327e-05 3.56584794e+01] [ 1.22637648e-02 -2.00877694e-04 9.99924777e-01 7.82654441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.634391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:266.13, Y:35.66, Z:7.83 [[ 9.99755179e-01 -1.80537795e-02 -1.27922894e-02 2.66131406e+02] [ 1.80548548e-02 9.99836997e-01 -3.14334616e-05 3.56584716e+01] [ 1.27907717e-02 -1.99537162e-04 9.99918175e-01 7.82668592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:266.16, Y:35.66, Z:7.83 [[ 9.99769046e-01 -1.67844919e-02 -1.34214433e-02 2.66161617e+02] [ 1.67855612e-02 9.99859112e-01 -3.29794307e-05 3.56583040e+01] [ 1.34201059e-02 -1.92314643e-04 9.99909928e-01 7.82645008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.694391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:266.19, Y:35.66, Z:7.83 [[ 9.99776085e-01 -1.63762114e-02 -1.34014977e-02 2.66191087e+02] [ 1.63772371e-02 9.99865884e-01 -3.32122946e-05 3.56586320e+01] [ 1.34002443e-02 -1.86274648e-04 9.99910195e-01 7.82637091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:266.22, Y:35.66, Z:7.83 [[ 9.99780476e-01 -1.59997902e-02 -1.35280263e-02 2.66220270e+02] [ 1.60007935e-02 9.99871979e-01 -3.40728301e-05 3.56588343e+01] [ 1.35268396e-02 -1.82393805e-04 9.99908491e-01 7.82631365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.754391418 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:266.25, Y:35.66, Z:7.83 [[ 9.99784405e-01 -1.52874575e-02 -1.40512096e-02 2.66249230e+02] [ 1.52884594e-02 9.99883124e-01 -3.61127906e-05 3.56591993e+01] [ 1.40501194e-02 -1.78716343e-04 9.99901276e-01 7.82697935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784391418 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:266.28, Y:35.66, Z:7.83 [[ 9.99773890e-01 -1.58325158e-02 -1.41950472e-02 2.66277580e+02] [ 1.58335578e-02 9.99874641e-01 -3.89856926e-05 3.56596979e+01] [ 1.41938849e-02 -1.85781222e-04 9.99899244e-01 7.82694628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.814391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:266.31, Y:35.66, Z:7.83 [[ 9.99764899e-01 -1.62364119e-02 -1.43709976e-02 2.66306650e+02] [ 1.62374895e-02 9.99868162e-01 -4.17004832e-05 3.56598157e+01] [ 1.43697800e-02 -1.91658244e-04 9.99896731e-01 7.82721334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:266.34, Y:35.66, Z:7.83 [[ 9.99735747e-01 -1.79055357e-02 -1.44162712e-02 2.66335630e+02] [ 1.79067818e-02 9.99839660e-01 -4.26517716e-05 3.56603154e+01] [ 1.44147234e-02 -2.15508521e-04 9.99896079e-01 7.82780738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.874391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:266.37, Y:35.66, Z:7.83 [[ 9.99715646e-01 -1.92392699e-02 -1.40882208e-02 2.66365727e+02] [ 1.92405831e-02 9.99814882e-01 -4.23304968e-05 3.56602396e+01] [ 1.40864272e-02 -2.28747123e-04 9.99900755e-01 7.82794868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:266.40, Y:35.66, Z:7.83 [[ 9.99691236e-01 -2.07558354e-02 -1.36612035e-02 2.66396550e+02] [ 2.07572085e-02 9.99784545e-01 -4.12895816e-05 3.56598673e+01] [ 1.36591172e-02 -2.42291618e-04 9.99906681e-01 7.82796546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.934391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:266.43, Y:35.66, Z:7.83 [[ 9.99621469e-01 -2.39234791e-02 -1.35862523e-02 2.66426454e+02] [ 2.39251314e-02 9.99713752e-01 -4.09258692e-05 3.56592759e+01] [ 1.35833424e-02 -2.84142496e-04 9.99907702e-01 7.82827671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:266.46, Y:35.66, Z:7.83 [[ 9.99584368e-01 -2.52318303e-02 -1.39443865e-02 2.66456340e+02] [ 2.52337019e-02 9.99681579e-01 -4.17364705e-05 3.56590821e+01] [ 1.39409994e-02 -3.10149368e-04 9.99902771e-01 7.82891343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.994391418 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:266.49, Y:35.66, Z:7.83 [[ 9.99543654e-01 -2.67352382e-02 -1.40609724e-02 2.66487342e+02] [ 2.67372959e-02 9.99642494e-01 -4.16577706e-05 3.56594759e+01] [ 1.40570593e-02 -3.34313621e-04 9.99901139e-01 7.82929369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:266.52, Y:35.66, Z:7.83 [[ 9.99478377e-01 -2.89895070e-02 -1.42331326e-02 2.66518738e+02] [ 2.89918520e-02 9.99579647e-01 -4.15952691e-05 3.56597577e+01] [ 1.42283555e-02 -3.71071301e-04 9.99898703e-01 7.82994173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.054391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:266.55, Y:35.66, Z:7.83 [[ 9.99458911e-01 -2.97528512e-02 -1.40233071e-02 2.66550725e+02] [ 2.97552148e-02 9.99557215e-01 -4.01132327e-05 3.56595538e+01] [ 1.40182913e-02 -3.77174987e-04 9.99901668e-01 7.82999780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:266.58, Y:35.66, Z:7.83 [[ 9.99446313e-01 -3.02305196e-02 -1.38990360e-02 2.66581789e+02] [ 3.02329010e-02 9.99542881e-01 -3.87903893e-05 3.56594888e+01] [ 1.38938551e-02 -3.81439267e-04 9.99903403e-01 7.83068115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.114391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:266.61, Y:35.66, Z:7.83 [[ 9.99446584e-01 -3.03704014e-02 -1.35707001e-02 2.66613903e+02] [ 3.03726975e-02 9.99538643e-01 -3.69169518e-05 3.56597018e+01] [ 1.35655603e-02 -3.75282246e-04 9.99907913e-01 7.83070018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:266.65, Y:35.66, Z:7.83 [[ 9.99450759e-01 -3.03412571e-02 -1.33262414e-02 2.66646386e+02] [ 3.03434829e-02 9.99539530e-01 -3.51816538e-05 3.56605474e+01] [ 1.33211726e-02 -3.69202249e-04 9.99911201e-01 7.83131280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.174391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:266.68, Y:35.66, Z:7.83 [[ 9.99481951e-01 -2.95155709e-02 -1.28320309e-02 2.66679068e+02] [ 2.95175797e-02 9.99564261e-01 -3.28528234e-05 3.56606485e+01] [ 1.28274091e-02 -3.45934690e-04 9.99917666e-01 7.83141416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.204391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:266.71, Y:35.66, Z:7.83 [[ 9.99504619e-01 -2.88864273e-02 -1.24936265e-02 2.66710683e+02] [ 2.88882934e-02 9.99582646e-01 -3.11080277e-05 3.56614715e+01] [ 1.24893108e-02 -3.29826931e-04 9.99921951e-01 7.83151388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23439141800003 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:266.74, Y:35.66, Z:7.83 [[ 9.99515131e-01 -2.85369882e-02 -1.24556680e-02 2.66741969e+02] [ 2.85388252e-02 9.99592684e-01 -3.02649244e-05 3.56612870e+01] [ 1.24514583e-02 -3.25219883e-04 9.99922425e-01 7.83165841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.264391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:266.77, Y:35.66, Z:7.83 [[ 9.99510361e-01 -2.83449409e-02 -1.32514943e-02 2.66774658e+02] [ 2.83470158e-02 9.99598142e-01 -3.12557204e-05 3.56613123e+01] [ 1.32470551e-02 -3.44399904e-04 9.99912195e-01 7.83166990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.294391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:266.80, Y:35.66, Z:7.83 [[ 9.99464523e-01 -2.96174662e-02 -1.39094688e-02 2.66804748e+02] [ 2.96284853e-02 9.99560808e-01 5.86760917e-04 3.56635980e+01] [ 1.38859815e-02 -9.98563212e-04 9.99903087e-01 7.83209083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324391418 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:266.84, Y:35.66, Z:7.83 [[ 9.99458093e-01 -2.90768315e-02 -1.54291667e-02 2.66836679e+02] [ 2.90686911e-02 9.99577134e-01 -7.51652280e-04 3.56625128e+01] [ 1.54444979e-02 3.02739275e-04 9.99880681e-01 7.83175856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.354391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:266.87, Y:35.66, Z:7.83 [[ 9.99399673e-01 -3.04415292e-02 -1.65410698e-02 2.66868007e+02] [ 3.04450506e-02 9.99536441e-01 -3.89422303e-05 3.56629168e+01] [ 1.65345875e-02 -4.64674854e-04 9.99863186e-01 7.83177407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:266.90, Y:35.66, Z:7.83 [[ 9.99374217e-01 -3.10685474e-02 -1.69091751e-02 2.66899106e+02] [ 3.10723317e-02 9.99517138e-01 -3.89437562e-05 3.56633286e+01] [ 1.69022202e-02 -4.86488110e-04 9.99857029e-01 7.83226138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.414391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:266.93, Y:35.66, Z:7.83 [[ 9.99341331e-01 -3.17765904e-02 -1.75257819e-02 2.66930314e+02] [ 3.17807788e-02 9.99494863e-01 -3.95453165e-05 3.56638732e+01] [ 1.75181856e-02 -5.17463730e-04 9.99846411e-01 7.83280998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:266.96, Y:35.66, Z:7.83 [[ 9.99316821e-01 -3.23790309e-02 -1.78182657e-02 2.66961967e+02] [ 3.23834687e-02 9.99475517e-01 -3.94929912e-05 3.56640107e+01] [ 1.78101991e-02 -5.37551238e-04 9.99841241e-01 7.83296514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.474391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:266.99, Y:35.66, Z:7.83 [[ 9.99295389e-01 -3.31262803e-02 -1.76458260e-02 2.66993713e+02] [ 3.31307615e-02 9.99451025e-01 -3.83984918e-05 3.56648265e+01] [ 1.76374109e-02 -5.46248217e-04 9.99844300e-01 7.83345061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:267.02, Y:35.67, Z:7.84 [[ 9.99295984e-01 -3.24325327e-02 -1.88591242e-02 2.67023582e+02] [ 3.23797131e-02 9.99470834e-01 -3.09946748e-03 3.56667490e+01] [ 1.89496682e-02 2.48663237e-03 9.99817347e-01 7.83523740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.534391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:267.05, Y:35.67, Z:7.83 [[ 9.99305580e-01 -3.27289138e-02 -1.78094515e-02 2.67053615e+02] [ 3.27628728e-02 9.99461843e-01 1.61830430e-03 3.56658427e+01] [ 1.77469019e-02 -2.20066931e-03 9.99840089e-01 7.83487169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564391418 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:267.09, Y:35.67, Z:7.84 [[ 9.99332914e-01 -3.23707852e-02 -1.69073568e-02 2.67085538e+02] [ 3.23979055e-02 9.99474162e-01 1.33255180e-03 3.56666331e+01] [ 1.68553305e-02 -1.87942582e-03 9.99856172e-01 7.83561980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.594391418 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:267.12, Y:35.67, Z:7.84 [[ 9.99356879e-01 -3.14416908e-02 -1.72408826e-02 2.67117771e+02] [ 3.14457735e-02 9.99505459e-01 -3.43100551e-05 3.56678788e+01] [ 1.72334351e-02 -5.07864900e-04 9.99851364e-01 7.83695809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624391418 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:267.15, Y:35.67, Z:7.84 [[ 9.99411508e-01 -3.09227119e-02 -1.48466938e-02 2.67148013e+02] [ 3.10016317e-02 9.99506245e-01 5.11520539e-03 3.56666856e+01] [ 1.46811872e-02 -5.57246687e-03 9.99876698e-01 7.83583934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.654391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:267.18, Y:35.67, Z:7.84 [[ 9.99369967e-01 -3.14346245e-02 -1.64782930e-02 2.67180282e+02] [ 3.13524475e-02 9.99494750e-01 -5.22188674e-03 3.56723972e+01] [ 1.66341154e-02 4.70196196e-03 9.99850588e-01 7.84025624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.684391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:267.21, Y:35.67, Z:7.84 [[ 9.99364734e-01 -3.14155458e-02 -1.68283127e-02 2.67212042e+02] [ 3.14194837e-02 9.99506286e-01 -3.03992501e-05 3.56704545e+01] [ 1.68209593e-02 -4.98356958e-04 9.99858393e-01 7.83888954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.714391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:267.24, Y:35.67, Z:7.84 [[ 9.99316444e-01 -3.22592166e-02 -1.80551210e-02 2.67244160e+02] [ 3.22639142e-02 9.99479384e-01 -3.11238760e-05 3.56712733e+01] [ 1.80467253e-02 -5.51426275e-04 9.99836993e-01 7.83990376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.744391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:267.28, Y:35.67, Z:7.84 [[ 9.99285115e-01 -3.30900927e-02 -1.82839889e-02 2.67275106e+02] [ 3.30950717e-02 9.99452208e-01 -3.02814252e-05 3.56717675e+01] [ 1.82749751e-02 -5.74850145e-04 9.99832833e-01 7.84025944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.774391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:267.31, Y:35.67, Z:7.84 [[ 9.99264473e-01 -3.34879142e-02 -1.86834921e-02 2.67306497e+02] [ 3.34932037e-02 9.99438945e-01 -2.98224266e-05 3.56719814e+01] [ 1.86740084e-02 -5.95969515e-04 9.99825448e-01 7.84114038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.804391418 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:267.34, Y:35.67, Z:7.84 [[ 9.99229892e-01 -3.38138089e-02 -1.99059944e-02 2.67338464e+02] [ 3.38199074e-02 9.99427943e-01 -3.02926789e-05 3.56731004e+01] [ 1.98956314e-02 -6.42949538e-04 9.99801856e-01 7.84225701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.834391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:267.37, Y:35.67, Z:7.84 [[ 9.99225092e-01 -3.36728263e-02 -2.03802834e-02 2.67369284e+02] [ 3.36792173e-02 9.99432694e-01 -2.96603170e-05 3.56738441e+01] [ 2.03697203e-02 -6.56754662e-04 9.99792300e-01 7.84242163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.864391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:267.40, Y:35.68, Z:7.84 [[ 9.99244322e-01 -3.25029605e-02 -2.13153278e-02 2.67399458e+02] [ 3.25097004e-02 9.99471420e-01 -3.03312783e-05 3.56755382e+01] [ 2.13050468e-02 -6.62646565e-04 9.99772802e-01 7.84287361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.894391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:267.43, Y:35.68, Z:7.84 [[ 9.99260346e-01 -3.16007493e-02 -2.19124202e-02 2.67430169e+02] [ 3.16076584e-02 9.99500353e-01 -3.10520188e-05 3.56766272e+01] [ 2.19024529e-02 -6.61571241e-04 9.99759894e-01 7.84333864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.924391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:267.46, Y:35.68, Z:7.84 [[ 9.99291715e-01 -3.03032456e-02 -2.23110027e-02 2.67460571e+02] [ 3.03100853e-02 9.99540543e-01 -3.16168489e-05 3.56777022e+01] [ 2.23017098e-02 -6.44653940e-04 9.99751078e-01 7.84431867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.954391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:267.49, Y:35.68, Z:7.85 [[ 9.99324643e-01 -2.90762656e-02 -2.24683734e-02 2.67490616e+02] [ 2.90828923e-02 9.99577003e-01 -3.18398584e-05 3.56790721e+01] [ 2.24597951e-02 -6.21626929e-04 9.99747554e-01 7.84517774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98439141800003 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:267.52, Y:35.68, Z:7.85 [[ 9.99399026e-01 -2.65268481e-02 -2.23139767e-02 2.67521208e+02] [ 2.65327491e-02 9.99647944e-01 -3.16210634e-05 3.56812234e+01] [ 2.23069598e-02 -5.60449085e-04 9.99751012e-01 7.84618886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.014391418 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:267.55, Y:35.68, Z:7.85 [[ 9.99392045e-01 -2.67885504e-02 -2.23139703e-02 2.67550432e+02] [ 2.67944238e-02 9.99640964e-01 -3.57787336e-05 3.56813638e+01] [ 2.23069172e-02 -5.62132994e-04 9.99751012e-01 7.84637689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:267.58, Y:35.68, Z:7.85 [[ 9.99433827e-01 -2.55187873e-02 -2.19275581e-02 2.67579723e+02] [ 2.55241105e-02 9.99674206e-01 -3.71230818e-05 3.56822886e+01] [ 2.19213616e-02 -5.22579353e-04 9.99759562e-01 7.84677459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.074391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:267.61, Y:35.68, Z:7.85 [[ 9.99452228e-01 -2.49126296e-02 -2.17854344e-02 2.67608153e+02] [ 2.49177183e-02 9.99689505e-01 -3.78855795e-05 3.56832361e+01] [ 2.17796139e-02 -5.04978489e-04 9.99762669e-01 7.84756546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104391418 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:267.64, Y:35.68, Z:7.85 [[ 9.99491389e-01 -2.40558687e-02 -2.09351237e-02 2.67637330e+02] [ 2.40603605e-02 9.99710507e-01 -3.73363874e-05 3.56849922e+01] [ 2.09299613e-02 -4.66389225e-04 9.99780836e-01 7.84874157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.134391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:267.67, Y:35.69, Z:7.85 [[ 9.99494370e-01 -2.43396860e-02 -2.04593051e-02 2.67667043e+02] [ 2.43440187e-02 9.99703640e-01 -3.72969632e-05 3.56856472e+01] [ 2.04541496e-02 -4.60783601e-04 9.99790686e-01 7.84895942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:267.70, Y:35.69, Z:7.85 [[ 9.99479690e-01 -2.48891559e-02 -2.05153391e-02 2.67696764e+02] [ 2.48936113e-02 9.99690105e-01 -3.82122028e-05 3.56858395e+01] [ 2.05099326e-02 -4.72508559e-04 9.99789538e-01 7.84904181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.194391418 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:267.73, Y:35.69, Z:7.85 [[ 9.99401090e-01 -2.72995067e-02 -2.12649331e-02 2.67726237e+02] [ 2.73048211e-02 9.99627153e-01 -4.04522512e-05 3.56860846e+01] [ 2.12581089e-02 -5.40207170e-04 9.99773875e-01 7.84832259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:267.76, Y:35.69, Z:7.85 [[ 9.99342709e-01 -2.88359206e-02 -2.19690628e-02 2.67756776e+02] [ 2.88419581e-02 9.99583983e-01 -4.20518829e-05 3.56861306e+01] [ 2.19611359e-02 -5.91606545e-04 9.99758650e-01 7.84816211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.254391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:267.79, Y:35.69, Z:7.85 [[ 9.99184556e-01 -3.35318459e-02 -2.24908349e-02 2.67787115e+02] [ 3.35393619e-02 9.99437396e-01 -4.30506283e-05 3.56864283e+01] [ 2.24796251e-02 -7.11312730e-04 9.99747048e-01 7.84842882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284391418 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:267.82, Y:35.69, Z:7.85 [[ 9.99087159e-01 -3.61881831e-02 -2.26994395e-02 2.67817738e+02] [ 3.61965312e-02 9.99344690e-01 -4.31328699e-05 3.56863297e+01] [ 2.26861252e-02 -7.78547473e-04 9.99742334e-01 7.84863649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.314391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:267.85, Y:35.69, Z:7.85 [[ 9.98989877e-01 -3.87837396e-02 -2.26946379e-02 2.67848854e+02] [ 3.87927704e-02 9.99247276e-01 -4.23559586e-05 3.56861810e+01] [ 2.26791979e-02 -8.38074704e-04 9.99742443e-01 7.84883193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:267.88, Y:35.69, Z:7.85 [[ 9.98798407e-01 -4.36836835e-02 -2.22143569e-02 2.67881235e+02] [ 4.36935787e-02 9.99044979e-01 -3.99682716e-05 3.56858889e+01] [ 2.21948877e-02 -9.30704506e-04 9.99753230e-01 7.84911179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.374391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:267.91, Y:35.69, Z:7.85 [[ 9.98726157e-01 -4.56285692e-02 -2.15429250e-02 2.67913517e+02] [ 4.56383627e-02 9.98958026e-01 -3.70809706e-05 3.56857845e+01] [ 2.15221698e-02 -9.46150090e-04 9.99767924e-01 7.84948263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:267.95, Y:35.69, Z:7.85 [[ 9.98586235e-01 -4.88923306e-02 -2.08583788e-02 2.67945090e+02] [ 4.89022495e-02 9.98803569e-01 -3.45681606e-05 3.56859433e+01] [ 2.08351133e-02 -9.85502356e-04 9.99782440e-01 7.85057108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.434391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:267.98, Y:35.69, Z:7.85 [[ 9.98548884e-01 -4.98714997e-02 -2.03214273e-02 2.67977004e+02] [ 4.98811469e-02 9.98755160e-01 -3.21855724e-05 3.56859561e+01] [ 2.02977355e-02 -9.81517233e-04 9.99793498e-01 7.85083399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:268.01, Y:35.69, Z:7.85 [[ 9.98509282e-01 -5.07640221e-02 -2.00556000e-02 2.68007749e+02] [ 5.07736249e-02 9.98710187e-01 -3.04281431e-05 3.56862825e+01] [ 2.00312767e-02 -9.87912730e-04 9.99798866e-01 7.85127548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.494391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:268.04, Y:35.69, Z:7.85 [[ 9.98476316e-01 -5.12906520e-02 -2.03547618e-02 2.68040041e+02] [ 5.13006831e-02 9.98683253e-01 -2.93837090e-05 3.56862252e+01] [ 2.03294668e-02 -1.01487425e-03 9.99792820e-01 7.85184069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:268.07, Y:35.69, Z:7.85 [[ 9.98481070e-01 -5.12222503e-02 -2.02936896e-02 2.68072337e+02] [ 5.12322400e-02 9.98686766e-01 -2.76751979e-05 3.56859604e+01] [ 2.02684568e-02 -1.01205801e-03 9.99794061e-01 7.85200233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.554391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:268.10, Y:35.69, Z:7.85 [[ 9.98496607e-01 -5.10604981e-02 -1.99336692e-02 2.68104137e+02] [ 5.10701359e-02 9.98695069e-01 -2.55971321e-05 3.56858312e+01] [ 1.99089642e-02 -9.92456548e-04 9.99801304e-01 7.85272842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:268.14, Y:35.69, Z:7.85 [[ 9.98522656e-01 -5.05731287e-02 -1.98711741e-02 2.68135946e+02] [ 5.05826413e-02 9.98719879e-01 -2.39293485e-05 3.56857242e+01] [ 1.98469467e-02 -9.81242475e-04 9.99802548e-01 7.85322901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.614391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:268.17, Y:35.69, Z:7.85 [[ 9.98579248e-01 -4.94728958e-02 -1.97969305e-02 2.68167949e+02] [ 4.94821532e-02 9.98775008e-01 -2.22530769e-05 3.56853453e+01] [ 1.97737803e-02 -9.57373287e-04 9.99804021e-01 7.85344399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:268.20, Y:35.68, Z:7.85 [[ 9.98619122e-01 -4.84512536e-02 -2.03058173e-02 2.68200414e+02] [ 4.84608158e-02 9.98825084e-01 -2.11861239e-05 3.56848391e+01] [ 2.02829862e-02 -9.62879605e-04 9.99793815e-01 7.85354625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.674391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:268.23, Y:35.68, Z:7.85 [[ 9.98727297e-01 -4.57557295e-02 -2.12178985e-02 2.68231852e+02] [ 4.57655933e-02 9.98952206e-01 -2.07212842e-05 3.56838705e+01] [ 2.11966146e-02 -9.50354799e-04 9.99774875e-01 7.85317316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.704391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:268.26, Y:35.69, Z:7.85 [[ 9.98824512e-01 -4.29099296e-02 -2.25462066e-02 2.68262936e+02] [ 4.28428376e-02 9.99075865e-01 -3.45062972e-03 3.56850079e+01] [ 2.26734371e-02 2.48063008e-03 9.99739847e-01 7.85483947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73439141800003 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:268.30, Y:35.68, Z:7.85 [[ 9.98903436e-01 -4.12338893e-02 -2.21741384e-02 2.68295494e+02] [ 4.13129921e-02 9.99141380e-01 3.12096267e-03 3.56824183e+01] [ 2.20264098e-02 -4.03362033e-03 9.99749252e-01 7.85236224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.764391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:268.33, Y:35.68, Z:7.85 [[ 9.99021081e-01 -3.80822798e-02 -2.25082163e-02 2.68326431e+02] [ 3.80916069e-02 9.99274251e-01 -1.43615496e-05 3.56841326e+01] [ 2.24924279e-02 -8.43026638e-04 9.99746658e-01 7.85374580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.794391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:268.36, Y:35.69, Z:7.86 [[ 9.99267570e-01 -3.01277738e-02 -2.35932444e-02 2.68357665e+02] [ 3.00813479e-02 9.99544761e-01 -2.32028633e-03 3.56864879e+01] [ 2.36524089e-02 1.60887029e-03 9.99718948e-01 7.85509976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:268.39, Y:35.69, Z:7.85 [[ 9.99382494e-01 -2.65318988e-02 -2.30366992e-02 2.68388601e+02] [ 2.65893910e-02 9.99644034e-01 2.19291793e-03 3.56855387e+01] [ 2.29703166e-02 -2.80409559e-03 9.99732215e-01 7.85377868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.854391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:268.42, Y:35.69, Z:7.85 [[ 9.99501161e-01 -2.19434217e-02 -2.27137904e-02 2.68417600e+02] [ 2.19488048e-02 9.99759096e-01 -1.23059067e-05 3.56875116e+01] [ 2.27085885e-02 -4.86240784e-04 9.99742009e-01 7.85476603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:268.45, Y:35.69, Z:7.86 [[ 9.99679659e-01 -1.17026650e-02 -2.24416335e-02 2.68445208e+02] [ 1.17052187e-02 9.99931491e-01 -1.75635015e-05 3.56894841e+01] [ 2.24403016e-02 -2.45126354e-04 9.99748155e-01 7.85519263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.914391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:268.47, Y:35.69, Z:7.86 [[ 9.99728215e-01 -6.34150059e-03 -2.24339529e-02 2.68472600e+02] [ 6.34254350e-03 9.99979886e-01 -2.46654637e-05 3.56908392e+01] [ 2.24336581e-02 -1.17629562e-04 9.99748327e-01 7.85571966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:268.50, Y:35.69, Z:7.86 [[ 9.99752162e-01 -1.06123630e-03 -2.22370882e-02 2.68500133e+02] [ 1.06079963e-03 9.99999437e-01 -3.14333033e-05 3.56920974e+01] [ 2.22371090e-02 7.83641808e-06 9.99752725e-01 7.85614631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.974391418 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:268.53, Y:35.70, Z:7.86 [[ 9.99683223e-01 1.02094612e-02 -2.30048121e-02 2.68525948e+02] [-1.03192270e-02 9.99935907e-01 -4.65777559e-03 3.56957460e+01] [ 2.29557843e-02 4.89369199e-03 9.99724504e-01 7.85883592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:268.56, Y:35.69, Z:7.86 [[ 9.99714515e-01 1.17905533e-02 -2.07815013e-02 2.68556556e+02] [-1.17021999e-02 9.99921986e-01 4.36803655e-03 3.56923794e+01] [ 2.08313816e-02 -4.12360026e-03 9.99774499e-01 7.85539746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.034391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:268.58, Y:35.69, Z:7.86 [[ 9.99683032e-01 1.43376207e-02 -2.06946359e-02 2.68583251e+02] [-1.43415397e-02 9.99897154e-01 -4.09629654e-05 3.56944760e+01] [ 2.06919202e-02 3.37742923e-04 9.99785842e-01 7.85770897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:268.61, Y:35.69, Z:7.86 [[ 9.99616148e-01 1.84180279e-02 -2.06961904e-02 2.68608773e+02] [-1.85038954e-02 9.99820926e-01 -3.96512422e-03 3.56946655e+01] [ 2.06194545e-02 4.34656235e-03 9.99777948e-01 7.85870369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.094391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:268.64, Y:35.69, Z:7.86 [[ 9.99685019e-01 1.60157087e-02 -1.93225400e-02 2.68638900e+02] [-1.59468839e-02 9.99865955e-01 3.71073725e-03 3.56903707e+01] [ 1.93793800e-02 -3.40143414e-03 9.99806416e-01 7.85565979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124391418 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:268.67, Y:35.69, Z:7.86 [[ 9.99715007e-01 1.43440332e-02 -1.90828189e-02 2.68667224e+02] [-1.43475513e-02 9.99897067e-01 -4.74581575e-05 3.56909778e+01] [ 1.90801739e-02 3.21236356e-04 9.99817905e-01 7.85679262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.154391418 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:268.70, Y:35.69, Z:7.86 [[ 9.99778171e-01 8.09079728e-03 -1.94460056e-02 2.68695307e+02] [-8.09331041e-03 9.99967247e-01 -5.05397901e-05 3.56880537e+01] [ 1.94449598e-02 2.07911139e-04 9.99810907e-01 7.85625050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.184391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:268.72, Y:35.69, Z:7.86 [[ 9.99799184e-01 3.55228305e-03 -1.97223791e-02 2.68723054e+02] [-3.55402855e-03 9.99993683e-01 -5.34537080e-05 3.56863568e+01] [ 1.97220646e-02 1.23536872e-04 9.99805494e-01 7.85597866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.214391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:268.75, Y:35.68, Z:7.86 [[ 9.99789779e-01 -1.72506140e-03 -2.04308939e-02 2.68750633e+02] [ 1.72424332e-03 9.99998512e-01 -5.76571228e-05 3.56841644e+01] [ 2.04309629e-02 2.24171698e-05 9.99791266e-01 7.85597496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.244391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:268.78, Y:35.68, Z:7.86 [[ 9.99761550e-01 -7.30198922e-03 -2.05796853e-02 2.68778613e+02] [ 7.30229232e-03 9.99973336e-01 -6.04203098e-05 3.56815925e+01] [ 2.05795777e-02 -8.98729752e-05 9.99788214e-01 7.85552958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.274391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:268.81, Y:35.68, Z:7.86 [[ 9.99607829e-01 -1.89520383e-02 -2.06157259e-02 2.68805299e+02] [ 1.89547648e-02 9.99820340e-01 -6.31557263e-05 3.56760295e+01] [ 2.06132190e-02 -3.27635279e-04 9.99787471e-01 7.85504362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.304391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:268.83, Y:35.67, Z:7.86 [[ 9.99376658e-01 -2.91525198e-02 -1.99104532e-02 2.68834202e+02] [ 2.91570479e-02 9.99574841e-01 -6.28953231e-05 3.56708568e+01] [ 1.99038216e-02 -5.17673920e-04 9.99801765e-01 7.85510995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.334391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:268.87, Y:35.67, Z:7.86 [[ 9.99263726e-01 -3.34584560e-02 -1.87759774e-02 2.68865087e+02] [ 3.34632326e-02 9.99439947e-01 -5.98088389e-05 3.56685697e+01] [ 1.87674629e-02 -5.68540095e-04 9.99823714e-01 7.85512811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.364391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:268.90, Y:35.67, Z:7.86 [[ 9.99159250e-01 -3.69139117e-02 -1.78369359e-02 2.68896202e+02] [ 3.69187799e-02 9.99318268e-01 -5.63876284e-05 3.56663067e+01] [ 1.78268574e-02 -6.02177692e-04 9.99840908e-01 7.85528391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.394391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:268.93, Y:35.66, Z:7.86 [[ 9.99083768e-01 -3.95407972e-02 -1.63753112e-02 2.68928313e+02] [ 3.95452692e-02 9.99217779e-01 -5.07475721e-05 3.56642917e+01] [ 1.63645086e-02 -5.96865013e-04 9.99865914e-01 7.85521638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.424391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:268.96, Y:35.66, Z:7.86 [[ 9.99004617e-01 -4.22118845e-02 -1.44198570e-02 2.68959508e+02] [ 4.22156435e-02 9.99108521e-01 -4.37450167e-05 3.56607338e+01] [ 1.44088486e-02 -5.65042069e-04 9.99896028e-01 7.85516819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.454391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:268.99, Y:35.66, Z:7.86 [[ 9.99000406e-01 -4.24777717e-02 -1.39221689e-02 2.68991270e+02] [ 4.24813148e-02 9.99097261e-01 -4.12725174e-05 3.56592054e+01] [ 1.39113540e-02 -5.50200779e-04 9.99903081e-01 7.85522305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48439141800003 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:269.02, Y:35.66, Z:7.86 [[ 9.99069669e-01 -4.09198006e-02 -1.36149435e-02 2.69022207e+02] [ 4.09230573e-02 9.99162300e-01 -3.94318166e-05 3.56564746e+01] [ 1.36051518e-02 -5.17769980e-04 9.99907312e-01 7.85517094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.514391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:269.05, Y:35.66, Z:7.86 [[ 9.99136891e-01 -3.92936479e-02 -1.34715027e-02 2.69053859e+02] [ 3.92966993e-02 9.99227586e-01 -3.82275382e-05 3.56552001e+01] [ 1.34625992e-02 -4.91191046e-04 9.99909254e-01 7.85503760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:269.09, Y:35.65, Z:7.86 [[ 9.99180695e-01 -3.81954294e-02 -1.33808475e-02 2.69086042e+02] [ 3.81983538e-02 9.99270176e-01 -3.70500931e-05 3.56540936e+01] [ 1.33724970e-02 -4.74106609e-04 9.99910472e-01 7.85522054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.574391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:269.12, Y:35.65, Z:7.86 [[ 9.99281328e-01 -3.53213779e-02 -1.37559950e-02 2.69117805e+02] [ 3.53242118e-02 9.99375905e-01 -3.69798965e-05 3.56518967e+01] [ 1.37487161e-02 -4.48966361e-04 9.99905381e-01 7.85528484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:269.15, Y:35.65, Z:7.86 [[ 9.99337410e-01 -3.37279356e-02 -1.36809372e-02 2.69149880e+02] [ 3.37306046e-02 9.99430961e-01 -3.56722100e-05 3.56508194e+01] [ 1.36743553e-02 -4.25817708e-04 9.99906411e-01 7.85516742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.634391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:269.18, Y:35.65, Z:7.85 [[ 9.99420885e-01 -3.06234159e-02 -1.48357754e-02 2.69181233e+02] [ 3.06262381e-02 9.99530906e-01 -3.69827963e-05 3.56490379e+01] [ 1.48299486e-02 -4.17402610e-04 9.99889943e-01 7.85496669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:269.21, Y:35.65, Z:7.85 [[ 9.99463910e-01 -2.89155167e-02 -1.53552834e-02 2.69213252e+02] [ 2.89183638e-02 9.99581776e-01 -3.66350757e-05 3.56480245e+01] [ 1.53499207e-02 -4.07434234e-04 9.99882100e-01 7.85458230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.694391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:269.24, Y:35.65, Z:7.85 [[ 9.99493713e-01 -2.77287443e-02 -1.56023722e-02 2.69243513e+02] [ 2.77315508e-02 9.99615406e-01 -3.64932029e-05 3.56473281e+01] [ 1.55973836e-02 -3.96203251e-04 9.99878275e-01 7.85427456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:269.27, Y:35.65, Z:7.85 [[ 9.99527072e-01 -2.62803251e-02 -1.59679785e-02 2.69274397e+02] [ 2.62830880e-02 9.99654539e-01 -3.68407283e-05 3.56464336e+01] [ 1.59634304e-02 -3.82864480e-04 9.99872503e-01 7.85426478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.754391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:269.30, Y:35.65, Z:7.85 [[ 9.99592526e-01 -2.36229551e-02 -1.60230647e-02 2.69304255e+02] [ 2.36254031e-02 9.99720881e-01 -3.65131224e-05 3.56454361e+01] [ 1.60194549e-02 -3.42053119e-04 9.99871622e-01 7.85412554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:269.33, Y:35.65, Z:7.85 [[ 9.99622396e-01 -2.21327057e-02 -1.62852284e-02 2.69333784e+02] [ 2.21350361e-02 9.99754989e-01 -3.71607061e-05 3.56454908e+01] [ 1.62820608e-02 -3.23327444e-04 9.99867386e-01 7.85461507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.814391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:269.36, Y:35.65, Z:7.86 [[ 9.99685562e-01 -1.83513412e-02 -1.70881929e-02 2.69363031e+02] [ 1.83533454e-02 9.99831562e-01 -3.95455099e-05 3.56455156e+01] [ 1.70860403e-02 -2.74092431e-04 9.99853985e-01 7.85516724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:269.39, Y:35.65, Z:7.86 [[ 9.99715618e-01 -1.64749964e-02 -1.72411595e-02 2.69391200e+02] [ 1.64767350e-02 9.99864249e-01 -4.12155656e-05 3.56459041e+01] [ 1.72394980e-02 -2.42874171e-04 9.99851359e-01 7.85554616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.874391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:269.42, Y:35.65, Z:7.86 [[ 9.99738165e-01 -1.47898346e-02 -1.74602821e-02 2.69419211e+02] [ 1.47912919e-02 9.99890602e-01 -4.56793942e-05 3.56458835e+01] [ 1.74590475e-02 -2.12592695e-04 9.99847557e-01 7.85593671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:269.45, Y:35.65, Z:7.86 [[ 9.99733910e-01 -1.50747687e-02 -1.74602677e-02 2.69447603e+02] [ 1.50761804e-02 9.99886347e-01 -5.07834871e-05 3.56461136e+01] [ 1.74590488e-02 -2.12464171e-04 9.99847557e-01 7.85612840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.934391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:269.48, Y:35.65, Z:7.86 [[ 9.99771379e-01 -1.27210993e-02 -1.71861184e-02 2.69475714e+02] [ 1.27220298e-02 9.99919070e-01 -5.51912334e-05 3.56457810e+01] [ 1.71854296e-02 -1.63463694e-04 9.99852306e-01 7.85656307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:269.50, Y:35.65, Z:7.86 [[ 9.99785858e-01 -1.21684751e-02 -1.67381882e-02 2.69503046e+02] [ 1.21692089e-02 9.99925951e-01 -5.80146926e-05 3.56451456e+01] [ 1.67376547e-02 -1.45688239e-04 9.99859905e-01 7.85680446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.994391418 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:269.53, Y:35.64, Z:7.86 [[ 9.99799147e-01 -1.22537203e-02 -1.58591490e-02 2.69530956e+02] [ 1.22543223e-02 9.99924911e-01 -5.92247204e-05 3.56445108e+01] [ 1.58586839e-02 -1.35130298e-04 9.99874234e-01 7.85689256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:269.56, Y:35.64, Z:7.86 [[ 9.99821506e-01 -1.20860551e-02 -1.45218484e-02 2.69557986e+02] [ 1.20864987e-02 9.99926954e-01 -5.72231854e-05 3.56431691e+01] [ 1.45214793e-02 -1.18305330e-04 9.99894551e-01 7.85761106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.054391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:269.58, Y:35.64, Z:7.86 [[ 9.99833549e-01 -1.19530027e-02 -1.37840669e-02 2.69584980e+02] [ 1.19533646e-02 9.99928554e-01 -5.61325940e-05 3.56428699e+01] [ 1.37837531e-02 -1.08642727e-04 9.99904994e-01 7.85807885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084391418 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:269.61, Y:35.64, Z:7.86 [[ 9.99861948e-01 -1.06853457e-02 -1.27243325e-02 2.69612936e+02] [ 1.06855335e-02 9.99942907e-01 -5.32233142e-05 3.56417108e+01] [ 1.27241748e-02 -8.27503155e-05 9.99919041e-01 7.85850464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.114391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:269.64, Y:35.64, Z:7.86 [[ 9.99873904e-01 -1.03067936e-02 -1.20808256e-02 2.69640395e+02] [ 1.03069074e-02 9.99946881e-01 -5.28387694e-05 3.56411057e+01] [ 1.20807285e-02 -7.16838445e-05 9.99927023e-01 7.85848906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:269.67, Y:35.64, Z:7.86 [[ 9.99883399e-01 -9.71447474e-03 -1.17820633e-02 2.69667864e+02] [ 9.71451151e-03 9.99952812e-01 -5.41113619e-05 3.56403900e+01] [ 1.17820330e-02 -6.03519374e-05 9.99930588e-01 7.85870303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.174391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:269.70, Y:35.64, Z:7.86 [[ 9.99882166e-01 -9.62159449e-03 -1.19615605e-02 2.69697058e+02] [ 9.62160029e-03 9.99953710e-01 -5.70633175e-05 3.56396259e+01] [ 1.19615558e-02 -5.80327600e-05 9.99928456e-01 7.85884730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.204391418 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:269.72, Y:35.64, Z:7.86 [[ 9.99875769e-01 -1.01044513e-02 -1.20973888e-02 2.69724767e+02] [ 1.01044632e-02 9.99948947e-01 -6.01336624e-05 3.56372606e+01] [ 1.20973789e-02 -6.21114291e-05 9.99926822e-01 7.85883888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23439141800003 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:269.75, Y:35.64, Z:7.86 [[ 9.99864262e-01 -1.11837318e-02 -1.20988158e-02 2.69752841e+02] [ 1.11837945e-02 9.99937457e-01 -6.24814684e-05 3.56360713e+01] [ 1.20987578e-02 -7.28376817e-05 9.99926805e-01 7.85867083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.264391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:269.78, Y:35.64, Z:7.86 [[ 9.99838312e-01 -1.29015810e-02 -1.25259102e-02 2.69782070e+02] [ 1.29017360e-02 9.99916767e-01 -6.84345443e-05 3.56350807e+01] [ 1.25257505e-02 -9.31825067e-05 9.99921545e-01 7.85886516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.294391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:269.81, Y:35.63, Z:7.86 [[ 9.99766383e-01 -1.66585045e-02 -1.37722031e-02 2.69810415e+02] [ 1.66589946e-02 9.99861226e-01 -7.91437813e-05 3.56324627e+01] [ 1.37716103e-02 -1.50305765e-04 9.99905156e-01 7.85907325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:269.84, Y:35.63, Z:7.86 [[ 9.99720904e-01 -1.85322820e-02 -1.46515909e-02 2.69838669e+02] [ 1.85330030e-02 9.99828245e-01 -8.65775379e-05 3.56309664e+01] [ 1.46506789e-02 -1.84984602e-04 9.99892656e-01 7.85933317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.354391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:269.87, Y:35.63, Z:7.86 [[ 9.99669187e-01 -2.06740770e-02 -1.53003108e-02 2.69868562e+02] [ 2.06751028e-02 9.99786243e-01 -9.11509274e-05 3.56294486e+01] [ 1.52989247e-02 -2.25214725e-04 9.99882939e-01 7.85960446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384391418 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:269.90, Y:35.63, Z:7.86 [[ 9.99571170e-01 -2.44950409e-02 -1.60458609e-02 2.69897165e+02] [ 2.44966479e-02 9.99699907e-01 -9.64169111e-05 3.56272017e+01] [ 1.60434074e-02 -2.96694241e-04 9.99871252e-01 7.86032620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.414391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:269.93, Y:35.63, Z:7.86 [[ 9.99522090e-01 -2.60514157e-02 -1.66407769e-02 2.69927849e+02] [ 2.60533530e-02 9.99660549e-01 -1.00400591e-04 3.56264443e+01] [ 1.66377437e-02 -3.33195425e-04 9.99861528e-01 7.86110772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444391418 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:269.96, Y:35.62, Z:7.86 [[ 9.99443817e-01 -2.86952467e-02 -1.69893731e-02 2.69958006e+02] [ 2.86976477e-02 9.99588132e-01 -1.02503814e-04 3.56245051e+01] [ 1.69853171e-02 -3.85108240e-04 9.99855665e-01 7.86146357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.474391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:269.99, Y:35.62, Z:7.86 [[ 9.99409267e-01 -2.95158771e-02 -1.76048050e-02 2.69988221e+02] [ 2.95185825e-02 9.99564226e-01 -1.06216965e-04 3.56235361e+01] [ 1.76002683e-02 -4.13514668e-04 9.99845018e-01 7.86207904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:270.02, Y:35.62, Z:7.86 [[ 9.99379095e-01 -3.02886953e-02 -1.80005124e-02 2.70018875e+02] [ 3.02916490e-02 9.99541097e-01 -1.08604430e-04 3.56226802e+01] [ 1.79955414e-02 -4.36728208e-04 9.99837972e-01 7.86255797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.534391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:270.05, Y:35.62, Z:7.86 [[ 9.99342287e-01 -3.15652511e-02 -1.78501839e-02 2.70048923e+02] [ 3.15683628e-02 9.99501589e-01 -1.07489012e-04 3.56208290e+01] [ 1.78446801e-02 -4.56082768e-04 9.99840667e-01 7.86307670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:270.08, Y:35.62, Z:7.86 [[ 9.99330982e-01 -3.21416656e-02 -1.74499567e-02 2.70079636e+02] [ 3.21447293e-02 9.99483219e-01 -1.04955709e-04 3.56204623e+01] [ 1.74443124e-02 -4.56038643e-04 9.99847732e-01 7.86354511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.594391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:270.11, Y:35.62, Z:7.86 [[ 9.99341700e-01 -3.20535212e-02 -1.69923056e-02 2.70111380e+02] [ 3.20564204e-02 9.99486056e-01 -1.01796337e-04 3.56197100e+01] [ 1.69868355e-02 -4.42983168e-04 9.99855615e-01 7.86462450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:270.14, Y:35.62, Z:7.86 [[ 9.99353719e-01 -3.16712813e-02 -1.70021796e-02 2.70142169e+02] [ 3.16741367e-02 9.99498244e-01 -1.01386868e-04 3.56194485e+01] [ 1.69968597e-02 -4.37208017e-04 9.99855447e-01 7.86475351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.654391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:270.17, Y:35.62, Z:7.86 [[ 9.99383293e-01 -3.05500706e-02 -1.73126431e-02 2.70172963e+02] [ 3.05528654e-02 9.99533147e-01 -1.03103616e-04 3.56187879e+01] [ 1.73077105e-02 -4.25910823e-04 9.99850120e-01 7.86490971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.684391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:270.20, Y:35.62, Z:7.87 [[ 9.99440816e-01 -2.84591692e-02 -1.75536455e-02 2.70203118e+02] [ 2.84617201e-02 9.99594878e-01 -1.04538880e-04 3.56180147e+01] [ 1.75495092e-02 -3.95126521e-04 9.99845917e-01 7.86520363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.714391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:270.23, Y:35.62, Z:7.87 [[ 9.99478511e-01 -2.73560173e-02 -1.71567693e-02 2.70233559e+02] [ 2.73582916e-02 9.99625687e-01 -1.02175326e-04 3.56178359e+01] [ 1.71531424e-02 -3.67257854e-04 9.99852807e-01 7.86514348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.744391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:270.26, Y:35.62, Z:7.87 [[ 9.99517422e-01 -2.60647917e-02 -1.68982112e-02 2.70263619e+02] [ 2.60668135e-02 9.99660198e-01 -1.00635510e-04 3.56174171e+01] [ 1.68950921e-02 -3.39895573e-04 9.99857210e-01 7.86539762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.774391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:270.29, Y:35.62, Z:7.87 [[ 9.99550421e-01 -2.48828632e-02 -1.67272208e-02 2.70293413e+02] [ 2.48846721e-02 9.99690324e-01 -1.00017800e-04 3.56169843e+01] [ 1.67245295e-02 -3.16278571e-04 9.99860085e-01 7.86581583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.804391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:270.32, Y:35.62, Z:7.87 [[ 9.99589071e-01 -2.33973846e-02 -1.65605620e-02 2.70323392e+02] [ 2.33989429e-02 9.99726202e-01 -9.96859480e-05 3.56161418e+01] [ 1.65583602e-02 -2.87854662e-04 9.99862860e-01 7.86579062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.834391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:270.35, Y:35.62, Z:7.87 [[ 9.99594615e-01 -2.30376006e-02 -1.67294362e-02 2.70353081e+02] [ 2.30391291e-02 9.99734559e-01 -1.01386472e-04 3.56155745e+01] [ 1.67273312e-02 -2.84086269e-04 9.99860048e-01 7.86547628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.864391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:270.38, Y:35.61, Z:7.87 [[ 9.99587618e-01 -2.28595950e-02 -1.73790833e-02 2.70381490e+02] [ 2.28612014e-02 9.99738643e-01 -1.06256774e-04 3.56147830e+01] [ 1.73769701e-02 -2.91093768e-04 9.99848967e-01 7.86564540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.894391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:270.41, Y:35.61, Z:7.86 [[ 9.99549837e-01 -2.38080494e-02 -1.82565109e-02 2.70409999e+02] [ 2.38099138e-02 9.99716497e-01 -1.15264101e-04 3.56127346e+01] [ 1.82540793e-02 -3.19473737e-04 9.99833329e-01 7.86438308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.924391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:270.44, Y:35.61, Z:7.86 [[ 9.99600046e-01 -2.21212254e-02 -1.76181743e-02 2.70437865e+02] [ 2.21983035e-02 9.99744801e-01 4.19141491e-03 3.56094807e+01] [ 1.75209590e-02 -4.58083212e-03 9.99836003e-01 7.86278739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.954391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:270.47, Y:35.61, Z:7.87 [[ 9.99510793e-01 -2.49804188e-02 -1.88189802e-02 2.70469648e+02] [ 2.48986724e-02 9.99679554e-01 -4.56571513e-03 3.56131835e+01] [ 1.89270032e-02 4.09491393e-03 9.99812483e-01 7.86538405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98439141800003 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:270.50, Y:35.61, Z:7.86 [[ 9.99489794e-01 -2.60240229e-02 -1.85176135e-02 2.70498778e+02] [ 2.60262067e-02 9.99661253e-01 -1.23092082e-04 3.56097723e+01] [ 1.85145441e-02 -3.58913958e-04 9.99828527e-01 7.86431822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.014391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:270.53, Y:35.61, Z:7.86 [[ 9.99489412e-01 -2.64680548e-02 -1.78985315e-02 2.70527328e+02] [ 2.64700796e-02 9.99649598e-01 -1.23814757e-04 3.56090585e+01] [ 1.78955370e-02 -3.50024016e-04 9.99839801e-01 7.86450608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:270.56, Y:35.61, Z:7.86 [[ 9.99497915e-01 -2.65172221e-02 -1.73422880e-02 2.70555655e+02] [ 2.65190868e-02 9.99648300e-01 -1.22474708e-04 3.56085487e+01] [ 1.73394364e-02 -3.37488427e-04 9.99849604e-01 7.86496178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.074391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:270.58, Y:35.61, Z:7.87 [[ 9.99514093e-01 -2.66765615e-02 -1.61226184e-02 2.70584888e+02] [ 2.66781809e-02 9.99644067e-01 -1.14664476e-04 3.56068203e+01] [ 1.61199387e-02 -3.15513370e-04 9.99870016e-01 7.86545947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104391418 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:270.61, Y:35.61, Z:7.87 [[ 9.99529982e-01 -2.66208235e-02 -1.52035222e-02 2.70613930e+02] [ 2.66222505e-02 9.99645559e-01 -1.08550862e-04 3.56058677e+01] [ 1.52010232e-02 -2.96252136e-04 9.99884414e-01 7.86548968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.134391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:270.64, Y:35.60, Z:7.87 [[ 9.99545663e-01 -2.71261077e-02 -1.31393557e-02 2.70644144e+02] [ 2.71272156e-02 9.99631985e-01 -9.39287367e-05 3.56032826e+01] [ 1.31370681e-02 -2.62548072e-04 9.99913671e-01 7.86538853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:270.67, Y:35.60, Z:7.87 [[ 9.99535049e-01 -2.78012226e-02 -1.25211024e-02 2.70674253e+02] [ 2.78022864e-02 9.99613438e-01 -8.91299641e-05 3.56022335e+01] [ 1.25187402e-02 -2.59026753e-04 9.99921604e-01 7.86542589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.194391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:270.70, Y:35.60, Z:7.87 [[ 9.99528193e-01 -2.82570259e-02 -1.20387613e-02 2.70704861e+02] [ 2.82580487e-02 9.99600658e-01 -8.51700149e-05 3.56010387e+01] [ 1.20363603e-02 -2.55062071e-04 9.99927528e-01 7.86545096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:270.74, Y:35.60, Z:7.86 [[ 9.99511280e-01 -2.89412742e-02 -1.18153751e-02 2.70735685e+02] [ 2.89423099e-02 9.99581080e-01 -8.33630083e-05 3.55989758e+01] [ 1.18128380e-02 -2.58641979e-04 9.99930193e-01 7.86491983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.254391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:270.77, Y:35.60, Z:7.87 [[ 9.99498984e-01 -2.91221881e-02 -1.23967126e-02 2.70766849e+02] [ 2.91233465e-02 9.99575822e-01 -8.71096949e-05 3.55978722e+01] [ 1.23939910e-02 -2.73967704e-04 9.99923154e-01 7.86511812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:270.80, Y:35.60, Z:7.87 [[ 9.99532187e-01 -2.67378497e-02 -1.48490797e-02 2.70796066e+02] [ 2.66205969e-02 9.99613287e-01 -8.03864580e-03 3.55996221e+01] [ 1.50582735e-02 7.63959385e-03 9.99857432e-01 7.86778256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.314391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:270.83, Y:35.59, Z:7.86 [[ 9.99490969e-01 -2.90381915e-02 -1.32130752e-02 2.70826637e+02] [ 2.91407060e-02 9.99546173e-01 7.63329450e-03 3.55911132e+01] [ 1.29854217e-02 -8.01444726e-03 9.99883567e-01 7.86252152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:270.86, Y:35.59, Z:7.86 [[ 9.99510759e-01 -2.84706156e-02 -1.29486494e-02 2.70857309e+02] [ 2.84717955e-02 9.99594592e-01 -9.32520979e-05 3.55940642e+01] [ 1.29460549e-02 -2.75464822e-04 9.99916158e-01 7.86449566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.374391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:270.89, Y:35.59, Z:7.86 [[ 9.99522217e-01 -2.81078021e-02 -1.28564625e-02 2.70887558e+02] [ 2.81089369e-02 9.99604862e-01 -9.24624907e-05 3.55938443e+01] [ 1.28539813e-02 -2.68963178e-04 9.99917348e-01 7.86477235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:270.92, Y:35.59, Z:7.86 [[ 9.99565996e-01 -2.67341985e-02 -1.23734229e-02 2.70918030e+02] [ 2.67351444e-02 9.99642548e-01 -8.89885147e-05 3.55929328e+01] [ 1.23713790e-02 -2.41855355e-04 9.99923442e-01 7.86485693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.434391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:270.95, Y:35.59, Z:7.87 [[ 9.99577113e-01 -2.62401681e-02 -1.25319484e-02 2.70949073e+02] [ 2.62411024e-02 9.99655639e-01 -8.99040010e-05 3.55922401e+01] [ 1.25299920e-02 -2.38986159e-04 9.99921468e-01 7.86506894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:270.98, Y:35.59, Z:7.86 [[ 9.99597234e-01 -2.56026031e-02 -1.22424376e-02 2.70979354e+02] [ 2.56034513e-02 9.99672174e-01 -8.74676497e-05 3.55914283e+01] [ 1.22406636e-02 -2.26016233e-04 9.99925055e-01 7.86473171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.494391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:271.01, Y:35.59, Z:7.86 [[ 9.99610794e-01 -2.52659642e-02 -1.18275745e-02 2.71011037e+02] [ 2.52667361e-02 9.99680742e-01 -8.41849703e-05 3.55905428e+01] [ 1.18259255e-02 -2.14691998e-04 9.99930048e-01 7.86443572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:271.04, Y:35.59, Z:7.86 [[ 9.99607092e-01 -2.54539300e-02 -1.17371178e-02 2.71042444e+02] [ 2.54547083e-02 9.99675973e-01 -8.30961785e-05 3.55887806e+01] [ 1.17354298e-02 -2.15701381e-04 9.99931114e-01 7.86449121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.554391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:271.07, Y:35.59, Z:7.86 [[ 9.99596769e-01 -2.60800013e-02 -1.12308622e-02 2.71073996e+02] [ 2.60807581e-02 9.99659836e-01 -7.90896989e-05 3.55879482e+01] [ 1.12291045e-02 -2.13851592e-04 9.99936929e-01 7.86455736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:271.10, Y:35.59, Z:7.86 [[ 9.99579454e-01 -2.66954756e-02 -1.13254585e-02 2.71104393e+02] [ 2.66962887e-02 9.99643587e-01 -7.93995454e-05 3.55869853e+01] [ 1.13235416e-02 -2.22981557e-04 9.99935862e-01 7.86473518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.614391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:271.14, Y:35.58, Z:7.86 [[ 9.99506690e-01 -2.94252927e-02 -1.09785759e-02 2.71136145e+02] [ 2.94262245e-02 9.99566952e-01 -7.66823547e-05 3.55849152e+01] [ 1.09760780e-02 -2.46413513e-04 9.99939731e-01 7.86478334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:271.17, Y:35.58, Z:7.86 [[ 9.99454074e-01 -3.12295418e-02 -1.07828252e-02 2.71167363e+02] [ 3.12305500e-02 9.99512205e-01 -7.49148389e-05 3.55838610e+01] [ 1.07799049e-02 -2.61879620e-04 9.99941861e-01 7.86490185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.674391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:271.20, Y:35.58, Z:7.86 [[ 9.99312077e-01 -3.56387475e-02 -1.02592457e-02 2.71198672e+02] [ 3.56398962e-02 9.99364695e-01 -7.08976314e-05 3.55809640e+01] [ 1.02552546e-02 -2.94789592e-04 9.99947370e-01 7.86481836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.704391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:271.23, Y:35.58, Z:7.86 [[ 9.99217619e-01 -3.82532946e-02 -1.00416611e-02 2.71230467e+02] [ 3.82545322e-02 9.99268025e-01 -6.88694179e-05 3.55797052e+01] [ 1.00369454e-02 -3.15323514e-04 9.99949579e-01 7.86482675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73439141800003 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:271.26, Y:35.58, Z:7.86 [[ 9.99125265e-01 -4.06498410e-02 -9.81298003e-03 2.71261970e+02] [ 4.06511455e-02 9.99173398e-01 -6.65741294e-05 3.55781594e+01] [ 9.80757483e-03 -3.32392984e-04 9.99951849e-01 7.86470622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.764391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:271.29, Y:35.58, Z:7.86 [[ 9.98919470e-01 -4.55519554e-02 -9.21473226e-03 2.71292736e+02] [ 4.55533203e-02 9.98961907e-01 -6.18107713e-05 3.55754247e+01] [ 9.20798211e-03 -3.58017668e-04 9.99957542e-01 7.86429351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.794391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:271.33, Y:35.58, Z:7.86 [[ 9.98923521e-01 -4.54630382e-02 -9.21473942e-03 2.71325427e+02] [ 4.54644094e-02 9.98965957e-01 -6.07260889e-05 3.55755493e+01] [ 9.20797178e-03 -3.58281967e-04 9.99957542e-01 7.86451303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:271.36, Y:35.57, Z:7.86 [[ 9.98824978e-01 -4.75145357e-02 -9.54108141e-03 2.71357924e+02] [ 4.75161072e-02 9.98870470e-01 -6.20368926e-05 3.55744665e+01] [ 9.53325213e-03 -3.91391049e-04 9.99954481e-01 7.86456424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.854391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:271.39, Y:35.57, Z:7.86 [[ 9.98736112e-01 -4.93274780e-02 -9.64258016e-03 2.71389703e+02] [ 4.93291749e-02 9.98782573e-01 -6.19256951e-05 3.55736387e+01] [ 9.63389566e-03 -4.13813095e-04 9.99953507e-01 7.86437354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:271.42, Y:35.57, Z:7.86 [[ 9.98576005e-01 -5.23797130e-02 -1.01156986e-02 2.71421801e+02] [ 5.23817455e-02 9.98627132e-01 -6.41049669e-05 3.55725279e+01] [ 1.01051689e-02 -4.65864268e-04 9.99948833e-01 7.86403812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.914391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:271.45, Y:35.57, Z:7.86 [[ 9.98514461e-01 -5.35300882e-02 -1.01686314e-02 2.71453431e+02] [ 5.35322117e-02 9.98566121e-01 -6.34353444e-05 3.55719805e+01] [ 1.01574465e-02 -4.81008219e-04 9.99948296e-01 7.86388039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:271.48, Y:35.57, Z:7.86 [[ 9.98453509e-01 -5.46635484e-02 -1.01236112e-02 2.71484168e+02] [ 5.46657221e-02 9.98504710e-01 -6.20764908e-05 3.55717602e+01] [ 1.01118668e-02 -4.91434025e-04 9.99948753e-01 7.86382563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.974391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:271.52, Y:35.57, Z:7.86 [[ 9.98407684e-01 -5.55052166e-02 -1.00631635e-02 2.71515218e+02] [ 5.55074132e-02 9.98458273e-01 -6.11019394e-05 3.55716929e+01] [ 1.00510404e-02 -4.97575531e-04 9.99949363e-01 7.86404649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:271.55, Y:35.57, Z:7.86 [[ 9.98261216e-01 -5.80791084e-02 -1.00678934e-02 2.71548496e+02] [ 5.81366121e-02 9.98293398e-01 5.51601334e-03 3.55707609e+01] [ 9.73034637e-03 -6.09173539e-03 9.99934103e-01 7.86468889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.034391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:271.58, Y:35.58, Z:7.87 [[ 9.98249145e-01 -5.81314142e-02 -1.09262386e-02 2.71579286e+02] [ 5.80274765e-02 9.98268821e-01 -9.60069819e-03 3.55778547e+01] [ 1.14654255e-02 8.94986671e-03 9.99894216e-01 7.86792255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:271.61, Y:35.57, Z:7.87 [[ 9.98107230e-01 -6.04628660e-02 -1.12338188e-02 2.71611942e+02] [ 6.04705625e-02 9.98169921e-01 3.46410748e-04 3.55747827e+01] [ 1.11923150e-02 -1.02507041e-03 9.99936839e-01 7.86563037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.094391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:271.64, Y:35.58, Z:7.87 [[ 9.98049520e-01 -6.13679218e-02 -1.14513595e-02 2.71643859e+02] [ 6.13755113e-02 9.98114697e-01 3.12175753e-04 3.55754818e+01] [ 1.14106126e-02 -1.01439990e-03 9.99934382e-01 7.86554000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:271.68, Y:35.57, Z:7.86 [[ 9.97987359e-01 -6.25030941e-02 -1.07048803e-02 2.71677254e+02] [ 6.25456154e-02 9.98035306e-01 3.68419444e-03 3.55746534e+01] [ 1.04535750e-02 -4.34632280e-03 9.99935914e-01 7.86459144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.154391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:271.71, Y:35.58, Z:7.86 [[ 9.97866766e-01 -6.43667437e-02 -1.09013825e-02 2.71709081e+02] [ 6.43699226e-02 9.97926104e-01 -5.93787602e-05 3.55780802e+01] [ 1.08825962e-02 -6.42469055e-04 9.99940576e-01 7.86463973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.184391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:271.74, Y:35.58, Z:7.86 [[ 9.97813737e-01 -6.51033442e-02 -1.13710519e-02 2.71742087e+02] [ 6.51068630e-02 9.97878296e-01 -6.08433002e-05 3.55793007e+01] [ 1.13508870e-02 -6.79623240e-04 9.99935346e-01 7.86455377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.214391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:271.77, Y:35.58, Z:7.86 [[ 9.97783272e-01 -6.55046921e-02 -1.17336370e-02 2.71774731e+02] [ 6.55084832e-02 9.97852011e-01 -6.13652353e-05 3.55808790e+01] [ 1.17124530e-02 -7.07423555e-04 9.99931157e-01 7.86497181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.244391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:271.81, Y:35.58, Z:7.86 [[ 9.97759430e-01 -6.58095709e-02 -1.20507646e-02 2.71807038e+02] [ 6.58136080e-02 9.97831932e-01 -6.16761030e-05 3.55822477e+01] [ 1.20286966e-02 -7.31566387e-04 9.99927385e-01 7.86485821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.274391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:271.84, Y:35.58, Z:7.86 [[ 9.97737426e-01 -6.60789005e-02 -1.23938880e-02 2.71840184e+02] [ 6.60832081e-02 9.97814114e-01 -6.20992916e-05 3.55845458e+01] [ 1.23708998e-02 -7.57069093e-04 9.99923191e-01 7.86460140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.304391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:271.87, Y:35.59, Z:7.86 [[ 9.97747478e-01 -6.59383125e-02 -1.23332450e-02 2.71872586e+02] [ 6.59425823e-02 9.97823417e-01 -6.05764872e-05 3.55858842e+01] [ 1.23103950e-02 -7.52845986e-04 9.99923941e-01 7.86468734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.334391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:271.90, Y:35.59, Z:7.87 [[ 9.97856804e-01 -6.44346789e-02 -1.14004383e-02 2.71903425e+02] [ 6.44382380e-02 9.97921696e-01 -5.52480776e-05 3.55890033e+01] [ 1.13803046e-02 -6.79494485e-04 9.99935011e-01 7.86511368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.364391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:271.94, Y:35.59, Z:7.87 [[ 9.97962930e-01 -6.29194595e-02 -1.05419525e-02 2.71936591e+02] [ 6.29224268e-02 9.98018420e-01 -5.02900179e-05 3.55909815e+01] [ 1.05242270e-02 -6.13137663e-04 9.99944431e-01 7.86551507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.394391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:271.97, Y:35.59, Z:7.87 [[ 9.98103442e-01 -6.07752377e-02 -9.79236122e-03 2.71968550e+02] [ 6.07777081e-02 9.98151325e-01 -4.53936113e-05 3.55930892e+01] [ 9.77701714e-03 -5.49849752e-04 9.99952053e-01 7.86591447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.424391418 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:272.00, Y:35.60, Z:7.87 [[ 9.98479743e-01 -5.45129346e-02 -8.15733089e-03 2.72000747e+02] [ 5.45144501e-02 9.98512981e-01 -3.66138009e-05 3.55982077e+01] [ 8.14719671e-03 -4.08134269e-04 9.99966728e-01 7.86637731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.454391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:272.03, Y:35.60, Z:7.87 [[ 9.98709891e-01 -5.02384895e-02 -7.39235865e-03 2.72033733e+02] [ 5.02396210e-02 9.98737192e-01 -3.26651205e-05 3.56009679e+01] [ 7.38466457e-03 -3.38766318e-04 9.99972676e-01 7.86645081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48439141800003 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:272.07, Y:35.61, Z:7.87 [[ 9.99162189e-01 -4.03212939e-02 -7.00806601e-03 2.72065076e+02] [ 4.03220725e-02 9.99186734e-01 -3.02140548e-05 3.56063698e+01] [ 7.00358486e-03 -2.52391005e-04 9.99975443e-01 7.86657768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.514391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:272.10, Y:35.61, Z:7.87 [[ 9.99362669e-01 -3.50900861e-02 -6.55299871e-03 2.72095941e+02] [ 3.50906595e-02 9.99384133e-01 -2.74840886e-05 3.56090609e+01] [ 6.54992735e-03 -2.02482474e-04 9.99978528e-01 7.86665545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:272.13, Y:35.61, Z:7.87 [[ 9.99524588e-01 -3.00973410e-02 -6.68944250e-03 2.72128573e+02] [ 3.00978321e-02 9.99546957e-01 -2.72604613e-05 3.56119006e+01] [ 6.68723236e-03 -1.74090216e-04 9.99977625e-01 7.86703924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.574391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:272.16, Y:35.61, Z:7.87 [[ 9.99656311e-01 -2.54012088e-02 -6.48371638e-03 2.72159375e+02] [ 2.54015746e-02 9.99677328e-01 -2.59267909e-05 3.56147362e+01] [ 6.48228284e-03 -1.38778725e-04 9.99978980e-01 7.86734432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:272.19, Y:35.62, Z:7.87 [[ 9.99811419e-01 -1.81399431e-02 -6.93322440e-03 2.72191380e+02] [ 1.81401899e-02 9.99835453e-01 -2.72990639e-05 3.56191226e+01] [ 6.93257876e-03 -9.84760914e-05 9.99975965e-01 7.86745144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.634391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:272.22, Y:35.62, Z:7.87 [[ 9.99851008e-01 -1.54323098e-02 -7.73334943e-03 2.72221903e+02] [ 1.54325410e-02 9.99880911e-01 -2.97745601e-05 3.56206653e+01] [ 7.73288796e-03 -8.95751085e-05 9.99970097e-01 7.86738695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:272.25, Y:35.62, Z:7.87 [[ 9.99889004e-01 -1.21270744e-02 -8.65526349e-03 2.72252249e+02] [ 1.21272450e-02 9.99926462e-01 -3.27741340e-05 3.56228344e+01] [ 8.65502445e-03 -7.21940051e-05 9.99962542e-01 7.86679842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.694391418 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:272.28, Y:35.62, Z:7.87 [[ 9.99894922e-01 -1.14135249e-02 -8.93732512e-03 2.72281740e+02] [ 1.14136788e-02 9.99934861e-01 -3.37822753e-05 3.56237751e+01] [ 8.93712853e-03 -6.82290329e-05 9.99960061e-01 7.86660459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:272.31, Y:35.62, Z:7.87 [[ 9.99894033e-01 -1.12435159e-02 -9.24691443e-03 2.72310415e+02] [ 1.12436695e-02 9.99936787e-01 -3.53684808e-05 3.56245858e+01] [ 9.24672757e-03 -6.86045171e-05 9.99957246e-01 7.86648458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.754391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:272.34, Y:35.63, Z:7.87 [[ 9.99889367e-01 -1.15675716e-02 -9.35124887e-03 2.72339789e+02] [ 1.15677382e-02 9.99933091e-01 -3.62739695e-05 3.56266172e+01] [ 9.35104279e-03 -7.19028425e-05 9.99956275e-01 7.86607943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784391418 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:272.37, Y:35.63, Z:7.87 [[ 9.99878340e-01 -1.23292045e-02 -9.55484068e-03 2.72369905e+02] [ 1.23294096e-02 9.99923989e-01 -3.74475554e-05 3.56278002e+01] [ 9.55457611e-03 -8.03625446e-05 9.99954351e-01 7.86640453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.814391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:272.40, Y:35.63, Z:7.87 [[ 9.99877265e-01 -1.28411971e-02 -8.97549563e-03 2.72398921e+02] [ 1.28413952e-02 9.99917545e-01 -3.55606381e-05 3.56282897e+01] [ 8.97521220e-03 -7.97016127e-05 9.99959719e-01 7.86637075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:272.43, Y:35.63, Z:7.87 [[ 9.99866146e-01 -1.44470044e-02 -7.67951969e-03 2.72428279e+02] [ 1.44471938e-02 9.99895633e-01 -3.08122512e-05 3.56282178e+01] [ 7.67916335e-03 -8.01393827e-05 9.99970512e-01 7.86585540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.874391418 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:272.46, Y:35.63, Z:7.87 [[ 9.99852265e-01 -1.54807811e-02 -7.46949866e-03 2.72458913e+02] [ 1.54809871e-02 9.99880162e-01 -3.02406182e-05 3.56282275e+01] [ 7.46907167e-03 -8.53990619e-05 9.99972102e-01 7.86563356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:272.49, Y:35.63, Z:7.87 [[ 9.99816194e-01 -1.77508527e-02 -7.24466135e-03 2.72489449e+02] [ 1.77511061e-02 9.99842436e-01 -2.93258768e-05 3.56283208e+01] [ 7.24404041e-03 -9.92802656e-05 9.99973757e-01 7.86506630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.934391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:272.52, Y:35.63, Z:7.87 [[ 9.99797683e-01 -1.86713257e-02 -7.48158674e-03 2.72520584e+02] [ 1.86716229e-02 9.99825670e-01 -3.01260494e-05 3.56282426e+01] [ 7.48084497e-03 -1.09573412e-04 9.99972012e-01 7.86540247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:272.55, Y:35.63, Z:7.87 [[ 9.99771265e-01 -1.99466546e-02 -7.71678166e-03 2.72552665e+02] [ 1.99470112e-02 9.99801038e-01 -3.07542506e-05 3.56282517e+01] [ 7.71585975e-03 -1.23179514e-04 9.99970225e-01 7.86558908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.994391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:272.58, Y:35.63, Z:7.87 [[ 9.99756223e-01 -2.08706523e-02 -7.20490784e-03 2.72584262e+02] [ 2.08709909e-02 9.99782177e-01 -2.81959598e-05 3.56278335e+01] [ 7.20392691e-03 -1.22184479e-04 9.99974044e-01 7.86538252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:272.62, Y:35.63, Z:7.86 [[ 9.99719952e-01 -2.26097397e-02 -6.98690103e-03 2.72616834e+02] [ 2.26101033e-02 9.99744359e-01 -2.69526927e-05 3.56266963e+01] [ 6.98572428e-03 -1.31029409e-04 9.99975591e-01 7.86483937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.054391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:272.65, Y:35.63, Z:7.86 [[ 9.99704031e-01 -2.32540331e-02 -7.14848090e-03 2.72648038e+02] [ 2.32544343e-02 9.99729579e-01 -2.69992311e-05 3.56262709e+01] [ 7.14717564e-03 -1.39242639e-04 9.99974449e-01 7.86488005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084391418 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:272.68, Y:35.63, Z:7.86 [[ 9.99709133e-01 -2.30149131e-02 -7.20858446e-03 2.72680439e+02] [ 2.30153180e-02 9.99735112e-01 -2.67929782e-05 3.56261414e+01] [ 7.20729163e-03 -1.39122678e-04 9.99974017e-01 7.86484678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.114391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:272.71, Y:35.63, Z:7.87 [[ 9.99729589e-01 -2.21023394e-02 -7.22740163e-03 2.72713061e+02] [ 2.21027268e-02 9.99755705e-01 -2.62753372e-05 3.56262188e+01] [ 7.22621675e-03 -1.33477052e-04 9.99973882e-01 7.86513478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:272.75, Y:35.63, Z:7.87 [[ 9.99759397e-01 -2.07195805e-02 -7.20046037e-03 2.72745512e+02] [ 2.07199334e-02 9.99785319e-01 -2.55974267e-05 3.56263748e+01] [ 7.19944494e-03 -1.23601791e-04 9.99974076e-01 7.86521897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.174391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:272.78, Y:35.63, Z:7.87 [[ 9.99800053e-01 -1.87079665e-02 -7.06159209e-03 2.72776543e+02] [ 1.87082597e-02 9.99824985e-01 -2.45379784e-05 3.56265662e+01] [ 7.06081526e-03 -1.07577026e-04 9.99975066e-01 7.86522048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.204391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:272.81, Y:35.63, Z:7.87 [[ 9.99844735e-01 -1.62849648e-02 -6.73089887e-03 2.72808036e+02] [ 1.62851789e-02 9.99867387e-01 -2.29936215e-05 3.56269234e+01] [ 6.73038072e-03 -8.66238412e-05 9.99977347e-01 7.86554739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23439141800003 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:272.84, Y:35.63, Z:7.87 [[ 9.99928181e-01 -1.00518833e-02 -6.52635886e-03 2.72839106e+02] [ 1.00519536e-02 9.99949478e-01 -2.20387989e-05 3.56270188e+01] [ 6.52625066e-03 -4.35654402e-05 9.99978703e-01 7.86603070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.264391418 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:272.87, Y:35.63, Z:7.87 [[ 9.99954170e-01 -6.91945813e-03 -6.61663966e-03 2.72868969e+02] [ 6.91946370e-03 9.99976060e-01 -2.20493823e-05 3.56269662e+01] [ 6.61663382e-03 -2.37352262e-05 9.99978110e-01 7.86590918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.294391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:272.90, Y:35.63, Z:7.87 [[ 9.99973032e-01 -1.83751635e-03 -7.11040826e-03 2.72898230e+02] [ 1.83739322e-03 9.99998312e-01 -2.38487847e-05 3.56264434e+01] [ 7.11044008e-03 1.07835256e-05 9.99974720e-01 7.86593459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:272.93, Y:35.63, Z:7.87 [[ 9.99969603e-01 -2.40291449e-04 -7.79324730e-03 2.72926135e+02] [ 2.40090692e-04 9.99999971e-01 -2.66959834e-05 3.56262005e+01] [ 7.79325349e-03 2.48240858e-05 9.99969632e-01 7.86612059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.354391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:272.95, Y:35.62, Z:7.87 [[ 9.99955745e-01 1.09525370e-03 -9.34385362e-03 2.72952748e+02] [-1.09562887e-03 9.99999399e-01 -3.50333921e-05 3.56249423e+01] [ 9.34380963e-03 4.52692375e-05 9.99956345e-01 7.86544883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:272.98, Y:35.62, Z:7.87 [[ 9.99948040e-01 7.10231977e-04 -1.01692222e-02 2.72980339e+02] [-7.10671062e-04 9.99999747e-01 -3.95643888e-05 3.56243868e+01] [ 1.01691915e-02 4.67893050e-05 9.99948291e-01 7.86541101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.414391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:273.01, Y:35.62, Z:7.87 [[ 9.99937906e-01 -3.14404671e-04 -1.11393525e-02 2.73008439e+02] [ 3.13925624e-04 9.99999950e-01 -4.47534560e-05 3.56236506e+01] [ 1.11393660e-02 4.12537489e-05 9.99937954e-01 7.86544813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:273.04, Y:35.62, Z:7.87 [[ 9.99935905e-01 -2.22176007e-03 -1.11018163e-02 2.73035882e+02] [ 2.22138623e-03 9.99997532e-01 -4.60053014e-05 3.56229656e+01] [ 1.11018911e-02 2.13409308e-05 9.99938372e-01 7.86522746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.474391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:273.06, Y:35.62, Z:7.87 [[ 9.99906111e-01 -6.87570898e-03 -1.18530060e-02 2.73063707e+02] [ 6.87559189e-03 9.99976362e-01 -5.06289369e-05 3.56208185e+01] [ 1.18530740e-02 -3.08722487e-05 9.99929749e-01 7.86593175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:273.09, Y:35.62, Z:7.87 [[ 9.99884441e-01 -9.65564271e-03 -1.17419215e-02 2.73091997e+02] [ 9.65569439e-03 9.99953381e-01 -5.22907051e-05 3.56197275e+01] [ 1.17418790e-02 -6.10917428e-05 9.99931060e-01 7.86649783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.534391418 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:273.12, Y:35.62, Z:7.87 [[ 9.99851551e-01 -1.29201262e-02 -1.13994345e-02 2.73120034e+02] [ 1.29203469e-02 9.99916527e-01 -5.42856010e-05 3.56187552e+01] [ 1.13991844e-02 -9.30071065e-05 9.99935023e-01 7.86666731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:273.15, Y:35.62, Z:7.87 [[ 9.99746656e-01 -1.93071649e-02 -1.15696678e-02 2.73147982e+02] [ 1.93077878e-02 9.99813586e-01 -5.78641420e-05 3.56165526e+01] [ 1.15686282e-02 -1.65535208e-04 9.99933067e-01 7.86712200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.594391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:273.18, Y:35.62, Z:7.87 [[ 9.99686559e-01 -2.23986850e-02 -1.11839994e-02 2.73177155e+02] [ 2.23994520e-02 9.99749099e-01 -5.66985288e-05 3.56157108e+01] [ 1.11824633e-02 -1.93834700e-04 9.99937456e-01 7.86717446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624391418 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:273.21, Y:35.61, Z:7.87 [[ 9.99625661e-01 -2.51549352e-02 -1.07595521e-02 2.73207798e+02] [ 2.51558039e-02 9.99683541e-01 -5.46098296e-05 3.56149507e+01] [ 1.07575209e-02 -2.16075797e-04 9.99942113e-01 7.86726295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.654391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:273.24, Y:35.61, Z:7.87 [[ 9.99464164e-01 -3.09960733e-02 -1.05180357e-02 2.73239277e+02] [ 3.09972295e-02 9.99519469e-01 -5.31113259e-05 3.56133850e+01] [ 1.05146277e-02 -2.72947101e-04 9.99944683e-01 7.86753272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.684391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:273.27, Y:35.61, Z:7.87 [[ 9.99373948e-01 -3.37559671e-02 -1.05946117e-02 2.73270010e+02] [ 3.37573034e-02 9.99430058e-01 -5.27202614e-05 3.56121407e+01] [ 1.05903530e-02 -3.04958266e-04 9.99943874e-01 7.86777144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.714391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:273.30, Y:35.61, Z:7.87 [[ 9.99377330e-01 -3.36556890e-02 -1.05946181e-02 2.73302708e+02] [ 3.36570337e-02 9.99433440e-01 -5.13999318e-05 3.56122201e+01] [ 1.05903456e-02 -3.05215493e-04 9.99943874e-01 7.86800059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.744391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:273.33, Y:35.61, Z:7.87 [[ 9.99141828e-01 -4.02725204e-02 -9.68155184e-03 2.73334599e+02] [ 4.02739618e-02 9.99188674e-01 -4.61122448e-05 3.56104656e+01] [ 9.67555400e-03 -3.43841776e-04 9.99953132e-01 7.86816651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.774391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:273.37, Y:35.61, Z:7.87 [[ 9.98998445e-01 -4.38161722e-02 -9.06912391e-03 2.73366345e+02] [ 4.38175891e-02 9.99039547e-01 -4.24999164e-05 3.56099919e+01] [ 9.06227563e-03 -3.54929795e-04 9.99958874e-01 7.86860642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.804391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:273.40, Y:35.61, Z:7.87 [[ 9.98852743e-01 -4.70916118e-02 -8.69358078e-03 2.73398610e+02] [ 4.70930435e-02 9.98890506e-01 -4.00597625e-05 3.56093652e+01] [ 8.68582178e-03 -3.69393374e-04 9.99962209e-01 7.86907294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.834391418 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:273.43, Y:35.61, Z:7.87 [[ 9.98675429e-01 -5.07334526e-02 -8.57351776e-03 2.73430164e+02] [ 5.07349846e-02 9.98712151e-01 -3.88514177e-05 3.56089556e+01] [ 8.56444743e-03 -3.96177335e-04 9.99963246e-01 7.86972291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.864391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:273.46, Y:35.59, Z:7.87 [[ 9.98044912e-01 -6.04180919e-02 -1.60002482e-02 2.73457728e+02] [ 6.10429600e-02 9.97252362e-01 4.19700199e-02 3.55931300e+01] [ 1.34205368e-02 -4.28646674e-02 9.98990745e-01 7.86974511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.894391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:273.49, Y:35.63, Z:7.88 [[ 9.98184241e-01 -5.96489410e-02 -8.38005686e-03 2.73494006e+02] [ 5.92381096e-02 9.97325059e-01 -4.28202464e-02 3.56282751e+01] [ 1.09118231e-02 4.22460764e-02 9.99047647e-01 7.88139298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.924391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:273.53, Y:35.61, Z:7.87 [[ 9.97998710e-01 -6.25373205e-02 -9.36260560e-03 2.73526529e+02] [ 6.25397036e-02 9.98042476e-01 -3.83112988e-05 3.56087005e+01] [ 9.34667396e-03 -5.47299952e-04 9.99956169e-01 7.87016499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.954391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:273.56, Y:35.61, Z:7.87 [[ 9.97969104e-01 -6.29930519e-02 -9.46266281e-03 2.73559249e+02] [ 6.29955151e-02 9.98013809e-01 -3.78231151e-05 3.56092680e+01] [ 9.44625075e-03 -5.58359018e-04 9.99955227e-01 7.87028671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98439141800003 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:273.59, Y:35.61, Z:7.87 [[ 9.97949157e-01 -6.32261004e-02 -9.99702118e-03 2.73592655e+02] [ 6.32288740e-02 9.97999052e-01 -3.86899935e-05 3.56108935e+01] [ 9.97946388e-03 -5.93489746e-04 9.99950028e-01 7.87051459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.014391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:273.62, Y:35.61, Z:7.87 [[ 9.97972772e-01 -6.27500464e-02 -1.06197248e-02 2.73624829e+02] [ 6.27531629e-02 9.98029077e-01 -3.98293331e-05 3.56120154e+01] [ 1.06012935e-02 -6.26672733e-04 9.99943608e-01 7.87066592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:273.66, Y:35.61, Z:7.87 [[ 9.98023150e-01 -6.18286409e-02 -1.12699023e-02 2.73657878e+02] [ 6.18321068e-02 9.98086564e-01 -4.09629072e-05 3.56132293e+01] [ 1.12508708e-02 -6.55959874e-04 9.99936492e-01 7.87077377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.074391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:273.69, Y:35.61, Z:7.87 [[ 9.98089631e-01 -6.06273032e-02 -1.18919624e-02 2.73689452e+02] [ 6.06310943e-02 9.98160242e-01 -4.18030965e-05 3.56146623e+01] [ 1.18726185e-02 -6.79299455e-04 9.99929287e-01 7.87062576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:273.72, Y:35.62, Z:7.87 [[ 9.98287934e-01 -5.71258647e-02 -1.25633067e-02 2.73722182e+02] [ 5.71298378e-02 9.98366756e-01 -4.27014781e-05 3.56175857e+01] [ 1.25452272e-02 -6.75111306e-04 9.99921078e-01 7.87132688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.134391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:273.75, Y:35.62, Z:7.87 [[ 9.98408785e-01 -5.49363085e-02 -1.27240222e-02 2.73754220e+02] [ 5.49402250e-02 9.98489644e-01 -4.18029763e-05 3.56197306e+01] [ 1.27071009e-02 -6.57324183e-04 9.99919045e-01 7.87192646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:273.79, Y:35.62, Z:7.87 [[ 9.98685870e-01 -4.98576095e-02 -1.18639082e-02 2.73786524e+02] [ 4.98606703e-02 9.98756183e-01 -3.78317264e-05 3.56238450e+01] [ 1.18510379e-02 -5.53760406e-04 9.99929621e-01 7.87302334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.194391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:273.82, Y:35.63, Z:7.87 [[ 9.98839734e-01 -4.68987300e-02 -1.09404869e-02 2.73819027e+02] [ 4.69011660e-02 9.98899534e-01 -3.39413371e-05 3.56258461e+01] [ 1.09300390e-02 -4.79219634e-04 9.99940151e-01 7.87315615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224391418 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:273.85, Y:35.63, Z:7.87 [[ 9.98976551e-01 -4.39743379e-02 -1.05880840e-02 2.73851549e+02] [ 4.39764643e-02 9.99032567e-01 -3.20142130e-05 3.56282649e+01] [ 1.05792485e-02 -4.33645048e-04 9.99943944e-01 7.87393892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.254391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:273.88, Y:35.63, Z:7.87 [[ 9.99262784e-01 -3.71782396e-02 -9.57431745e-03 2.73883638e+02] [ 3.71796737e-02 9.99308597e-01 -2.82209106e-05 3.56335558e+01] [ 9.56874694e-03 -3.27769893e-04 9.99954165e-01 7.87484085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:273.91, Y:35.64, Z:7.88 [[ 9.99389021e-01 -3.36553845e-02 -9.42865122e-03 2.73914328e+02] [ 3.36566254e-02 9.99433455e-01 -2.70792237e-05 3.56361748e+01] [ 9.42422082e-03 -2.90273903e-04 9.99955549e-01 7.87546226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.314391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:273.95, Y:35.64, Z:7.88 [[ 9.99512954e-01 -2.97736112e-02 -9.34805383e-03 2.73946031e+02] [ 2.97746672e-02 9.99556636e-01 -2.62177164e-05 3.56382482e+01] [ 9.34468984e-03 -2.52130245e-04 9.99956306e-01 7.87558595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:273.98, Y:35.64, Z:7.88 [[ 9.99610237e-01 -2.62259046e-02 -9.56958548e-03 2.73977271e+02] [ 2.62268579e-02 9.99656016e-01 -2.58809407e-05 3.56404706e+01] [ 9.56697245e-03 -2.25109306e-04 9.99954210e-01 7.87569434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.374391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:274.01, Y:35.64, Z:7.88 [[ 9.99751260e-01 -1.98711461e-02 -1.01269473e-02 2.74008920e+02] [ 1.98718994e-02 9.99802534e-01 -2.62505747e-05 3.56444394e+01] [ 1.01254692e-02 -1.74997632e-04 9.99948721e-01 7.87572066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404391418 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:274.04, Y:35.65, Z:7.88 [[ 9.99800897e-01 -1.70457040e-02 -1.03735124e-02 2.74040171e+02] [ 1.70463479e-02 9.99854700e-01 -2.63453801e-05 3.56461470e+01] [ 1.03724542e-02 -1.50490367e-04 9.99946193e-01 7.87540047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.434391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:274.07, Y:35.65, Z:7.88 [[ 9.99861205e-01 -1.25898462e-02 -1.09117582e-02 2.74070291e+02] [ 1.25902963e-02 9.99920739e-01 -2.74452166e-05 3.56489986e+01] [ 1.09112389e-02 -1.09940861e-04 9.99940465e-01 7.87544067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464391418 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:274.10, Y:35.65, Z:7.88 [[ 9.99881128e-01 -9.31883765e-03 -1.22837154e-02 2.74098648e+02] [ 9.26736610e-03 9.99948066e-01 -4.24050981e-03 3.56521130e+01] [ 1.23225941e-02 4.12616805e-03 9.99915561e-01 7.87665520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.494391418 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:274.13, Y:35.65, Z:7.87 [[ 9.99897317e-01 -8.94457933e-03 -1.11959560e-02 2.74128967e+02] [ 8.98966140e-03 9.99951660e-01 3.98280995e-03 3.56497865e+01] [ 1.11597902e-02 -4.08304883e-03 9.99929391e-01 7.87373340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524391418 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:274.16, Y:35.65, Z:7.88 [[ 9.99924113e-01 -5.48992737e-03 -1.10285419e-02 2.74157085e+02] [ 5.48993570e-03 9.99984930e-01 -2.95185475e-05 3.56546963e+01] [ 1.10285377e-02 -3.10296783e-05 9.99939183e-01 7.87500915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.554391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:274.18, Y:35.66, Z:7.88 [[ 9.99934461e-01 -4.13850779e-03 -1.06745497e-02 2.74184011e+02] [ 4.13842273e-03 9.99991436e-01 -3.00562768e-05 3.56559221e+01] [ 1.06745827e-02 -1.41214922e-05 9.99943025e-01 7.87539386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584391418 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:274.21, Y:35.66, Z:7.88 [[ 9.99946311e-01 -3.41048745e-03 -9.78486271e-03 2.74212202e+02] [ 3.41035909e-03 9.99994184e-01 -2.98038759e-05 3.56567770e+01] [ 9.78490745e-03 -3.56761969e-06 9.99952127e-01 7.87522682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.614391418 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:274.24, Y:35.66, Z:7.87 [[ 9.99961405e-01 -3.76293605e-03 -7.93902512e-03 2.74240408e+02] [ 3.76284624e-03 9.99992920e-01 -2.62492926e-05 3.56572013e+01] [ 7.93906768e-03 -3.62505128e-06 9.99968485e-01 7.87497090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:274.27, Y:35.66, Z:7.88 [[ 9.99960219e-01 -5.21226967e-03 -7.23829509e-03 2.74268666e+02] [ 5.21221895e-03 9.99986416e-01 -2.58714314e-05 3.56570621e+01] [ 7.23833161e-03 -1.18571766e-05 9.99973803e-01 7.87517655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.674391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:274.30, Y:35.66, Z:7.88 [[ 9.99947061e-01 -7.54759391e-03 -6.99345256e-03 2.74297188e+02] [ 7.54759915e-03 9.99971516e-01 -2.56427383e-05 3.56568375e+01] [ 6.99344690e-03 -2.71423958e-05 9.99975545e-01 7.87503121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.704391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:274.33, Y:35.66, Z:7.87 [[ 9.99869309e-01 -1.45148368e-02 -7.11935806e-03 2.74326952e+02] [ 1.45150151e-02 9.99894651e-01 -2.66264574e-05 3.56553308e+01] [ 7.11899452e-03 -7.67146120e-05 9.99974657e-01 7.87496312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73439141800003 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:274.36, Y:35.65, Z:7.87 [[ 9.99795261e-01 -1.91391225e-02 -6.56741958e-03 2.74357398e+02] [ 1.91393724e-02 9.99816825e-01 -2.48046329e-05 3.56543428e+01] [ 6.56669133e-03 -1.00896735e-04 9.99978434e-01 7.87446045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.764391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:274.39, Y:35.65, Z:7.87 [[ 9.99686071e-01 -2.41286524e-02 -6.75034202e-03 2.74389759e+02] [ 2.41290330e-02 9.99708852e-01 -2.50680644e-05 3.56530429e+01] [ 6.74898153e-03 -1.37819031e-04 9.99977216e-01 7.87460086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.794391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:274.42, Y:35.65, Z:7.87 [[ 9.99387060e-01 -3.43353202e-02 -6.82567627e-03 2.74422304e+02] [ 3.43359510e-02 9.99410347e-01 -2.47786379e-05 3.56500055e+01] [ 6.82250227e-03 -2.09602636e-04 9.99976704e-01 7.87392273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:274.46, Y:35.65, Z:7.87 [[ 9.99215431e-01 -3.89778839e-02 -7.01766177e-03 2.74455089e+02] [ 3.89786703e-02 9.99240043e-01 -2.47315301e-05 3.56484366e+01] [ 7.01329263e-03 -2.48826998e-04 9.99975376e-01 7.87387347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.854391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:274.49, Y:35.65, Z:7.87 [[ 9.98883196e-01 -4.67004796e-02 -7.17116361e-03 2.74487183e+02] [ 4.67015058e-02 9.98908889e-01 -2.43817457e-05 3.56459106e+01] [ 7.16447772e-03 -3.10549623e-04 9.99974287e-01 7.87318950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:274.52, Y:35.65, Z:7.87 [[ 9.98759869e-01 -4.92990797e-02 -6.95155786e-03 2.74520658e+02] [ 4.93001116e-02 9.98784010e-01 -2.29348095e-05 3.56450955e+01] [ 6.94423550e-03 -3.19806211e-04 9.99975837e-01 7.87299684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.914391418 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:274.55, Y:35.64, Z:7.87 [[ 9.98664328e-01 -5.11148201e-02 -7.53890211e-03 2.74553086e+02] [ 5.11160928e-02 9.98692718e-01 -2.38946857e-05 3.56448350e+01] [ 7.53026801e-03 -3.61496449e-04 9.99971582e-01 7.87331277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944391418 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:274.59, Y:35.64, Z:7.87 [[ 9.98598851e-01 -5.24046751e-02 -7.35422683e-03 2.74585771e+02] [ 5.24059266e-02 9.98625865e-01 -2.25576964e-05 3.56449166e+01] [ 7.34530326e-03 -3.62878982e-04 9.99972957e-01 7.87313015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.974391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:274.62, Y:35.65, Z:7.87 [[ 9.98550888e-01 -5.32890031e-02 -7.51041188e-03 2.74618144e+02] [ 5.32903402e-02 9.98579060e-01 -2.21136518e-05 3.56451926e+01] [ 7.50091845e-03 -3.78150797e-04 9.99971796e-01 7.87335427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:274.65, Y:35.65, Z:7.87 [[ 9.98566763e-01 -5.29873125e-02 -7.53421681e-03 2.74651474e+02] [ 5.29886555e-02 9.98595114e-01 -2.13947668e-05 3.56455307e+01] [ 7.52476574e-03 -3.77863916e-04 9.99971617e-01 7.87334202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.034391418 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:274.68, Y:35.65, Z:7.87 [[ 9.98576348e-01 -5.27898595e-02 -7.64907088e-03 2.74684481e+02] [ 5.27912450e-02 9.98605570e-01 -2.07934381e-05 3.56459915e+01] [ 7.63950247e-03 -3.83040140e-04 9.99970745e-01 7.87352381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064391418 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:274.72, Y:35.65, Z:7.87 [[ 9.98581196e-01 -5.27902416e-02 -6.98471247e-03 2.74717823e+02] [ 5.27914023e-02 9.98605562e-01 -1.82152643e-05 3.56464774e+01] [ 6.97593430e-03 -3.50543345e-04 9.99975606e-01 7.87329578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.094391418 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:274.75, Y:35.65, Z:7.87 [[ 9.98562046e-01 -5.32020640e-02 -6.58644642e-03 2.74750413e+02] [ 5.32031099e-02 9.98583711e-01 -1.64290716e-05 3.56469737e+01] [ 6.57799217e-03 -3.34013985e-04 9.99978309e-01 7.87311790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124391418 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:274.78, Y:35.65, Z:7.88 [[ 9.98513276e-01 -5.36568349e-02 -9.60114938e-03 2.74780291e+02] [ 5.35619799e-02 9.98515666e-01 -9.87821490e-03 3.56528095e+01] [ 1.01169318e-02 9.34927215e-03 9.99905115e-01 7.87723397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.154391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:274.81, Y:35.64, Z:7.87 [[ 9.98452628e-01 -5.51644927e-02 -7.01634808e-03 2.74812712e+02] [ 5.52326763e-02 9.98424166e-01 9.92655392e-03 3.56441899e+01] [ 6.45769817e-03 -1.02987255e-02 9.99926114e-01 7.87086332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.184391418 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:274.85, Y:35.65, Z:7.87 [[ 9.98389163e-01 -5.61884645e-02 -7.86988438e-03 2.74845648e+02] [ 5.61900650e-02 9.98420090e-01 -1.77693460e-05 3.56496374e+01] [ 7.85844911e-03 -4.24468592e-04 9.99969032e-01 7.87410035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.214391418 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:274.88, Y:35.65, Z:7.87 [[ 9.98271045e-01 -5.78990230e-02 -1.01303455e-02 2.74877573e+02] [ 5.79017766e-02 9.98322285e-01 -2.15079071e-05 3.56507530e+01] [ 1.01145950e-02 -5.65094282e-04 9.99948687e-01 7.87369496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.244391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:274.91, Y:35.65, Z:7.87 [[ 9.98221842e-01 -5.86016192e-02 -1.09089453e-02 2.74910743e+02] [ 5.86048674e-02 9.98281257e-01 -2.19521662e-05 3.56511733e+01] [ 1.08914821e-02 -6.17404161e-04 9.99940495e-01 7.87347139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.274391418 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:274.94, Y:35.65, Z:7.87 [[ 9.98170619e-01 -5.92348678e-02 -1.21097416e-02 2.74944072e+02] [ 5.92389353e-02 9.98243832e-01 -2.28528391e-05 3.56515113e+01] [ 1.20898286e-02 -6.94557167e-04 9.99926674e-01 7.87359891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.304391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:274.98, Y:35.65, Z:7.87 [[ 9.98137116e-01 -5.96903404e-02 -1.26238271e-02 2.74977168e+02] [ 5.96948167e-02 9.98216674e-01 -2.22477908e-05 3.56520687e+01] [ 1.26026427e-02 -7.31370698e-04 9.99920316e-01 7.87357466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.334391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:275.01, Y:35.65, Z:7.87 [[ 9.98075937e-01 -6.04462148e-02 -1.38086337e-02 2.75008930e+02] [ 6.04516655e-02 9.98171125e-01 -2.27130062e-05 3.56545474e+01] [ 1.37847524e-02 -8.12085601e-04 9.99904656e-01 7.87452436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.364391418 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:275.04, Y:35.66, Z:7.87 [[ 9.98093991e-01 -6.00767919e-02 -1.41125548e-02 2.75042042e+02] [ 6.00824710e-02 9.98193416e-01 -2.16062330e-05 3.56558909e+01] [ 1.40883573e-02 -8.26352112e-04 9.99900413e-01 7.87499774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.394391418 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:275.07, Y:35.66, Z:7.88 [[ 9.98221819e-01 -5.78496428e-02 -1.43742247e-02 2.75074528e+02] [ 5.78553272e-02 9.98324978e-01 -2.04067759e-05 3.56591336e+01] [ 1.43513281e-02 -8.11254985e-04 9.99896685e-01 7.87632074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.424391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:275.11, Y:35.66, Z:7.88 [[ 9.98317873e-01 -5.58058621e-02 -1.57203489e-02 2.75105265e+02] [ 5.56890407e-02 9.98417898e-01 -7.77379676e-03 3.56648595e+01] [ 1.61293012e-02 6.88526910e-03 9.99846208e-01 7.87987820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.454391418 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:275.14, Y:35.66, Z:7.88 [[ 9.98456737e-01 -5.39987616e-02 -1.29722263e-02 2.75138778e+02] [ 5.41004942e-02 9.98506394e-01 7.62352941e-03 3.56598369e+01] [ 1.25411898e-02 -8.31356815e-03 9.99886795e-01 7.87555325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48439141800003 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:275.17, Y:35.67, Z:7.88 [[ 9.98686633e-01 -4.99537535e-02 -1.13855874e-02 2.75171571e+02] [ 4.99568505e-02 9.98751377e-01 -1.24082637e-05 3.56680955e+01] [ 1.13719909e-02 -5.56396119e-04 9.99935182e-01 7.87939469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.514391418 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:275.21, Y:35.67, Z:7.88 [[ 9.98778184e-01 -4.82628648e-02 -1.06223880e-02 2.75205057e+02] [ 4.82654780e-02 9.98834543e-01 -1.03585297e-05 3.56701206e+01] [ 1.06105080e-02 -5.02348762e-04 9.99943581e-01 7.88026183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:275.24, Y:35.68, Z:7.89 [[ 9.98845615e-01 -4.62616053e-02 -1.29344949e-02 2.75235699e+02] [ 4.61153708e-02 9.98871247e-01 -1.13843999e-02 3.56775019e+01] [ 1.34465557e-02 1.07747789e-02 9.99851536e-01 7.88520390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.574391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:275.27, Y:35.67, Z:7.88 [[ 9.98899392e-01 -4.61234870e-02 -8.52219598e-03 2.75267924e+02] [ 4.62191900e-02 9.98866310e-01 1.13965367e-02 3.56701281e+01] [ 7.98688644e-03 -1.17778826e-02 9.99898740e-01 7.87751195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:275.30, Y:35.68, Z:7.88 [[ 9.98902244e-01 -4.60632706e-02 -8.51367719e-03 2.75301446e+02] [ 4.60648855e-02 9.98938450e-01 -6.41527933e-06 3.56755104e+01] [ 8.50493501e-03 -3.85773328e-04 9.99963758e-01 7.88147357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.634391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:275.33, Y:35.68, Z:7.88 [[ 9.98896999e-01 -4.62133138e-02 -8.31354235e-03 2.75334855e+02] [ 4.62148679e-02 9.98931522e-01 -5.18242401e-06 3.56766781e+01] [ 8.30489901e-03 -3.79032553e-04 9.99965442e-01 7.88158761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664391418 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:275.37, Y:35.68, Z:7.88 [[ 9.98878064e-01 -4.66417457e-02 -8.19522409e-03 2.75367031e+02] [ 4.66432781e-02 9.98911610e-01 -4.14502503e-06 3.56776563e+01] [ 8.18649782e-03 -3.78111742e-04 9.99966419e-01 7.88189469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.694391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:275.40, Y:35.68, Z:7.88 [[ 9.98775040e-01 -4.85970856e-02 -9.31356285e-03 2.75398947e+02] [ 4.85991593e-02 9.98818363e-01 -3.67241624e-06 3.56802562e+01] [ 9.30273606e-03 -4.48963407e-04 9.99956628e-01 7.88207611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:275.43, Y:35.68, Z:7.88 [[ 9.98713639e-01 -4.96495085e-02 -1.02952973e-02 2.75431625e+02] [ 4.96521103e-02 9.98766573e-01 -2.88239535e-06 3.56813462e+01] [ 1.02827419e-02 -5.08304549e-04 9.99947002e-01 7.88216544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.754391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:275.46, Y:35.68, Z:7.88 [[ 9.98665262e-01 -5.04917688e-02 -1.08754864e-02 2.75464288e+02] [ 5.04947365e-02 9.98724327e-01 -1.70255244e-06 3.56823519e+01] [ 1.08616988e-02 -5.47454540e-04 9.99940860e-01 7.88178738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784391418 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:275.50, Y:35.69, Z:7.89 [[ 9.98515351e-01 -5.20252623e-02 -1.61389649e-02 2.75496134e+02] [ 5.18837770e-02 9.98611985e-01 -9.06517846e-03 3.56890303e+01] [ 1.65881820e-02 8.21436939e-03 9.99828664e-01 7.88516014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.814391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:275.53, Y:35.68, Z:7.88 [[ 9.98503344e-01 -5.26888625e-02 -1.46613469e-02 2.75528900e+02] [ 5.28248171e-02 9.98562827e-01 9.04535386e-03 3.56811118e+01] [ 1.41636866e-02 -9.80629905e-03 9.99851602e-01 7.87847672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:275.56, Y:35.69, Z:7.88 [[ 9.98503371e-01 -5.24795635e-02 -1.53920018e-02 2.75560591e+02] [ 5.24858283e-02 9.98621669e-01 3.06552547e-06 3.56863802e+01] [ 1.53706256e-02 -8.10922900e-04 9.99881536e-01 7.88132711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.874391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:275.59, Y:35.69, Z:7.88 [[ 9.98639306e-01 -4.96758161e-02 -1.58697673e-02 2.75593164e+02] [ 4.96821507e-02 9.98765079e-01 4.91857645e-06 3.56890449e+01] [ 1.58499251e-02 -7.93356055e-04 9.99874067e-01 7.88185145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:275.63, Y:35.69, Z:7.88 [[ 9.98765354e-01 -4.71702479e-02 -1.55799586e-02 2.75625535e+02] [ 4.71760746e-02 9.98886589e-01 6.46638927e-06 3.56905857e+01] [ 1.55623067e-02 -7.41459696e-04 9.99878625e-01 7.88243384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.934391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:275.66, Y:35.69, Z:7.88 [[ 9.98917269e-01 -4.41561667e-02 -1.46465715e-02 2.75658062e+02] [ 4.41610107e-02 9.99024427e-01 7.30907856e-06 3.56923362e+01] [ 1.46319600e-02 -6.54108565e-04 9.99892733e-01 7.88333764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:275.69, Y:35.70, Z:7.88 [[ 9.99247292e-01 -3.65075761e-02 -1.31166761e-02 2.75690207e+02] [ 3.65108155e-02 9.99333258e-01 7.51420839e-06 3.56959832e+01] [ 1.31076564e-02 -4.86409095e-04 9.99913973e-01 7.88449094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.994391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:275.72, Y:35.70, Z:7.89 [[ 9.99404180e-01 -3.21331524e-02 -1.25993869e-02 2.75722267e+02] [ 3.21358063e-02 9.99483512e-01 8.18799290e-06 3.56980032e+01] [ 1.25926164e-02 -4.13074572e-04 9.99920625e-01 7.88526860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:275.75, Y:35.70, Z:7.89 [[ 9.99552622e-01 -2.74045122e-02 -1.19811698e-02 2.75753416e+02] [ 2.74065868e-02 9.99624369e-01 8.96712254e-06 3.56997833e+01] [ 1.19764236e-02 -3.37326081e-04 9.99928223e-01 7.88566135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.054391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:275.79, Y:35.70, Z:7.89 [[ 9.99753380e-01 -1.88945202e-02 -1.16694575e-02 2.75785776e+02] [ 1.88959232e-02 9.99821456e-01 9.96914798e-06 3.57031907e+01] [ 1.16671856e-02 -2.30471861e-04 9.99931910e-01 7.88669061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:275.82, Y:35.70, Z:7.89 [[ 9.99819376e-01 -1.52118658e-02 -1.13936485e-02 2.75816470e+02] [ 1.52129736e-02 9.99884276e-01 1.05652291e-05 3.57046793e+01] [ 1.13921693e-02 -1.83894595e-04 9.99935090e-01 7.88695191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.114391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:275.85, Y:35.71, Z:7.89 [[ 9.99885811e-01 -8.75819619e-03 -1.23150010e-02 2.75847459e+02] [ 8.75900690e-03 9.99961639e-01 1.18963437e-05 3.57068016e+01] [ 1.23144244e-02 -1.19762164e-04 9.99924167e-01 7.88698661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:275.88, Y:35.71, Z:7.89 [[ 9.99888847e-01 -6.30034388e-03 -1.35129475e-02 2.75875421e+02] [ 6.30108646e-03 9.99980148e-01 1.23785045e-05 3.57077888e+01] [ 1.35126012e-02 -9.75233790e-05 9.99908696e-01 7.88711435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.174391418 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:275.90, Y:35.71, Z:7.89 [[ 9.99885162e-01 -4.05212555e-03 -1.46028346e-02 2.75903659e+02] [ 4.05270598e-03 9.99991788e-01 1.01562071e-05 3.57087164e+01] [ 1.46026735e-02 -6.93360357e-05 9.99893373e-01 7.88738737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.204391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:275.93, Y:35.71, Z:7.89 [[ 9.99871317e-01 -1.78284321e-03 -1.59427210e-02 2.75931009e+02] [ 1.78318944e-03 9.99998410e-01 7.50201204e-06 3.57093886e+01] [ 1.59426823e-02 -3.59299385e-05 9.99872907e-01 7.88750134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23439141800003 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:275.96, Y:35.71, Z:7.89 [[ 9.99829644e-01 1.97625371e-03 -1.83515202e-02 2.75959151e+02] [-1.97651389e-03 9.99998047e-01 3.96015045e-06 3.57104617e+01] [ 1.83514922e-02 3.23125587e-05 9.99831597e-01 7.88713404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.264391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:275.99, Y:35.71, Z:7.89 [[ 9.99813422e-01 4.06990560e-03 -1.88827172e-02 2.75986773e+02] [-4.07066838e-03 9.99991715e-01 -1.95935188e-06 3.57108445e+01] [ 1.88825528e-02 7.88242661e-05 9.99821706e-01 7.88733249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.294391418 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:276.01, Y:35.71, Z:7.89 [[ 9.99771177e-01 9.03275721e-03 -1.93908057e-02 2.76013900e+02] [-9.03459085e-03 9.99959187e-01 -6.96027410e-06 3.57118371e+01] [ 1.93899514e-02 1.82146677e-04 9.99811981e-01 7.88840889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:276.04, Y:35.72, Z:7.89 [[ 9.99702909e-01 1.23920880e-02 -2.09888009e-02 2.76042258e+02] [-1.25447141e-02 9.99895707e-01 -7.15579980e-03 3.57155459e+01] [ 2.08979366e-02 7.41697239e-03 9.99754102e-01 7.89213478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.354391418 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:276.07, Y:35.71, Z:7.89 [[ 9.99727742e-01 1.43882439e-02 -1.83690002e-02 2.76071443e+02] [-1.42645620e-02 9.99874816e-01 6.84655276e-03 3.57095002e+01] [ 1.84652106e-02 -6.58266299e-03 9.99807834e-01 7.88752155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:276.10, Y:35.71, Z:7.89 [[ 9.99690615e-01 1.88735568e-02 -1.62007160e-02 2.76097956e+02] [-1.88763084e-02 9.99821826e-01 -1.69375465e-05 3.57128968e+01] [ 1.61975098e-02 3.22742018e-04 9.99868760e-01 7.89095214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.414391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:276.13, Y:35.71, Z:7.89 [[ 9.99678327e-01 2.02536847e-02 -1.52653475e-02 2.76125708e+02] [-2.02563172e-02 9.99794820e-01 -1.78362222e-05 3.57124103e+01] [ 1.52618541e-02 3.27050207e-04 9.99883478e-01 7.89105356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444391418 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:276.15, Y:35.71, Z:7.89 [[ 9.99647737e-01 2.10812483e-02 -1.61239995e-02 2.76153788e+02] [-2.11797856e-02 9.99757888e-01 -5.96504982e-03 3.57142833e+01] [ 1.59943450e-02 6.30445141e-03 9.99852206e-01 7.89361818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.474391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:276.18, Y:35.71, Z:7.89 [[ 9.99731886e-01 1.83961421e-02 -1.40619618e-02 2.76181404e+02] [-1.83154035e-02 9.99815150e-01 5.84901860e-03 3.57062595e+01] [ 1.41669618e-02 -5.58989989e-03 9.99884018e-01 7.88886703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:276.21, Y:35.71, Z:7.89 [[ 9.99768508e-01 1.58886796e-02 -1.45079453e-02 2.76209582e+02] [-1.58907063e-02 9.99873734e-01 -2.44214552e-05 3.57072840e+01] [ 1.45057255e-02 2.54957300e-04 9.99894754e-01 7.89104084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.534391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:276.24, Y:35.71, Z:7.89 [[ 9.99818428e-01 1.20029860e-02 -1.48000084e-02 2.76237296e+02] [-1.20046957e-02 9.99927941e-01 -2.66826913e-05 3.57056046e+01] [ 1.47986217e-02 2.04347444e-04 9.99890474e-01 7.89065030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:276.26, Y:35.70, Z:7.89 [[ 9.99870961e-01 1.75013827e-03 -1.59686634e-02 2.76264613e+02] [-1.75085568e-03 9.99998467e-01 -3.09454807e-05 3.57006412e+01] [ 1.59685848e-02 5.89003126e-05 9.99872492e-01 7.89007018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.594391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:276.29, Y:35.70, Z:7.89 [[ 9.99856640e-01 -4.23820644e-03 -1.63932254e-02 2.76292919e+02] [ 4.23822064e-03 9.99991018e-01 -3.38754957e-05 3.56977134e+01] [ 1.63932217e-02 -3.56074667e-05 9.99865621e-01 7.88970996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:276.32, Y:35.69, Z:7.89 [[ 9.99797614e-01 -1.05299746e-02 -1.71420977e-02 2.76321314e+02] [ 1.05308792e-02 9.99944548e-01 -3.74984089e-05 3.56946715e+01] [ 1.71415420e-02 -1.43030540e-04 9.99853063e-01 7.88952487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.654391418 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:276.35, Y:35.69, Z:7.89 [[ 9.99578665e-01 -2.28614669e-02 -1.78842373e-02 2.76349447e+02] [ 2.28643894e-02 9.99738575e-01 -4.10659210e-05 3.56887093e+01] [ 1.78805007e-02 -3.67863547e-04 9.99840063e-01 7.88875945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.684391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:276.38, Y:35.69, Z:7.89 [[ 9.99428155e-01 -2.84109967e-02 -1.83351424e-02 2.76379246e+02] [ 2.84149805e-02 9.99596212e-01 -4.32567533e-05 3.56859459e+01] [ 1.83289679e-02 -4.77760697e-04 9.99831896e-01 7.88866958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.714391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:276.41, Y:35.68, Z:7.89 [[ 9.99285059e-01 -3.30323195e-02 -1.83912307e-02 2.76409163e+02] [ 3.30371192e-02 9.99454124e-01 -4.28678341e-05 3.56831929e+01] [ 1.83826074e-02 -5.64756095e-04 9.99830866e-01 7.88885651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.744391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:276.44, Y:35.68, Z:7.89 [[ 9.99016798e-01 -4.05549589e-02 -1.79089840e-02 2.76440243e+02] [ 4.05607332e-02 9.99177074e-01 -4.08355339e-05 3.56785025e+01] [ 1.78959023e-02 -6.85606138e-04 9.99839620e-01 7.88914488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.774391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:276.47, Y:35.68, Z:7.89 [[ 9.98910884e-01 -4.34660720e-02 -1.69631088e-02 2.76471369e+02] [ 4.34716988e-02 9.99054658e-01 -3.70572145e-05 3.56766672e+01] [ 1.69486836e-02 -7.00398301e-04 9.99856115e-01 7.88949526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.804391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:276.50, Y:35.67, Z:7.89 [[ 9.98822240e-01 -4.59808677e-02 -1.54884474e-02 2.76503884e+02] [ 4.59858841e-02 9.98942089e-01 -3.22992235e-05 3.56749958e+01] [ 1.54735472e-02 -6.79988767e-04 9.99880046e-01 7.88990231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.834391418 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:276.54, Y:35.67, Z:7.89 [[ 9.98652729e-01 -5.01595891e-02 -1.32944375e-02 2.76536438e+02] [ 5.01636673e-02 9.98741010e-01 -2.67362140e-05 3.56725311e+01] [ 1.32790411e-02 -6.40197548e-04 9.99911625e-01 7.89105158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.864391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:276.57, Y:35.67, Z:7.89 [[ 9.98586531e-01 -5.17926392e-02 -1.19357469e-02 2.76569976e+02] [ 5.17960558e-02 9.98657683e-01 -2.29022083e-05 3.56711348e+01] [ 1.19209115e-02 -5.95354774e-04 9.99928766e-01 7.89140069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.894391418 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:276.60, Y:35.67, Z:7.89 [[ 9.98442450e-01 -5.47607412e-02 -1.06740098e-02 2.76602902e+02] [ 5.47636555e-02 9.98499345e-01 -1.92817688e-05 3.56682790e+01] [ 1.06590476e-02 -5.65296058e-04 9.99943031e-01 7.89102444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.924391418 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:276.64, Y:35.67, Z:7.89 [[ 9.98392247e-01 -5.56943716e-02 -1.05384046e-02 2.76635168e+02] [ 5.56972806e-02 9.98447702e-01 -1.74814443e-05 3.56670762e+01] [ 1.05230195e-02 -5.69507139e-04 9.99944469e-01 7.89097662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.954391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:276.67, Y:35.67, Z:7.89 [[ 9.98331362e-01 -5.67750189e-02 -1.05398717e-02 2.76668593e+02] [ 5.67780078e-02 9.98386828e-01 -1.56686901e-05 3.56662737e+01] [ 1.05237587e-02 -5.82790374e-04 9.99944454e-01 7.89112118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98439141800003 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:276.70, Y:35.66, Z:7.89 [[ 9.98198447e-01 -5.89036509e-02 -1.14114490e-02 2.76700141e+02] [ 5.89073088e-02 9.98263457e-01 -1.56043180e-05 3.56644265e+01] [ 1.13925517e-02 -6.56641546e-04 9.99934887e-01 7.89061509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.014391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:276.73, Y:35.66, Z:7.89 [[ 9.98124568e-01 -5.99426192e-02 -1.24189362e-02 2.76732566e+02] [ 5.99470478e-02 9.98201558e-01 -1.56819821e-05 3.56634501e+01] [ 1.23975415e-02 -7.28825988e-04 9.99922882e-01 7.89015946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:276.77, Y:35.66, Z:7.89 [[ 9.97981304e-01 -6.17143204e-02 -1.49886299e-02 2.76766118e+02] [ 6.17209973e-02 9.98093442e-01 -1.71495052e-05 3.56613546e+01] [ 1.49611116e-02 -9.07998303e-04 9.99887664e-01 7.88907766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.074391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:276.80, Y:35.66, Z:7.89 [[ 9.97924938e-01 -6.22614356e-02 -1.64113611e-02 2.76798794e+02] [ 6.22695472e-02 9.98059369e-01 -1.67590860e-05 3.56604866e+01] [ 1.63805561e-02 -1.00520371e-03 9.99865324e-01 7.88854339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:276.83, Y:35.66, Z:7.89 [[ 9.97892441e-01 -6.24578316e-02 -1.75981723e-02 2.76830375e+02] [ 6.24672402e-02 9.98047015e-01 -1.50934598e-05 3.56602008e+01] [ 1.75647461e-02 -1.08424761e-03 9.99845140e-01 7.88855453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.134391418 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:276.86, Y:35.66, Z:7.89 [[ 9.97902854e-01 -6.20973661e-02 -1.82704730e-02 2.76863432e+02] [ 6.21074957e-02 9.98069466e-01 -1.30100721e-05 3.56603989e+01] [ 1.82360092e-02 -1.12175054e-03 9.99833081e-01 7.88848261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:276.90, Y:35.66, Z:7.89 [[ 9.98064731e-01 -5.91720237e-02 -1.91171303e-02 2.76896388e+02] [ 5.91826243e-02 9.98247172e-01 -1.12648689e-05 3.56618834e+01] [ 1.90842878e-02 -1.12015887e-03 9.99817251e-01 7.88904809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.194391418 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:276.93, Y:35.66, Z:7.89 [[ 9.98213576e-01 -5.68084006e-02 -1.85057250e-02 2.76927928e+02] [ 5.68179660e-02 9.98384555e-01 -8.89729116e-06 3.56629218e+01] [ 1.84763355e-02 -1.04257626e-03 9.99828754e-01 7.88921405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:276.96, Y:35.67, Z:7.89 [[ 9.98657558e-01 -4.90128223e-02 -1.67578535e-02 2.76960486e+02] [ 4.90195949e-02 9.98797817e-01 -6.62212741e-06 3.56655447e+01] [ 1.67380321e-02 -8.14849953e-04 9.99859577e-01 7.89022523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.254391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:276.99, Y:35.67, Z:7.89 [[ 9.98904737e-01 -4.40922708e-02 -1.56587916e-02 2.76991673e+02] [ 4.40975970e-02 9.99027228e-01 -5.13970633e-06 3.56673195e+01] [ 1.56437858e-02 -6.85381004e-04 9.99877394e-01 7.89125968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:277.02, Y:35.67, Z:7.89 [[ 9.99154777e-01 -3.87338121e-02 -1.37630853e-02 2.77023665e+02] [ 3.87374317e-02 9.99249424e-01 -3.59662898e-06 3.56691347e+01] [ 1.37528944e-02 -5.29552988e-04 9.99905284e-01 7.89166469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.314391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:277.06, Y:35.67, Z:7.89 [[ 9.99371528e-01 -3.31478282e-02 -1.25606734e-02 2.77055048e+02] [ 3.31504129e-02 9.99450374e-01 -2.43244617e-06 3.56711064e+01] [ 1.25538503e-02 -4.13960591e-04 9.99921112e-01 7.89261130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:277.09, Y:35.67, Z:7.89 [[ 9.99714694e-01 -2.14443531e-02 -1.05199914e-02 2.77087717e+02] [ 2.14455251e-02 9.99770018e-01 -1.39565999e-06 3.56747173e+01] [ 1.05176019e-02 -2.24211478e-04 9.99944663e-01 7.89372412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.374391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:277.12, Y:35.68, Z:7.89 [[ 9.99819400e-01 -1.63271585e-02 -9.72582853e-03 2.77118920e+02] [ 1.63279243e-02 9.99866691e-01 -6.62383684e-07 3.56764895e+01] [ 9.72454280e-03 -1.58140328e-04 9.99952703e-01 7.89419635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:277.15, Y:35.68, Z:7.89 [[ 9.99888205e-01 -1.15847389e-02 -9.45368265e-03 2.77148888e+02] [ 1.15852536e-02 9.99932889e-01 -3.24266956e-07 3.56778050e+01] [ 9.45305195e-03 -1.09199080e-04 9.99955313e-01 7.89413085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.434391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:277.18, Y:35.68, Z:7.89 [[ 9.99936861e-01 -4.40686724e-03 -1.03369809e-02 2.77178534e+02] [ 4.40709990e-03 9.99990289e-01 -2.70658810e-07 3.56794409e+01] [ 1.03368817e-02 -4.52854658e-05 9.99946572e-01 7.89391937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:277.21, Y:35.68, Z:7.89 [[ 9.99934557e-01 -2.28565945e-03 -1.12096692e-02 2.77206425e+02] [ 2.28578271e-03 9.99997388e-01 -1.81599806e-06 3.56802644e+01] [ 1.12096441e-02 -2.38069888e-05 9.99937170e-01 7.89393157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.494391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:277.23, Y:35.68, Z:7.89 [[ 9.99917878e-01 -1.33866994e-04 -1.28148224e-02 2.77234631e+02] [ 1.33794717e-04 9.99999991e-01 -6.49741793e-06 3.56806844e+01] [ 1.28148232e-02 4.78232881e-06 9.99917887e-01 7.89303492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:277.26, Y:35.68, Z:7.89 [[ 9.99917831e-01 -3.35045907e-04 -1.28148200e-02 2.77263053e+02] [ 3.34946369e-04 9.99999944e-01 -9.91366738e-06 3.56808261e+01] [ 1.28148226e-02 5.62057537e-06 9.99917887e-01 7.89323088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.554391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:277.29, Y:35.68, Z:7.89 [[ 9.99912867e-01 -1.90016582e-04 -1.31993378e-02 2.77289579e+02] [ 1.89861255e-04 9.99999982e-01 -1.30208983e-05 3.56808659e+01] [ 1.31993401e-02 1.05137209e-05 9.99912885e-01 7.89289039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:277.32, Y:35.68, Z:7.89 [[ 9.99905452e-01 -5.53929612e-04 -1.37397259e-02 2.77317853e+02] [ 5.53763148e-04 9.99999847e-01 -1.59199839e-05 3.56809508e+01] [ 1.37397326e-02 8.30992483e-06 9.99905605e-01 7.89294535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.614391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:277.34, Y:35.68, Z:7.89 [[ 9.99909565e-01 -2.02894236e-03 -1.32945596e-02 2.77344502e+02] [ 2.02889508e-03 9.99997942e-01 -1.70439371e-05 3.56801316e+01] [ 1.32945668e-02 -9.93087079e-06 9.99911623e-01 7.89226285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.644391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:277.37, Y:35.68, Z:7.89 [[ 9.99908741e-01 -3.23098085e-03 -1.31175279e-02 2.77372433e+02] [ 3.23101690e-03 9.99994780e-01 -1.84441016e-05 3.56793669e+01] [ 1.31175190e-02 -2.39405359e-05 9.99913961e-01 7.89238111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.674391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:277.40, Y:35.68, Z:7.89 [[ 9.99910780e-01 -4.92697009e-03 -1.24159602e-02 2.77400092e+02] [ 4.92711563e-03 9.99987862e-01 -1.88665644e-05 3.56785450e+01] [ 1.24159025e-02 -4.23099905e-05 9.99922919e-01 7.89235926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.704391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:277.43, Y:35.68, Z:7.89 [[ 9.99895888e-01 -8.83747736e-03 -1.14066813e-02 2.77428649e+02] [ 8.83784185e-03 9.99960945e-01 -1.84531179e-05 3.56763181e+01] [ 1.14063989e-02 -8.23592489e-05 9.99934942e-01 7.89238801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73439141800003 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:277.46, Y:35.68, Z:7.89 [[ 9.99878479e-01 -1.11761564e-02 -1.08683599e-02 2.77456594e+02] [ 1.11766155e-02 9.99937540e-01 -1.85014966e-05 3.56755329e+01] [ 1.08678878e-02 -1.02972231e-04 9.99940937e-01 7.89263006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.764391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:277.48, Y:35.67, Z:7.89 [[ 9.99853646e-01 -1.35247812e-02 -1.04769683e-02 2.77484868e+02] [ 1.35253276e-02 9.99908528e-01 -1.87027561e-05 3.56745741e+01] [ 1.04762629e-02 -1.23004410e-04 9.99945115e-01 7.89296229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.794391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:277.51, Y:35.67, Z:7.89 [[ 9.99780941e-01 -1.89102116e-02 -8.97071934e-03 2.77514088e+02] [ 1.89108251e-02 9.99821174e-01 -1.64422166e-05 3.56715624e+01] [ 8.96942607e-03 -1.53205089e-04 9.99959762e-01 7.89270544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.824391418 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:277.55, Y:35.67, Z:7.89 [[ 9.99736064e-01 -2.15295855e-02 -8.01745629e-03 2.77545944e+02] [ 2.15301585e-02 9.99768199e-01 -1.48458376e-05 3.56694667e+01] [ 8.01591746e-03 -1.57775185e-04 9.99967860e-01 7.89234421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.854391418 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:277.58, Y:35.67, Z:7.89 [[ 9.99609094e-01 -2.68315322e-02 -7.85672490e-03 2.77577617e+02] [ 2.68322514e-02 9.99639950e-01 -1.38683712e-05 3.56652797e+01] [ 7.85426820e-03 -1.96950668e-04 9.99969135e-01 7.89218629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:277.61, Y:35.66, Z:7.89 [[ 9.99537563e-01 -2.94285984e-02 -7.65616933e-03 2.77609703e+02] [ 2.94293647e-02 9.99566862e-01 -1.25744179e-05 3.56632847e+01] [ 7.65322320e-03 -2.12747597e-04 9.99970691e-01 7.89199395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.914391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:277.64, Y:35.66, Z:7.89 [[ 9.99465918e-01 -3.17190964e-02 -7.85990917e-03 2.77641342e+02] [ 3.17199797e-02 9.99496795e-01 -1.22824533e-05 3.56613538e+01] [ 7.85634361e-03 -2.37040266e-04 9.99969110e-01 7.89208706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:277.67, Y:35.66, Z:7.89 [[ 9.99344983e-01 -3.53553606e-02 -7.72031973e-03 2.77672657e+02] [ 3.53563247e-02 9.99374770e-01 -1.16104047e-05 3.56577296e+01] [ 7.71590324e-03 -2.61359331e-04 9.99970198e-01 7.89149544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.974391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:277.71, Y:35.66, Z:7.89 [[ 9.99293919e-01 -3.67574175e-02 -7.78170762e-03 2.77705331e+02] [ 3.67584431e-02 9.99324180e-01 -1.12276597e-05 3.56560446e+01] [ 7.77686128e-03 -2.74823725e-04 9.99969722e-01 7.89116078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:277.74, Y:35.65, Z:7.89 [[ 9.99242543e-01 -3.82193780e-02 -7.32246833e-03 2.77737166e+02] [ 3.82203293e-02 9.99269336e-01 -1.00314221e-05 3.56523999e+01] [ 7.31750146e-03 -2.69843327e-04 9.99973190e-01 7.89028752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.034391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:277.77, Y:35.65, Z:7.89 [[ 9.99246442e-01 -3.81127460e-02 -7.34624898e-03 2.77769784e+02] [ 3.81137048e-02 9.99273409e-01 -9.49651526e-06 3.56509904e+01] [ 7.34127320e-03 -2.70503406e-04 9.99973016e-01 7.89035082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064391418 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:277.80, Y:35.65, Z:7.89 [[ 9.99269496e-01 -3.74505848e-02 -7.61106575e-03 2.77801926e+02] [ 3.74515993e-02 9.99298443e-01 -9.23162479e-06 3.56498741e+01] [ 7.60607188e-03 -2.75821704e-04 9.99971035e-01 7.89015388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.094391418 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:277.83, Y:35.65, Z:7.89 [[ 9.99361985e-01 -3.48534016e-02 -7.80144379e-03 2.77832704e+02] [ 3.48543937e-02 9.99392401e-01 -8.79545486e-06 3.56488222e+01] [ 7.79701019e-03 -2.63124750e-04 9.99969568e-01 7.88999763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:277.86, Y:35.65, Z:7.89 [[ 9.99433210e-01 -3.27243397e-02 -7.89784684e-03 2.77864506e+02] [ 3.27252977e-02 9.99464384e-01 -7.92905014e-06 3.56487520e+01] [ 7.89387610e-03 -2.50534833e-04 9.99968811e-01 7.89023311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.154391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:277.90, Y:35.65, Z:7.89 [[ 9.99589789e-01 -2.76175157e-02 -7.58459750e-03 2.77895991e+02] [ 2.76182565e-02 9.99618543e-01 -7.07227433e-06 3.56485040e+01] [ 7.58189962e-03 -2.02403986e-04 9.99971237e-01 7.88981075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.184391418 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:277.93, Y:35.65, Z:7.89 [[ 9.99662646e-01 -2.47913510e-02 -7.74488986e-03 2.77928125e+02] [ 2.47920423e-02 9.99692630e-01 -6.75330531e-06 3.56479252e+01] [ 7.74267674e-03 -1.85260610e-04 9.99970008e-01 7.88946684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.214391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:277.96, Y:35.65, Z:7.89 [[ 9.99720947e-01 -2.22430642e-02 -7.95457239e-03 2.77959027e+02] [ 2.22437178e-02 9.99752578e-01 -6.29477032e-06 3.56474704e+01] [ 7.95274427e-03 -1.70646250e-04 9.99968362e-01 7.88901320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.244391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:277.99, Y:35.65, Z:7.89 [[ 9.99802455e-01 -1.77071164e-02 -9.02824788e-03 2.77990333e+02] [ 1.77077789e-02 9.99843205e-01 -6.55252891e-06 3.56471335e+01] [ 9.02694832e-03 -1.53318983e-04 9.99959245e-01 7.88935488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.274391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:278.02, Y:35.65, Z:7.89 [[ 9.99832072e-01 -1.59909863e-02 -8.95075089e-03 2.78022129e+02] [ 1.59915729e-02 9.99872127e-01 -6.03843630e-06 3.56469758e+01] [ 8.94970288e-03 -1.37099163e-04 9.99959941e-01 7.88954056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.304391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:278.05, Y:35.65, Z:7.89 [[ 9.99847807e-01 -1.48147414e-02 -9.21338688e-03 2.78052676e+02] [ 1.48153156e-02 9.99890247e-01 -5.92869571e-06 3.56470152e+01] [ 9.21246351e-03 -1.30571441e-04 9.99957556e-01 7.88990175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.334391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:278.08, Y:35.65, Z:7.89 [[ 9.99858749e-01 -1.40008126e-02 -9.29836253e-03 2.78082609e+02] [ 1.40013618e-02 9.99901976e-01 -6.03238239e-06 3.56469716e+01] [ 9.29753553e-03 -1.24158207e-04 9.99956769e-01 7.89038262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.364391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:278.11, Y:35.65, Z:7.89 [[ 9.99851760e-01 -1.38755472e-02 -1.01944366e-02 2.78111851e+02] [ 1.38761994e-02 9.99903721e-01 -6.75632704e-06 3.56460276e+01] [ 1.01935489e-02 -1.34704709e-04 9.99948035e-01 7.89061007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.394391418 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:278.14, Y:35.65, Z:7.89 [[ 9.99835368e-01 -1.44705464e-02 -1.09471657e-02 2.78141391e+02] [ 1.44713326e-02 9.99895285e-01 -7.40050313e-06 3.56450694e+01] [ 1.09461264e-02 -1.51020791e-04 9.99940078e-01 7.89107668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.424391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:278.17, Y:35.64, Z:7.89 [[ 9.99821817e-01 -1.52167935e-02 -1.11706841e-02 2.78170787e+02] [ 1.52176535e-02 9.99884205e-01 -8.01042225e-06 3.56441239e+01] [ 1.11695125e-02 -1.61982606e-04 9.99937606e-01 7.89095747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.454391418 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:278.20, Y:35.64, Z:7.89 [[ 9.99768112e-01 -1.81135459e-02 -1.16457087e-02 2.78199029e+02] [ 1.81146695e-02 9.99835916e-01 -9.00381274e-06 3.56429529e+01] [ 1.16439609e-02 -2.01956439e-04 9.99932186e-01 7.89084958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48439141800003 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:278.23, Y:35.64, Z:7.89 [[ 9.99728215e-01 -1.98966378e-02 -1.21499305e-02 2.78228376e+02] [ 1.98979832e-02 9.99802015e-01 -1.01496289e-05 3.56424021e+01] [ 1.21477270e-02 -2.31612244e-04 9.99926187e-01 7.89120740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.514391418 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:278.26, Y:35.64, Z:7.89 [[ 9.99645327e-01 -2.36756056e-02 -1.21936894e-02 2.78258744e+02] [ 2.36772384e-02 9.99719655e-01 -1.04617669e-05 3.56409605e+01] [ 1.21905186e-02 -2.78254834e-04 9.99925654e-01 7.89216683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544391418 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:278.29, Y:35.64, Z:7.89 [[ 9.99589142e-01 -2.59210474e-02 -1.22329733e-02 2.78290388e+02] [ 2.59228613e-02 9.99663946e-01 -1.02840675e-05 3.56401632e+01] [ 1.22291290e-02 -3.06833830e-04 9.99925174e-01 7.89267463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.574391418 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:278.32, Y:35.64, Z:7.89 [[ 9.99517178e-01 -2.86590607e-02 -1.20028962e-02 2.78321591e+02] [ 2.86610099e-02 9.99589189e-01 -9.61915835e-06 3.56395796e+01] [ 1.19982409e-02 -3.34400612e-04 9.99927963e-01 7.89290877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:278.35, Y:35.64, Z:7.89 [[ 9.99301969e-01 -3.51171728e-02 -1.27420395e-02 2.78352563e+02] [ 3.51199021e-02 9.99383106e-01 -9.56792591e-06 3.56384013e+01] [ 1.27345150e-02 -4.37937931e-04 9.99918817e-01 7.89389286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.634391418 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:278.38, Y:35.64, Z:7.89 [[ 9.99177525e-01 -3.86029452e-02 -1.24131415e-02 2.78384925e+02] [ 3.86058143e-02 9.99254518e-01 -8.48587050e-06 3.56377324e+01] [ 1.24042153e-02 -4.70740545e-04 9.99922954e-01 7.89446655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664391418 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:278.42, Y:35.64, Z:7.90 [[ 9.99031804e-01 -4.21987419e-02 -1.24387116e-02 2.78416293e+02] [ 4.22019168e-02 9.99109102e-01 -7.23566306e-06 3.56373197e+01] [ 1.24279353e-02 -5.17708816e-04 9.99922636e-01 7.89523535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.694391418 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:278.45, Y:35.64, Z:7.90 [[ 9.98750142e-01 -4.85026758e-02 -1.20682792e-02 2.78448873e+02] [ 4.85061389e-02 9.98822884e-01 -5.74886825e-06 3.56370877e+01] [ 1.20543523e-02 -5.79643945e-04 9.99927176e-01 7.89676523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:278.48, Y:35.64, Z:7.90 [[ 9.98607665e-01 -5.14418431e-02 -1.16819709e-02 2.78480989e+02] [ 5.14452989e-02 9.98675814e-01 -4.68054834e-06 3.56368022e+01] [ 1.16667426e-02 -5.96308456e-04 9.99931763e-01 7.89683212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.754391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:278.51, Y:35.64, Z:7.90 [[ 9.98486122e-01 -5.38407701e-02 -1.12532723e-02 2.78512882e+02] [ 5.38441384e-02 9.98549352e-01 -3.65944214e-06 3.56362229e+01] [ 1.12371448e-02 -6.02268852e-04 9.99936680e-01 7.89722709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:278.55, Y:35.64, Z:7.90 [[ 9.98269628e-01 -5.77311299e-02 -1.11744093e-02 2.78545556e+02] [ 5.77347056e-02 9.98331961e-01 -2.60344931e-06 3.56351776e+01] [ 1.11559202e-02 -6.42552285e-04 9.99937564e-01 7.89750746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.814391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:278.58, Y:35.63, Z:7.90 [[ 9.98174260e-01 -5.93304626e-02 -1.13156321e-02 2.78577286e+02] [ 5.93342504e-02 9.98238171e-01 -9.74412497e-07 3.56348478e+01] [ 1.12957537e-02 -6.70431917e-04 9.99935976e-01 7.89760637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:278.61, Y:35.63, Z:7.90 [[ 9.97963299e-01 -6.24684544e-02 -1.29207623e-02 2.78610282e+02] [ 6.24736840e-02 9.98046612e-01 1.12428735e-06 3.56343041e+01] [ 1.28954528e-02 -8.08329618e-04 9.99916523e-01 7.89755727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.874391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:278.64, Y:35.63, Z:7.90 [[ 9.97871696e-01 -6.38336847e-02 -1.33168597e-02 2.78641996e+02] [ 6.38393812e-02 9.97960186e-01 2.68137047e-06 3.56342056e+01] [ 1.32895246e-02 -8.52815743e-04 9.99911327e-01 7.89701351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:278.68, Y:35.63, Z:7.90 [[ 9.97801456e-01 -6.46992058e-02 -1.43620273e-02 2.78675133e+02] [ 6.47059448e-02 9.97904375e-01 4.55936221e-06 3.56338667e+01] [ 1.43316349e-02 -9.33857888e-04 9.99896861e-01 7.89730042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.934391418 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:278.71, Y:35.63, Z:7.90 [[ 9.97738239e-01 -6.55222425e-02 -1.50080758e-02 2.78706910e+02] [ 6.55297198e-02 9.97850618e-01 6.46424361e-06 3.56337617e+01] [ 1.49753941e-02 -9.89924623e-04 9.99887372e-01 7.89730456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:278.74, Y:35.63, Z:7.90 [[ 9.97676571e-01 -6.62297207e-02 -1.59713188e-02 2.78739196e+02] [ 6.62383052e-02 9.97803832e-01 8.52594408e-06 3.56341115e+01] [ 1.59356784e-02 -1.06641922e-03 9.99872450e-01 7.89720646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.994391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:278.77, Y:35.63, Z:7.90 [[ 9.97706042e-01 -6.58291200e-02 -1.57854352e-02 2.78772736e+02] [ 6.58374834e-02 9.97830359e-01 1.01715293e-05 3.56345838e+01] [ 1.57505169e-02 -1.04942152e-03 9.99875402e-01 7.89747057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:278.80, Y:35.64, Z:7.90 [[ 9.97824338e-01 -6.40995262e-02 -1.54220717e-02 2.78804828e+02] [ 6.41073286e-02 9.97943010e-01 1.15874175e-05 3.56367787e+01] [ 1.53896059e-02 -1.00023002e-03 9.99881073e-01 7.89833560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.054391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:278.84, Y:35.64, Z:7.90 [[ 9.97929911e-01 -6.25726937e-02 -1.48509272e-02 2.78837427e+02] [ 6.25797843e-02 9.98039964e-01 1.27712026e-05 3.56379116e+01] [ 1.48210197e-02 -9.42112588e-04 9.99889719e-01 7.89864528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:278.87, Y:35.64, Z:7.90 [[ 9.98045109e-01 -6.07019266e-02 -1.48739940e-02 2.78870566e+02] [ 6.07088590e-02 9.98155516e-01 1.45865054e-05 3.56392476e+01] [ 1.48456738e-02 -9.17541198e-04 9.99889376e-01 7.89950217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.114391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:278.90, Y:35.64, Z:7.90 [[ 9.98317989e-01 -5.60736324e-02 -1.47289157e-02 2.78903246e+02] [ 5.60799542e-02 9.98426281e-01 1.62125652e-05 3.56422672e+01] [ 1.47048274e-02 -8.42182214e-04 9.99891524e-01 7.90008671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.144391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:278.93, Y:35.64, Z:7.90 [[ 9.98456750e-01 -5.34685732e-02 -1.50076500e-02 2.78934950e+02] [ 5.34748790e-02 9.98569195e-01 1.89103673e-05 3.56437347e+01] [ 1.49851659e-02 -8.21413450e-04 9.99887379e-01 7.90025732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.174391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:278.97, Y:35.65, Z:7.90 [[ 9.98580746e-01 -5.10612195e-02 -1.51408344e-02 2.78967319e+02] [ 5.10673916e-02 9.98695209e-01 2.10510083e-05 3.56451050e+01] [ 1.51200038e-02 -7.94224049e-04 9.99885371e-01 7.90052462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.204391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:279.00, Y:35.65, Z:7.90 [[ 9.98741045e-01 -4.76210608e-02 -1.57657894e-02 2.78999901e+02] [ 4.76273454e-02 9.98865174e-01 2.31825369e-05 3.56480304e+01] [ 1.57467940e-02 -7.74036048e-04 9.99875712e-01 7.90055521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.234391418 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:279.03, Y:35.65, Z:7.90 [[ 9.98798767e-01 -4.62065458e-02 -1.63088252e-02 2.79032551e+02] [ 4.62131039e-02 9.98931603e-01 2.52793465e-05 3.56491036e+01] [ 1.62902329e-02 -7.78930415e-04 9.99867002e-01 7.90090270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.264391418 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:279.06, Y:35.65, Z:7.90 [[ 9.98834733e-01 -4.52232317e-02 -1.68533527e-02 2.79064322e+02] [ 4.52301180e-02 9.98976594e-01 2.74609706e-05 3.56500622e+01] [ 1.68348630e-02 -7.89708101e-04 9.99857972e-01 7.90106518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.294391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:279.10, Y:35.65, Z:7.90 [[ 9.98869726e-01 -4.40897909e-02 -1.77583928e-02 2.79096168e+02] [ 4.40972830e-02 9.99027241e-01 3.03456579e-05 3.56517335e+01] [ 1.77397803e-02 -8.13408234e-04 9.99842307e-01 7.90146594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.324391418 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:279.13, Y:35.65, Z:7.90 [[ 9.98887391e-01 -4.36017340e-02 -1.79685383e-02 2.79127030e+02] [ 4.36093469e-02 9.99048659e-01 3.18843781e-05 3.56526395e+01] [ 1.79500539e-02 -8.15445126e-04 9.99838552e-01 7.90183520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.354391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:279.16, Y:35.65, Z:7.90 [[ 9.98954720e-01 -4.20948824e-02 -1.78182009e-02 2.79159697e+02] [ 4.21021510e-02 9.99113311e-01 3.28426499e-05 3.56549473e+01] [ 1.78010192e-02 -7.82992905e-04 9.99841243e-01 7.90297189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:279.19, Y:35.66, Z:7.91 [[ 9.99001003e-01 -4.00901602e-02 -1.97427442e-02 2.79189796e+02] [ 3.99763425e-02 9.99181844e-01 -6.12650236e-03 3.56586075e+01] [ 1.99722040e-02 5.33113929e-03 9.99786322e-01 7.90574759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.414391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:279.22, Y:35.66, Z:7.90 [[ 9.99005673e-01 -3.99249450e-02 -1.98409802e-02 2.79221730e+02] [ 3.99314777e-02 9.99202418e-01 -6.69736417e-05 3.56555190e+01] [ 1.98278293e-02 -7.25372611e-04 9.99803146e-01 7.90415605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:279.25, Y:35.65, Z:7.90 [[ 9.99053562e-01 -3.95558490e-02 -1.80918376e-02 2.79253158e+02] [ 3.96710973e-02 9.99194439e-01 6.05614072e-03 3.56534796e+01] [ 1.78377077e-02 -6.76813201e-03 9.99817988e-01 7.90242301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.474391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:279.29, Y:35.66, Z:7.90 [[ 9.99119626e-01 -3.79496146e-02 -1.78829721e-02 2.79285285e+02] [ 3.79563318e-02 9.99279398e-01 3.62358235e-05 3.56573724e+01] [ 1.78687105e-02 -7.14975946e-04 9.99840086e-01 7.90480251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504391418 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:279.31, Y:35.66, Z:7.91 [[ 9.99297159e-01 -3.21078690e-02 -1.93461072e-02 2.79313996e+02] [ 3.19734456e-02 9.99462654e-01 -7.21812506e-03 3.56626990e+01] [ 1.95674703e-02 6.59449016e-03 9.99786791e-01 7.90783754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.534391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:279.34, Y:35.66, Z:7.90 [[ 9.99335036e-01 -3.19902882e-02 -1.74959124e-02 2.79344571e+02] [ 3.21169793e-02 9.99459543e-01 7.00871433e-03 3.56572554e+01] [ 1.72622458e-02 -7.56596965e-03 9.99822370e-01 7.90339169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:279.37, Y:35.66, Z:7.91 [[ 9.99469041e-01 -2.74142648e-02 -1.76094865e-02 2.79374828e+02] [ 2.74191194e-02 9.99624025e-01 3.42522060e-05 3.56629119e+01] [ 1.76019267e-02 -5.17070631e-04 9.99844940e-01 7.90590794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.594391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:279.41, Y:35.66, Z:7.91 [[ 9.99526601e-01 -2.50568739e-02 -1.78529439e-02 2.79405030e+02] [ 2.50614903e-02 9.99685911e-01 3.48666929e-05 3.56643033e+01] [ 1.78464628e-02 -4.82271568e-04 9.99840623e-01 7.90641136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:279.43, Y:35.67, Z:7.91 [[ 9.99584773e-01 -2.26619490e-02 -1.77965466e-02 2.79434688e+02] [ 2.26661497e-02 9.99743089e-01 3.43443191e-05 3.56653278e+01] [ 1.77911962e-02 -4.37709247e-04 9.99841628e-01 7.90681894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.654391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:279.46, Y:35.67, Z:7.91 [[ 9.99678072e-01 -1.83233178e-02 -1.75501700e-02 2.79463091e+02] [ 1.83267193e-02 9.99832051e-01 3.29930350e-05 3.56671248e+01] [ 1.75466179e-02 -3.54619452e-04 9.99845983e-01 7.90753574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.684391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:279.49, Y:35.67, Z:7.91 [[ 9.99713566e-01 -1.62460889e-02 -1.75741303e-02 2.79490664e+02] [ 1.62491464e-02 9.99867973e-01 3.11876869e-05 3.56679331e+01] [ 1.75713034e-02 -3.16743369e-04 9.99845563e-01 7.90853312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.714391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:279.52, Y:35.67, Z:7.91 [[ 9.99735807e-01 -1.49054750e-02 -1.74969571e-02 2.79518820e+02] [ 1.49082284e-02 9.99888866e-01 2.69323670e-05 3.56687927e+01] [ 1.74946111e-02 -2.87773884e-04 9.99846916e-01 7.90908775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.744391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:279.55, Y:35.67, Z:7.91 [[ 9.99747778e-01 -1.29583540e-02 -1.83428840e-02 2.79546203e+02] [ 1.29609834e-02 9.99916003e-01 2.44677696e-05 3.56696229e+01] [ 1.83410262e-02 -2.62203412e-04 9.99831755e-01 7.90987503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.774391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:279.57, Y:35.67, Z:7.91 [[ 9.99746818e-01 -1.28388743e-02 -1.84787201e-02 2.79574109e+02] [ 1.28414432e-02 9.99917545e-01 2.03639991e-05 3.56699008e+01] [ 1.84769350e-02 -2.57652277e-04 9.99829254e-01 7.91038756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.804391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:279.60, Y:35.67, Z:7.91 [[ 9.99743910e-01 -1.28194963e-02 -1.86487115e-02 2.79602378e+02] [ 1.28220062e-02 9.99917795e-01 1.50229952e-05 3.56696008e+01] [ 1.86469859e-02 -2.54133042e-04 9.99826098e-01 7.91060927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.834391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:279.63, Y:35.67, Z:7.91 [[ 9.99727872e-01 -1.35547922e-02 -1.89855068e-02 2.79630674e+02] [ 1.35574157e-02 9.99908094e-01 9.47428140e-06 3.56688359e+01] [ 1.89836335e-02 -2.66866111e-04 9.99819759e-01 7.91087142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.864391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:279.66, Y:35.67, Z:7.91 [[ 9.99717822e-01 -1.44379594e-02 -1.88632348e-02 2.79658494e+02] [ 1.44405952e-02 9.99895729e-01 3.52286017e-06 3.56687706e+01] [ 1.88612170e-02 -2.75918204e-04 9.99822073e-01 7.91086414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.894391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:279.69, Y:35.67, Z:7.91 [[ 9.99683147e-01 -1.65529939e-02 -1.89632435e-02 2.79686259e+02] [ 1.65559229e-02 9.99862941e-01 -2.53680750e-06 3.56682532e+01] [ 1.89606864e-02 -3.11417992e-04 9.99820182e-01 7.91101221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.924391418 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:279.71, Y:35.67, Z:7.91 [[ 9.99659431e-01 -1.80689391e-02 -1.88291077e-02 2.79713436e+02] [ 1.80720214e-02 9.99836688e-01 -6.45781041e-06 3.56679765e+01] [ 1.88261494e-02 -3.33824426e-04 9.99822717e-01 7.91069522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.954391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:279.74, Y:35.67, Z:7.91 [[ 9.99616599e-01 -2.02598564e-02 -1.88730995e-02 2.79740833e+02] [ 2.02632545e-02 9.99794679e-01 -1.11896877e-05 3.56677824e+01] [ 1.88694511e-02 -3.71245020e-04 9.99821887e-01 7.91067879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:279.77, Y:35.67, Z:7.91 [[ 9.99569112e-01 -2.27878804e-02 -1.85014263e-02 2.79769155e+02] [ 2.27914701e-02 9.99740241e-01 -1.68398761e-05 3.56674474e+01] [ 1.84970041e-02 -4.04842084e-04 9.99828834e-01 7.91064558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.014391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:279.80, Y:35.67, Z:7.91 [[ 9.99407620e-01 -2.89953948e-02 -1.85384819e-02 2.79797426e+02] [ 2.90000103e-02 9.99579411e-01 -1.98692167e-05 3.56662424e+01] [ 1.85312609e-02 -5.17758719e-04 9.99828147e-01 7.90975411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044391418 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:279.83, Y:35.67, Z:7.91 [[ 9.99278169e-01 -3.28521005e-02 -1.90756268e-02 2.79828247e+02] [ 3.28576809e-02 9.99460040e-01 -2.08871814e-05 3.56655878e+01] [ 1.90660129e-02 -6.05908754e-04 9.99818043e-01 7.90940657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.074391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:279.86, Y:35.66, Z:7.91 [[ 9.98980380e-01 -4.10464158e-02 -1.87987109e-02 2.79858260e+02] [ 4.10532880e-02 9.99156958e-01 -2.03558524e-05 3.56638776e+01] [ 1.87836983e-02 -7.51413794e-04 9.99823288e-01 7.90819142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:279.89, Y:35.66, Z:7.91 [[ 9.98809591e-01 -4.48823952e-02 -1.91042490e-02 2.79890361e+02] [ 4.48902138e-02 9.98991926e-01 -1.95975400e-05 3.56630854e+01] [ 1.90858701e-02 -8.38019611e-04 9.99817497e-01 7.90799032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.134391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:279.92, Y:35.66, Z:7.91 [[ 9.98506413e-01 -5.12585499e-02 -1.89077743e-02 2.79922071e+02] [ 5.12673885e-02 9.98684963e-01 -1.72812199e-05 3.56625416e+01] [ 1.88837956e-02 -9.52096799e-04 9.99821232e-01 7.90724590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:279.95, Y:35.66, Z:7.91 [[ 9.98409273e-01 -5.31336266e-02 -1.88611253e-02 2.79954605e+02] [ 5.31427903e-02 9.98586923e-01 -1.53802605e-05 3.56624244e+01] [ 1.88352903e-02 -9.86977029e-04 9.99822113e-01 7.90744185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.194391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:279.99, Y:35.66, Z:7.91 [[ 9.98346237e-01 -5.45742442e-02 -1.80677319e-02 2.79986994e+02] [ 5.45829132e-02 9.98509242e-01 -1.33516450e-05 3.56629088e+01] [ 1.80415260e-02 -9.72859878e-04 9.99836765e-01 7.90770788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:280.02, Y:35.66, Z:7.91 [[ 9.98325930e-01 -5.49713026e-02 -1.79859501e-02 2.80019468e+02] [ 5.49799825e-02 9.98487457e-01 -1.18972284e-05 3.56636113e+01] [ 1.79593995e-02 -9.76989908e-04 9.99838240e-01 7.90850835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.254391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:280.05, Y:35.67, Z:7.91 [[ 9.98408833e-01 -5.37725800e-02 -1.69797638e-02 2.80050711e+02] [ 5.37801614e-02 9.98552800e-01 -1.01399550e-05 3.56655186e+01] [ 1.69557360e-02 -9.03050618e-04 9.99855833e-01 7.90901624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:280.08, Y:35.67, Z:7.91 [[ 9.98489581e-01 -5.23647338e-02 -1.66280572e-02 2.80083198e+02] [ 5.23718289e-02 9.98627654e-01 -8.76918190e-06 3.56666493e+01] [ 1.66056969e-02 -8.62085828e-04 9.99861744e-01 7.90961205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.314391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:280.12, Y:35.67, Z:7.91 [[ 9.98680136e-01 -4.90019264e-02 -1.53882162e-02 2.80115064e+02] [ 4.90076251e-02 9.98798404e-01 -6.76624884e-06 3.56694203e+01] [ 1.53700573e-02 -7.47382613e-04 9.99881594e-01 7.90995834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:280.15, Y:35.67, Z:7.91 [[ 9.98786044e-01 -4.69261684e-02 -1.49790995e-02 2.80146948e+02] [ 4.69313549e-02 9.98898117e-01 -5.27113029e-06 3.56707018e+01] [ 1.49628417e-02 -6.97724706e-04 9.99887807e-01 7.91021801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.374391418 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:280.18, Y:35.67, Z:7.91 [[ 9.98869773e-01 -4.50678686e-02 -1.51017915e-02 2.80177670e+02] [ 4.50729442e-02 9.98983698e-01 -4.27304215e-06 3.56723296e+01] [ 1.50866361e-02 -6.76413994e-04 9.99885961e-01 7.91063842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:280.21, Y:35.68, Z:7.91 [[ 9.99046678e-01 -4.11022903e-02 -1.47083809e-02 2.80209754e+02] [ 4.11066905e-02 9.99154763e-01 -3.16190089e-06 3.56753792e+01] [ 1.46960787e-02 -6.01453973e-04 9.99891826e-01 7.91051171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.434391418 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:280.24, Y:35.68, Z:7.91 [[ 9.99122052e-01 -3.91569055e-02 -1.48950398e-02 2.80241325e+02] [ 3.91612174e-02 9.99232905e-01 -2.18439065e-06 3.56768505e+01] [ 1.48836995e-02 -5.81125420e-04 9.99889063e-01 7.91040071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464391418 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:280.27, Y:35.68, Z:7.91 [[ 9.99189030e-01 -3.72314627e-02 -1.53330112e-02 2.80273318e+02] [ 3.72358218e-02 9.99306506e-01 -1.19470413e-06 3.56782963e+01] [ 1.53224223e-02 -5.69743537e-04 9.99882442e-01 7.91062875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.494391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:280.31, Y:35.68, Z:7.91 [[ 9.99294577e-01 -3.38326231e-02 -1.63003543e-02 2.80306001e+02] [ 3.38371189e-02 9.99427361e-01 8.80766088e-09 3.56819502e+01] [ 1.62910198e-02 -5.51565828e-04 9.99867140e-01 7.91036918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:280.34, Y:35.68, Z:7.91 [[ 9.99341883e-01 -3.19569184e-02 -1.71626312e-02 2.80337968e+02] [ 3.19616489e-02 9.99489096e-01 1.33745974e-06 3.56841112e+01] [ 1.71538200e-02 -5.49882571e-04 9.99852711e-01 7.91077433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.554391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:280.37, Y:35.69, Z:7.91 [[ 9.99453584e-01 -2.75330335e-02 -1.82883954e-02 2.80368657e+02] [ 2.75376795e-02 9.99620766e-01 2.21233989e-06 3.56885041e+01] [ 1.82813989e-02 -5.05831103e-04 9.99832753e-01 7.91109148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.40, Y:35.69, Z:7.91 [[ 9.99501546e-01 -2.54094370e-02 -1.87355167e-02 2.80398542e+02] [ 2.54139389e-02 9.99677014e-01 2.19226442e-06 3.56909914e+01] [ 1.87294096e-02 -4.78334447e-04 9.99824475e-01 7.91141025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.614391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:280.43, Y:35.69, Z:7.91 [[ 9.99556081e-01 -2.29114319e-02 -1.90448971e-02 2.80427804e+02] [ 2.29156197e-02 9.99737403e-01 1.66035355e-06 3.56933912e+01] [ 1.90398579e-02 -4.38085236e-04 9.99818629e-01 7.91165943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.644391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:280.46, Y:35.70, Z:7.91 [[ 9.99659293e-01 -1.79617030e-02 -1.89387126e-02 2.80456785e+02] [ 1.79649361e-02 9.99838618e-01 5.82579774e-07 3.56979283e+01] [ 1.89356458e-02 -3.40815145e-04 9.99820646e-01 7.91172596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.674391418 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:280.48, Y:35.70, Z:7.91 [[ 9.99710435e-01 -1.56917710e-02 -1.82432279e-02 2.80484698e+02] [ 1.56943264e-02 9.99876836e-01 -3.09704246e-06 3.57001755e+01] [ 1.82410296e-02 -2.83219028e-04 9.99833578e-01 7.91178534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.704391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:280.51, Y:35.70, Z:7.91 [[ 9.99748861e-01 -1.36010674e-02 -1.78108494e-02 2.80512640e+02] [ 1.36030810e-02 9.99907474e-01 -8.09823010e-06 3.57025028e+01] [ 1.78093116e-02 -2.34186230e-04 9.99841374e-01 7.91223366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.734391418 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:280.54, Y:35.71, Z:7.91 [[ 9.99831653e-01 -8.98164611e-03 -1.59998814e-02 2.80540887e+02] [ 8.98260581e-03 9.99959656e-01 -1.18838640e-05 3.57069776e+01] [ 1.59993426e-02 -1.31838764e-04 9.99871994e-01 7.91267908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.764391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:280.57, Y:35.71, Z:7.91 [[ 9.99861120e-01 -7.01779954e-03 -1.51159371e-02 2.80568604e+02] [ 7.01836225e-03 9.99975371e-01 -1.58219345e-05 3.57091788e+01] [ 1.51156759e-02 -9.02693854e-05 9.99885748e-01 7.91325129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.794391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:280.60, Y:35.71, Z:7.91 [[ 9.99880525e-01 -5.13157397e-03 -1.45809067e-02 2.80595947e+02] [ 5.13185088e-03 9.99986832e-01 -1.84246250e-05 3.57110538e+01] [ 1.45808093e-02 -5.64046153e-05 9.99893693e-01 7.91355204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.824391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:280.62, Y:35.72, Z:7.92 [[ 9.99859130e-01 -7.02029336e-04 -1.67698466e-02 2.80621729e+02] [ 5.19287375e-04 9.99940470e-01 -1.08989263e-02 3.57179178e+01] [ 1.67764996e-02 1.08886826e-02 9.99799973e-01 7.91863463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.854391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:280.65, Y:35.71, Z:7.91 [[ 9.99907475e-01 -2.04154798e-03 -1.34489187e-02 2.80652793e+02] [ 2.17964505e-03 9.99944973e-01 1.02616233e-02 3.57086558e+01] [ 1.34272291e-02 -1.02899877e-02 9.99856903e-01 7.91031282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:280.68, Y:35.72, Z:7.92 [[ 9.99884908e-01 -2.72347572e-03 -1.49249567e-02 2.80680185e+02] [ 2.62235622e-03 9.99973505e-01 -6.79058242e-03 3.57165952e+01] [ 1.49430553e-02 6.75066232e-03 9.99865558e-01 7.91676834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.914391418 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:280.71, Y:35.71, Z:7.91 [[ 9.99882510e-01 -5.09263214e-03 -1.44578962e-02 2.80708825e+02] [ 5.10055893e-03 9.99986861e-01 5.11446108e-04 3.57129241e+01] [ 1.44551016e-02 -5.85129370e-04 9.99895348e-01 7.91360861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:280.74, Y:35.71, Z:7.91 [[ 9.99865439e-01 -7.07925266e-03 -1.47982254e-02 2.80738944e+02] [ 7.15884527e-03 9.99960157e-01 5.33248870e-03 3.57091051e+01] [ 1.47598857e-02 -5.43770936e-03 9.99876281e-01 7.91345849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.974391418 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:280.77, Y:35.71, Z:7.91 [[ 9.99841540e-01 -1.09154968e-02 -1.40622174e-02 2.80767146e+02] [ 1.09162147e-02 9.99940416e-01 -2.57110315e-05 3.57121660e+01] [ 1.40616602e-02 -1.27799227e-04 9.99901122e-01 7.91332842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:280.80, Y:35.71, Z:7.91 [[ 9.99777951e-01 -1.58666044e-02 -1.38672437e-02 2.80795576e+02] [ 1.58677604e-02 9.99874099e-01 -2.66619400e-05 3.57096975e+01] [ 1.38659208e-02 -1.93386081e-04 9.99903845e-01 7.91236298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.034391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:280.83, Y:35.71, Z:7.91 [[ 9.99732773e-01 -1.82648151e-02 -1.41696225e-02 2.80825108e+02] [ 1.82662502e-02 9.99833158e-01 -2.81427601e-05 3.57085388e+01] [ 1.41677724e-02 -2.30690630e-04 9.99899605e-01 7.91229621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:280.85, Y:35.71, Z:7.91 [[ 9.99669445e-01 -2.14672809e-02 -1.41476754e-02 2.80854845e+02] [ 2.14690259e-02 9.99769514e-01 -2.85416812e-05 3.57065488e+01] [ 1.41450272e-02 -2.75204562e-04 9.99899916e-01 7.91251945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.094391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:280.89, Y:35.71, Z:7.91 [[ 9.99646308e-01 -2.26195606e-02 -1.39862115e-02 2.80885045e+02] [ 2.26213782e-02 9.99744103e-01 -2.82529035e-05 3.57058555e+01] [ 1.39832716e-02 -2.88144469e-04 9.99902188e-01 7.91257954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:280.92, Y:35.70, Z:7.91 [[ 9.99619720e-01 -2.39317148e-02 -1.36999351e-02 2.80916683e+02] [ 2.39335871e-02 9.99713550e-01 -2.72948012e-05 3.57042406e+01] [ 1.36966639e-02 -3.00604167e-04 9.99906151e-01 7.91245697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.154391418 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:280.95, Y:35.70, Z:7.91 [[ 9.99607448e-01 -2.45000328e-02 -1.35903461e-02 2.80948152e+02] [ 2.45019350e-02 9.99699782e-01 -2.65474336e-05 3.57038452e+01] [ 1.35869165e-02 -3.06452765e-04 9.99907647e-01 7.91262744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.184391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:280.98, Y:35.70, Z:7.91 [[ 9.99613665e-01 -2.45085725e-02 -1.31092051e-02 2.80979425e+02] [ 2.45103496e-02 9.99699576e-01 -2.51098176e-05 3.57029434e+01] [ 1.31058822e-02 -2.96211083e-04 9.99914070e-01 7.91264692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.214391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:281.01, Y:35.70, Z:7.91 [[ 9.99618073e-01 -2.43357728e-02 -1.30949606e-02 2.81011110e+02] [ 2.43375378e-02 9.99703798e-01 -2.45781889e-05 3.57020083e+01] [ 1.30916800e-02 -2.94130298e-04 9.99914257e-01 7.91301435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.244391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:281.04, Y:35.70, Z:7.91 [[ 9.99632019e-01 -2.33724884e-02 -1.37678221e-02 2.81041723e+02] [ 2.33011511e-02 9.99714340e-01 -5.31929467e-03 3.57021489e+01] [ 1.38882143e-02 4.99653117e-03 9.99891070e-01 7.91450848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.274391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:281.07, Y:35.70, Z:7.91 [[ 9.99653808e-01 -2.32330093e-02 -1.23487252e-02 2.81073233e+02] [ 2.32990989e-02 9.99714831e-01 5.23527254e-03 3.56959545e+01] [ 1.22235726e-02 -5.52117430e-03 9.99910046e-01 7.91067647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.304391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:281.10, Y:35.70, Z:7.91 [[ 9.99697470e-01 -2.11799523e-02 -1.25051203e-02 2.81103862e+02] [ 2.11539229e-02 9.99773788e-01 -2.21012526e-03 3.56971549e+01] [ 1.25491019e-02 1.94492428e-03 9.99919365e-01 7.91330480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.334391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:281.14, Y:35.70, Z:7.91 [[ 9.99698084e-01 -2.11247669e-02 -1.25492884e-02 2.81135737e+02] [ 2.11262097e-02 9.99776817e-01 -1.75951306e-05 3.56960967e+01] [ 1.25468593e-02 -2.47529081e-04 9.99921254e-01 7.91282221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.364391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:281.17, Y:35.69, Z:7.91 [[ 9.99729308e-01 -2.00076471e-02 -1.18745596e-02 2.81167057e+02] [ 2.00333314e-02 9.99797215e-01 2.04797193e-03 3.56941739e+01] [ 1.18311765e-02 -2.28530455e-03 9.99927398e-01 7.91198715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.394391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:281.20, Y:35.69, Z:7.91 [[ 9.99756181e-01 -1.84072872e-02 -1.21963333e-02 2.81197738e+02] [ 1.84084086e-02 9.99830551e-01 -2.03170419e-05 3.56940715e+01] [ 1.21946406e-02 -2.04202997e-04 9.99925622e-01 7.91298891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.424391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:281.23, Y:35.69, Z:7.91 [[ 9.99800063e-01 -1.53239391e-02 -1.28456710e-02 2.81227859e+02] [ 1.53249309e-02 9.99882566e-01 -2.12282848e-05 3.56921686e+01] [ 1.28444878e-02 -1.75634980e-04 9.99917491e-01 7.91313978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.454391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:281.26, Y:35.69, Z:7.91 [[ 9.99813724e-01 -1.39931693e-02 -1.32932070e-02 2.81256990e+02] [ 1.39941097e-02 9.99902077e-01 -2.22728040e-05 3.56913212e+01] [ 1.32922170e-02 -1.63757942e-04 9.99911641e-01 7.91315959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:281.29, Y:35.69, Z:7.91 [[ 9.99827129e-01 -1.19048881e-02 -1.42823275e-02 2.81285502e+02] [ 1.19057294e-02 9.99929124e-01 -2.61229654e-05 3.56892163e+01] [ 1.42816262e-02 -1.43923077e-04 9.99898002e-01 7.91303324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.514391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:281.31, Y:35.69, Z:7.91 [[ 9.99829616e-01 -1.13499511e-02 -1.45573906e-02 2.81313397e+02] [ 1.13507041e-02 9.99935578e-01 -3.09004454e-05 3.56881237e+01] [ 1.45568035e-02 -1.34341453e-04 9.99894035e-01 7.91279799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:281.34, Y:35.66, Z:7.91 [[ 9.99539406e-01 -1.55861051e-02 -2.60393747e-02 2.81337098e+02] [ 1.71505583e-02 9.97991692e-01 6.09790151e-02 3.56643356e+01] [ 2.50366543e-02 -6.13975183e-02 9.97799334e-01 7.91021436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.574391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:281.37, Y:35.71, Z:7.93 [[ 9.99824997e-01 -1.08246689e-02 -1.52578620e-02 2.81373205e+02] [ 9.87063683e-03 9.98072248e-01 -6.12728193e-02 3.57144607e+01] [ 1.58917067e-02 6.11114916e-02 9.98004428e-01 7.93456742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:281.40, Y:35.68, Z:7.91 [[ 9.99824119e-01 -1.03465002e-02 -1.56422575e-02 2.81401065e+02] [ 1.03471662e-02 9.99946466e-01 -3.83517717e-05 3.56823094e+01] [ 1.56418169e-02 -1.23508012e-04 9.99877652e-01 7.91264648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.634391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:281.43, Y:35.66, Z:7.91 [[ 9.99576617e-01 -1.45420718e-02 -2.52014997e-02 2.81425142e+02] [ 1.58853068e-02 9.98417486e-01 5.39460940e-02 3.56629646e+01] [ 2.43771300e-02 -5.43235876e-02 9.98225778e-01 7.91248004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:281.46, Y:35.70, Z:7.93 [[ 9.99834186e-01 -1.26929847e-02 -1.30571286e-02 2.81464762e+02] [ 1.21172548e-02 9.98990132e-01 -4.32653191e-02 3.57006987e+01] [ 1.35931087e-02 4.30999286e-02 9.98978290e-01 7.92748563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.694391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:281.49, Y:35.68, Z:7.92 [[ 9.99809016e-01 -1.26128199e-02 -1.49280892e-02 2.81492864e+02] [ 1.24772033e-02 9.99880354e-01 -9.14319795e-03 3.56829652e+01] [ 1.50416246e-02 8.95519094e-03 9.99846765e-01 7.91647524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:281.52, Y:35.66, Z:7.91 [[ 9.99682707e-01 -1.65703462e-02 -1.89712808e-02 2.81518884e+02] [ 1.72689978e-02 9.99155809e-01 3.72753296e-02 3.56644106e+01] [ 1.83376003e-02 -3.75911174e-02 9.99124937e-01 7.91011348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.754391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:281.55, Y:35.69, Z:7.93 [[ 9.99760892e-01 -1.62732334e-02 -1.46062175e-02 2.81554489e+02] [ 1.57153831e-02 9.99172016e-01 -3.75274424e-02 3.56947324e+01] [ 1.52048166e-02 3.72889269e-02 9.99188846e-01 7.92666530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:281.58, Y:35.67, Z:7.91 [[ 9.99642740e-01 -2.25652265e-02 -1.43248844e-02 2.81582451e+02] [ 2.25670026e-02 9.99745332e-01 -3.76651732e-05 3.56740437e+01] [ 1.43220862e-02 -2.85617986e-04 9.99897393e-01 7.91371043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.814391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:281.61, Y:35.65, Z:7.91 [[ 9.99230725e-01 -3.10556663e-02 -2.39479245e-02 2.81605314e+02] [ 3.23388910e-02 9.97951380e-01 5.52017980e-02 3.56543438e+01] [ 2.21845357e-02 -5.59337820e-02 9.98187988e-01 7.91300903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:281.64, Y:35.70, Z:7.93 [[ 9.99458051e-01 -3.02630172e-02 -1.29519701e-02 2.81643702e+02] [ 2.94870064e-02 9.97972150e-01 -5.64101393e-02 3.56977274e+01] [ 1.46328464e-02 5.59976531e-02 9.98323666e-01 7.93215514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.874391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:281.68, Y:35.66, Z:7.91 [[ 9.99191236e-01 -3.87373075e-02 -1.07840473e-02 2.81675569e+02] [ 3.88130504e-02 9.99222631e-01 6.90515127e-03 3.56641031e+01] [ 1.05081772e-02 -7.31812840e-03 9.99918008e-01 7.91045142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:281.71, Y:35.67, Z:7.92 [[ 9.98966242e-01 -4.36014009e-02 -1.28594095e-02 2.81706994e+02] [ 4.35142951e-02 9.99028438e-01 -6.97758033e-03 3.56695993e+01] [ 1.31511481e-02 6.41079906e-03 9.99892969e-01 7.91560877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.934391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:281.73, Y:35.65, Z:7.91 [[ 9.98206352e-01 -5.62114487e-02 -2.05997959e-02 2.81733743e+02] [ 5.69655614e-02 9.97650458e-01 3.80590036e-02 3.56512855e+01] [ 1.84120441e-02 -3.91642181e-02 9.99063141e-01 7.91273573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:281.77, Y:35.67, Z:7.92 [[ 9.98097385e-01 -5.87939694e-02 -1.85709204e-02 2.81766283e+02] [ 5.87631154e-02 9.98269524e-01 -2.20322825e-03 3.56690309e+01] [ 1.86683204e-02 1.10775122e-03 9.99825118e-01 7.92400809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.994391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:281.80, Y:35.66, Z:7.92 [[ 9.97945550e-01 -6.10433895e-02 -1.94520746e-02 2.81796854e+02] [ 6.11560106e-02 9.98114424e-01 5.24782815e-03 3.56645930e+01] [ 1.90950510e-02 -6.42665804e-03 9.99797018e-01 7.92281265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:281.83, Y:35.67, Z:7.93 [[ 9.97906011e-01 -6.22249425e-02 -1.76535819e-02 2.81829767e+02] [ 6.21299439e-02 9.98050747e-01 -5.88015445e-03 3.56678867e+01] [ 1.79850629e-02 4.77102542e-03 9.99826872e-01 7.92504067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.054391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:281.87, Y:35.68, Z:7.92 [[ 9.98188693e-01 -5.92442114e-02 -1.04621317e-02 2.81865928e+02] [ 5.88243488e-02 9.97593855e-01 -3.66905553e-02 3.56754760e+01] [ 1.26106613e-02 3.60086693e-02 9.99271908e-01 7.92398642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:281.90, Y:35.66, Z:7.91 [[ 9.98221227e-01 -5.85766107e-02 -1.10978834e-02 2.81898740e+02] [ 5.85801523e-02 9.98282708e-01 -5.95069721e-06 3.56572918e+01] [ 1.10791737e-02 -6.44175590e-04 9.99938417e-01 7.91220809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.114391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:281.93, Y:35.66, Z:7.91 [[ 9.98388220e-01 -5.53166008e-02 -1.26900281e-02 2.81930784e+02] [ 5.53209858e-02 9.98468622e-01 -5.48749672e-06 3.56578943e+01] [ 1.26708984e-02 -6.96546214e-04 9.99919478e-01 7.91222399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.144391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:281.96, Y:35.64, Z:7.91 [[ 9.98093784e-01 -5.78173444e-02 -2.15859277e-02 2.81956240e+02] [ 5.87031536e-02 9.97351235e-01 4.29470941e-02 3.56446799e+01] [ 1.90456647e-02 -4.41323897e-02 9.98844129e-01 7.91091118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.174391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:281.99, Y:35.67, Z:7.92 [[ 9.98379313e-01 -5.33103868e-02 -1.99186059e-02 2.81990054e+02] [ 5.31093198e-02 9.98533594e-01 -1.04909889e-02 3.56703146e+01] [ 2.04486758e-02 9.41612265e-03 9.99746562e-01 7.92457794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.204391418 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:282.03, Y:35.68, Z:7.92 [[ 9.99104296e-01 -3.98274941e-02 -1.42960091e-02 2.82025187e+02] [ 3.93294374e-02 9.98662043e-01 -3.35755765e-02 3.56779013e+01] [ 1.56141128e-02 3.29832487e-02 9.99333931e-01 7.92273933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.234391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:282.06, Y:35.66, Z:7.91 [[ 9.99300883e-01 -3.43894387e-02 -1.46667205e-02 2.82056331e+02] [ 3.43932220e-02 9.99408378e-01 5.72262363e-06 3.56628129e+01] [ 1.46578465e-02 -5.10154396e-04 9.99892438e-01 7.91230766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.264391418 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:282.09, Y:35.66, Z:7.91 [[ 9.99609829e-01 -2.46525393e-02 -1.31317338e-02 2.82087601e+02] [ 2.47301115e-02 9.99677466e-01 5.77795315e-03 3.56639851e+01] [ 1.29850571e-02 -6.10044800e-03 9.99897081e-01 7.91028529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.294391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:282.11, Y:35.66, Z:7.91 [[ 9.99647050e-01 -2.15855953e-02 -1.54866897e-02 2.82109973e+02] [ 2.21185385e-02 9.99138679e-01 3.51094151e-02 3.56554427e+01] [ 1.47154931e-02 -3.54395662e-02 9.99263474e-01 7.90503381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.324391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:282.15, Y:35.69, Z:7.92 [[ 9.99931066e-01 -8.12246321e-03 -8.47870475e-03 2.82145771e+02] [ 7.68530958e-03 9.98700713e-01 -5.03767978e-02 3.56888555e+01] [ 8.87687217e-03 5.03081636e-02 9.98694292e-01 7.91784349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.354391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:282.17, Y:35.67, Z:7.90 [[ 9.99965311e-01 2.34095002e-03 -7.99352542e-03 2.82173996e+02] [-2.34083050e-03 9.99997260e-01 2.43080931e-05 3.56671918e+01] [ 7.99356042e-03 -5.59576178e-06 9.99968051e-01 7.90134874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:282.20, Y:35.66, Z:7.90 [[ 9.99963601e-01 6.30408974e-03 -5.74928781e-03 2.82201575e+02] [-6.26008711e-03 9.99951222e-01 7.63972673e-03 3.56645055e+01] [ 5.79716890e-03 -7.60345761e-03 9.99954289e-01 7.89858009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.414391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:282.23, Y:35.67, Z:7.90 [[ 9.99870431e-01 1.43167775e-02 -7.35868884e-03 2.82229744e+02] [-1.43712553e-02 9.99869312e-01 -7.40440941e-03 3.56727554e+01] [ 7.25171987e-03 7.50920363e-03 9.99945511e-01 7.90408976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:282.26, Y:35.67, Z:7.90 [[ 9.99828810e-01 1.70616066e-02 -7.15912728e-03 2.82256566e+02] [-1.70619254e-02 9.99854435e-01 1.65466859e-05 3.56694546e+01] [ 7.15836747e-03 1.05604642e-04 9.99974373e-01 7.90138899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.474391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:282.28, Y:35.67, Z:7.90 [[ 9.99788458e-01 1.91876624e-02 -7.40755782e-03 2.82284252e+02] [-1.91880675e-02 9.99815892e-01 1.63828680e-05 3.56694093e+01] [ 7.40650838e-03 1.25757317e-04 9.99972564e-01 7.90145190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:282.31, Y:35.67, Z:7.90 [[ 9.99762823e-01 2.02027965e-02 -8.13289432e-03 2.82311098e+02] [-2.02033276e-02 9.99795892e-01 1.68599402e-05 3.56695285e+01] [ 8.13157494e-03 1.47455586e-04 9.99966927e-01 7.90158512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.534391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:282.34, Y:35.67, Z:7.90 [[ 9.99751209e-01 2.02242609e-02 -9.40742846e-03 2.82339193e+02] [-2.02528260e-02 9.99790535e-01 -2.95114952e-03 3.56697893e+01] [ 9.34577312e-03 3.14094231e-03 9.99951394e-01 7.90270977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:282.37, Y:35.67, Z:7.90 [[ 9.99811783e-01 1.73023678e-02 -8.77645717e-03 2.82366977e+02] [-1.72771324e-02 9.99846408e-01 2.94307048e-03 3.56659922e+01] [ 8.82603127e-03 -2.79088453e-03 9.99957155e-01 7.90083911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.594391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:282.39, Y:35.66, Z:7.90 [[ 9.99906561e-01 1.03715018e-02 -8.90510661e-03 2.82394666e+02] [-1.03717788e-02 9.99946212e-01 1.50741021e-05 3.56633970e+01] [ 8.90478396e-03 7.72891025e-05 9.99960349e-01 7.90195014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:282.42, Y:35.66, Z:7.90 [[ 9.99944903e-01 5.59198979e-03 -8.88377227e-03 2.82422891e+02] [-5.59208636e-03 9.99984364e-01 1.39693516e-05 3.56611696e+01] [ 8.88371148e-03 3.57102399e-05 9.99960538e-01 7.90183526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.654391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:282.45, Y:35.66, Z:7.90 [[ 9.99963189e-01 3.51732719e-04 -8.57299414e-03 2.82451215e+02] [-3.51634400e-04 9.99999938e-01 1.29757304e-05 3.56588083e+01] [ 8.57299817e-03 -9.96069310e-06 9.99963251e-01 7.90160924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.684391418 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:282.48, Y:35.65, Z:7.90 [[ 9.99912219e-01 -9.81524286e-03 -8.90033328e-03 2.82480281e+02] [ 9.81574536e-03 9.99951824e-01 1.27761451e-05 3.56540068e+01] [ 8.89977910e-03 -1.00138429e-04 9.99960391e-01 7.90185960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.714391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:282.51, Y:35.65, Z:7.90 [[ 9.99844580e-01 -1.49400112e-02 -9.36009580e-03 2.82509338e+02] [ 1.49407874e-02 9.99888380e-01 1.29988049e-05 3.56516555e+01] [ 9.35885683e-03 -1.52843986e-04 9.99956193e-01 7.90224515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.744391418 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:282.54, Y:35.65, Z:7.90 [[ 9.99751348e-01 -2.01440575e-02 -9.56344929e-03 2.82539910e+02] [ 2.01451086e-02 9.99797067e-01 1.35716705e-05 3.56493443e+01] [ 9.56123516e-03 -2.06225020e-04 9.99954269e-01 7.90214944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.774391418 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:282.57, Y:35.64, Z:7.90 [[ 9.99534093e-01 -2.88223473e-02 -1.00433543e-02 2.82570869e+02] [ 2.88239522e-02 9.99584503e-01 1.50602148e-05 3.56440760e+01] [ 1.00387472e-02 -3.04542363e-04 9.99949564e-01 7.90217258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.804391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:282.60, Y:35.64, Z:7.90 [[ 9.99423484e-01 -3.24375465e-02 -1.00251928e-02 2.82603287e+02] [ 3.24393353e-02 9.99473706e-01 1.58342240e-05 3.56414188e+01] [ 1.00194030e-02 -3.41035687e-04 9.99949746e-01 7.90197428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.834391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:282.63, Y:35.63, Z:7.90 [[ 9.99209412e-01 -3.72992467e-02 -1.37592409e-02 2.82631065e+02] [ 3.76911216e-02 9.98856406e-01 2.94152806e-02 3.56283653e+01] [ 1.26463381e-02 -2.99106265e-02 9.99472573e-01 7.90229739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.864391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:282.66, Y:35.65, Z:7.91 [[ 9.99203951e-01 -3.88224793e-02 -9.18040933e-03 2.82664710e+02] [ 3.85369776e-02 9.98822747e-01 -2.94622080e-02 3.56494318e+01] [ 1.03133976e-02 2.90849695e-02 9.99523736e-01 7.91124968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.894391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:282.70, Y:35.63, Z:7.90 [[ 9.99198034e-01 -3.90335294e-02 -8.92592527e-03 2.82696706e+02] [ 3.90352200e-02 9.99237835e-01 1.51932154e-05 3.56337346e+01] [ 8.91852920e-03 -3.63606487e-04 9.99960163e-01 7.90212001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.924391418 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:282.72, Y:35.62, Z:7.90 [[ 9.99211553e-01 -3.77913892e-02 -1.21689525e-02 2.82724389e+02] [ 3.80863752e-02 9.98961735e-01 2.49975828e-02 3.56240471e+01] [ 1.12116245e-02 -2.54413448e-02 9.99613444e-01 7.90350025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.954391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:282.76, Y:35.64, Z:7.91 [[ 9.99464862e-01 -3.16171508e-02 -8.38720324e-03 2.82759096e+02] [ 3.13979806e-02 9.99192028e-01 -2.50890173e-02 3.56439232e+01] [ 9.17366985e-03 2.48122499e-02 9.99650037e-01 7.91050897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984391418 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:282.79, Y:35.63, Z:7.90 [[ 9.99588286e-01 -2.74144165e-02 -8.46809432e-03 2.82790083e+02] [ 2.74155311e-02 9.99624124e-01 1.55493552e-05 3.56317113e+01] [ 8.46448508e-03 -2.47700256e-04 9.99964145e-01 7.90309570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.014391418 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:282.82, Y:35.63, Z:7.90 [[ 9.99708427e-01 -2.26597594e-02 -8.34249070e-03 2.82822681e+02] [ 2.26606824e-02 9.99743214e-01 1.61244607e-05 3.56315349e+01] [ 8.33998308e-03 -2.05166292e-04 9.99965201e-01 7.90254160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044391418 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:282.85, Y:35.63, Z:7.90 [[ 9.99877015e-01 -1.28769833e-02 -8.95194692e-03 2.82853327e+02] [ 1.28776528e-02 9.99917079e-01 1.71529505e-05 3.56314455e+01] [ 8.95098374e-03 -1.32430905e-04 9.99959930e-01 7.90251340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.074391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:282.88, Y:35.63, Z:7.90 [[ 9.99937257e-01 -4.89445319e-03 -1.00759916e-02 2.82882944e+02] [ 4.89488910e-03 9.99988020e-01 1.86011392e-05 3.56310192e+01] [ 1.00757798e-02 -6.79208335e-05 9.99949236e-01 7.90192074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104391418 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:282.91, Y:35.63, Z:7.90 [[ 9.99939183e-01 -2.14230440e-03 -1.08185381e-02 2.82911241e+02] [ 2.14259398e-03 9.99997705e-01 1.51764848e-05 3.56307085e+01] [ 1.08184808e-02 -3.83552964e-05 9.99941478e-01 7.90116536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.134391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:282.94, Y:35.63, Z:7.90 [[ 9.99927233e-01 -5.04356862e-04 -1.20529554e-02 2.82938371e+02] [ 5.04590037e-04 9.99999873e-01 1.63048911e-05 3.56305201e+01] [ 1.20529457e-02 -2.23855059e-05 9.99927360e-01 7.90055328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164391418 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:282.97, Y:35.63, Z:7.90 [[ 9.99911209e-01 -7.54955329e-05 -1.33254986e-02 2.82966449e+02] [ 7.56737403e-05 9.99999997e-01 1.28691934e-05 3.56303594e+01] [ 1.33254976e-02 -1.38764410e-05 9.99911212e-01 7.90025891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.194391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:282.99, Y:35.63, Z:7.90 [[ 9.99872662e-01 -1.78067287e-03 -1.58583743e-02 2.82993138e+02] [ 1.78112343e-03 9.99998414e-01 1.42880891e-05 3.56289311e+01] [ 1.58583238e-02 -4.25319918e-05 9.99874248e-01 7.89925752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:283.02, Y:35.63, Z:7.90 [[ 9.99872086e-01 -2.07927146e-03 -1.58583786e-02 2.83021535e+02] [ 2.07967224e-03 9.99997837e-01 8.78118462e-06 3.56290408e+01] [ 1.58583261e-02 -4.17602911e-05 9.99874248e-01 7.89911894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.254391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:283.05, Y:35.63, Z:7.90 [[ 9.99854000e-01 -4.33716791e-03 -1.65277819e-02 2.83049575e+02] [ 4.33789499e-03 9.99990591e-01 8.14086469e-06 3.56279821e+01] [ 1.65275911e-02 -7.98354584e-05 9.99863407e-01 7.89852458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:283.08, Y:35.63, Z:7.90 [[ 9.99794025e-01 -1.06846101e-02 -1.72553100e-02 2.83077996e+02] [ 1.06863120e-02 9.99942900e-01 6.42523099e-06 3.56255901e+01] [ 1.72542561e-02 -1.90819534e-04 9.99851116e-01 7.89796326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.314391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:283.11, Y:35.62, Z:7.90 [[ 9.99752089e-01 -1.44161372e-02 -1.69686812e-02 2.83105176e+02] [ 1.44182782e-02 9.99896051e-01 3.83943157e-06 3.56245453e+01] [ 1.69668619e-02 -2.48497646e-04 9.99856022e-01 7.89813353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:283.13, Y:35.62, Z:7.90 [[ 9.99704943e-01 -1.82284893e-02 -1.60545567e-02 2.83133342e+02] [ 1.82308017e-02 9.99833805e-01 -2.31919587e-06 3.56234694e+01] [ 1.60519308e-02 -2.90368929e-04 9.99871117e-01 7.89806517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.374391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:283.16, Y:35.61, Z:7.90 [[ 9.99519499e-01 -2.58513458e-02 -1.71020226e-02 2.83160659e+02] [ 2.61443213e-02 9.99511310e-01 1.71351910e-02 3.56139283e+01] [ 1.66506973e-02 -1.75740783e-02 9.99706910e-01 7.89868761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404391418 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:283.19, Y:35.63, Z:7.90 [[ 9.99498762e-01 -2.88098240e-02 -1.31232527e-02 2.83190812e+02] [ 2.85802039e-02 9.99440727e-01 -1.73610226e-02 3.56286051e+01] [ 1.36160812e-02 1.69772554e-02 9.99763160e-01 7.90392495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.434391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:283.22, Y:35.62, Z:7.90 [[ 9.99410291e-01 -3.20515527e-02 -1.23194319e-02 2.83221072e+02] [ 3.20539736e-02 9.99486139e-01 -9.46863570e-07 3.56192395e+01] [ 1.23131318e-02 -3.93940440e-04 9.99924113e-01 7.89898084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:283.25, Y:35.62, Z:7.90 [[ 9.99274342e-01 -3.63079763e-02 -1.15117471e-02 2.83250926e+02] [ 3.62725698e-02 9.99336585e-01 -3.26976609e-03 3.56184333e+01] [ 1.16228286e-02 2.84983271e-03 9.99928392e-01 7.90003365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.494391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:283.28, Y:35.61, Z:7.90 [[ 9.99143902e-01 -4.02268274e-02 -9.65742257e-03 2.83283263e+02] [ 4.02597271e-02 9.99184006e-01 3.23670106e-03 3.56142360e+01] [ 9.51933995e-03 -3.62273532e-03 9.99948128e-01 7.89800544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:283.31, Y:35.59, Z:7.90 [[ 9.98588217e-01 -4.92871967e-02 -1.98077122e-02 2.83307500e+02] [ 5.04849618e-02 9.96582914e-01 6.53740279e-02 3.55906477e+01] [ 1.65179249e-02 -6.62817256e-02 9.97664218e-01 7.89802946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.554391418 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:283.35, Y:35.64, Z:7.92 [[ 9.98878796e-01 -4.69145265e-02 -6.33866918e-03 2.83345840e+02] [ 4.63948671e-02 9.96737607e-01 -6.60428593e-02 3.56444089e+01] [ 9.41635942e-03 6.56747300e-02 9.97796654e-01 7.91768053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584391418 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:283.38, Y:35.61, Z:7.90 [[ 9.98754154e-01 -4.95785227e-02 -5.66655036e-03 2.83377614e+02] [ 4.95793336e-02 9.98770189e-01 2.63897326e-06 3.56127290e+01] [ 5.65945073e-03 -2.83579476e-04 9.99983945e-01 7.89863059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.614391418 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:283.41, Y:35.61, Z:7.90 [[ 9.98533862e-01 -5.39398432e-02 -4.54081843e-03 2.83409763e+02] [ 5.39404163e-02 9.98544156e-01 3.75028218e-06 3.56122238e+01] [ 4.53400542e-03 -2.48678420e-04 9.99989690e-01 7.89867252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.644391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:283.44, Y:35.61, Z:7.90 [[ 9.98441882e-01 -5.56256885e-02 -4.42611315e-03 2.83442782e+02] [ 5.56262501e-02 9.98451661e-01 3.78145917e-06 3.56121211e+01] [ 4.41904969e-03 -2.49983644e-04 9.99990205e-01 7.89852798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.674391418 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:283.48, Y:35.61, Z:7.90 [[ 9.98370828e-01 -5.68939251e-02 -4.33249783e-03 2.83475544e+02] [ 5.68944774e-02 9.98380197e-01 4.23147085e-06 3.56123214e+01] [ 4.32523930e-03 -2.50719777e-04 9.99990615e-01 7.89816408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.704391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:283.51, Y:35.61, Z:7.90 [[ 9.98316290e-01 -5.77742445e-02 -5.16940784e-03 2.83508381e+02] [ 5.77750450e-02 9.98329627e-01 5.52464384e-06 3.56126759e+01] [ 5.16045381e-03 -3.04178112e-04 9.99986639e-01 7.89793112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.734391418 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:283.54, Y:35.61, Z:7.90 [[ 9.98298639e-01 -5.80062357e-02 -5.92481235e-03 2.83540640e+02] [ 5.80072934e-02 9.98316159e-01 6.69862218e-06 3.56140210e+01] [ 5.91444735e-03 -3.50369554e-04 9.99982448e-01 7.89721186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.764391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:283.57, Y:35.62, Z:7.90 [[ 9.98390721e-01 -5.63143003e-02 -6.68338586e-03 2.83573709e+02] [ 5.63156139e-02 9.98413017e-01 8.35974713e-06 3.56155087e+01] [ 6.67230867e-03 -3.84725272e-04 9.99977666e-01 7.89624789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.794391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:283.61, Y:35.62, Z:7.90 [[ 9.98449688e-01 -5.52288517e-02 -6.92781364e-03 2.83606584e+02] [ 5.52302424e-02 9.98473645e-01 9.43591845e-06 3.56164160e+01] [ 6.91671820e-03 -3.92046117e-04 9.99976002e-01 7.89562609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.824391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:283.64, Y:35.62, Z:7.90 [[ 9.98518030e-01 -5.39491200e-02 -7.15789899e-03 2.83639814e+02] [ 5.39505775e-02 9.98543607e-01 1.05526248e-05 3.56175406e+01] [ 7.14690497e-03 -3.96709770e-04 9.99974382e-01 7.89521757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.854391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:283.67, Y:35.62, Z:7.90 [[ 9.98589108e-01 -5.25312701e-02 -7.76263850e-03 2.83671562e+02] [ 5.25329461e-02 9.98619191e-01 1.20180310e-05 3.56191363e+01] [ 7.75128846e-03 -4.19795345e-04 9.99969870e-01 7.89515286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:283.70, Y:35.61, Z:7.90 [[ 9.98411577e-01 -5.37553239e-02 -1.68726937e-02 2.83697858e+02] [ 5.44117851e-02 9.97667615e-01 4.12151434e-02 3.56089826e+01] [ 1.46178067e-02 -4.20677497e-02 9.99007820e-01 7.89612162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.914391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:283.73, Y:35.64, Z:7.90 [[ 9.98943899e-01 -4.55206692e-02 -6.24148745e-03 2.83733173e+02] [ 4.52406315e-02 9.98199274e-01 -3.93890210e-02 3.56430001e+01] [ 8.02326284e-03 3.90650534e-02 9.99204458e-01 7.90428387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:283.76, Y:35.63, Z:7.89 [[ 9.99145423e-01 -4.09438878e-02 -5.65880939e-03 2.83764711e+02] [ 4.09446354e-02 9.99161417e-01 1.62772486e-05 3.56278586e+01] [ 5.65339755e-03 -2.47961225e-04 9.99983989e-01 7.89278825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.974391418 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:283.80, Y:35.63, Z:7.89 [[ 9.99262662e-01 -3.81344245e-02 -4.46082604e-03 2.83797820e+02] [ 3.81348664e-02 9.99272601e-01 1.40078404e-05 3.56300130e+01] [ 4.45704706e-03 -1.84110517e-04 9.99990050e-01 7.89290736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004391418 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:283.83, Y:35.63, Z:7.89 [[ 9.99486744e-01 -3.18887191e-02 -3.05897236e-03 2.83829997e+02] [ 3.18888990e-02 9.99491420e-01 1.00619527e-05 3.56347744e+01] [ 3.05709576e-03 -1.07604049e-04 9.99995321e-01 7.89373797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.034391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:283.86, Y:35.64, Z:7.89 [[ 9.99583892e-01 -2.87448359e-02 -2.40351042e-03 2.83862766e+02] [ 2.87449395e-02 9.99586779e-01 8.55977453e-06 3.56369980e+01] [ 2.40227119e-03 -7.76449742e-05 9.99997112e-01 7.89381572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:283.89, Y:35.64, Z:7.89 [[ 9.99668531e-01 -2.57048370e-02 -1.44543391e-03 2.83894604e+02] [ 2.57048718e-02 9.99669575e-01 5.52664827e-06 3.56387686e+01] [ 1.44481425e-03 -4.26795098e-05 9.99998955e-01 7.89346711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.094391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:283.92, Y:35.62, Z:7.89 [[ 9.99608120e-01 -2.67433269e-02 -8.27048872e-03 2.83921237e+02] [ 2.70881935e-02 9.98626065e-01 4.48576804e-02 3.56237800e+01] [ 7.05948201e-03 -4.50641341e-02 9.98959152e-01 7.89191952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:283.95, Y:35.65, Z:7.90 [[ 9.99774875e-01 -2.04398803e-02 -5.69310157e-03 2.83954236e+02] [ 2.04349941e-02 9.99790765e-01 -9.15131471e-04 3.56486632e+01] [ 5.71061555e-03 7.98586955e-04 9.99983375e-01 7.90351428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.154391418 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:283.99, Y:35.67, Z:7.90 [[ 9.99897820e-01 -1.41985211e-02 1.65865144e-03 2.83988443e+02] [ 1.42579366e-02 9.98922363e-01 -4.41681236e-02 3.56657782e+01] [-1.02974198e-03 4.41872595e-02 9.99022735e-01 7.90495834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.184391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:284.02, Y:35.65, Z:7.89 [[ 9.99945167e-01 -1.03447901e-02 1.62749490e-03 2.84020645e+02] [ 1.03448132e-02 9.99946491e-01 -5.73952518e-06 3.56474052e+01] [-1.62734844e-03 2.25753411e-05 9.99998676e-01 7.89016794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.214391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:284.05, Y:35.65, Z:7.89 [[ 9.99962168e-01 -8.57188518e-03 1.47815165e-03 2.84053031e+02] [ 8.57190233e-03 9.99963261e-01 -5.26256534e-06 3.56487212e+01] [-1.47805224e-03 1.79329379e-05 9.99998908e-01 7.88969270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.244391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:284.09, Y:35.65, Z:7.89 [[ 9.99984688e-01 -5.33432520e-03 1.47277875e-03 2.84085392e+02] [ 5.33433886e-03 9.99985772e-01 -5.34777952e-06 3.56509189e+01] [-1.47272927e-03 1.32039985e-05 9.99998915e-01 7.88920830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.274391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:284.12, Y:35.65, Z:7.89 [[ 9.99991849e-01 -3.78398830e-03 1.40800869e-03 2.84116922e+02] [ 3.78399961e-03 9.99992841e-01 -5.36855651e-06 3.56514025e+01] [-1.40797829e-03 1.06964171e-05 9.99999009e-01 7.88888815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.304391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:284.15, Y:35.65, Z:7.89 [[ 9.99996536e-01 -2.25693110e-03 1.35433169e-03 2.84148658e+02] [ 2.25694000e-03 9.99997453e-01 -5.04630478e-06 3.56517879e+01] [-1.35431685e-03 8.10293267e-06 9.99999083e-01 7.88878229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.334391418 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:284.18, Y:35.65, Z:7.89 [[ 9.99997727e-01 -9.78333136e-04 1.89465659e-03 2.84180140e+02] [ 9.78348357e-04 9.99999521e-01 -7.10654932e-06 3.56521512e+01] [-1.89464874e-03 8.96016734e-06 9.99998205e-01 7.88825083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.364391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:284.21, Y:35.65, Z:7.89 [[ 9.99996186e-01 1.02368259e-03 2.56519310e-03 2.84211193e+02] [-1.02365739e-03 9.99999476e-01 -1.11350661e-05 3.56527526e+01] [-2.56520316e-03 8.50914474e-06 9.99996710e-01 7.88762944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.394391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:284.24, Y:35.65, Z:7.89 [[ 9.99994363e-01 2.01896881e-03 2.68280391e-03 2.84241683e+02] [-2.01894494e-03 9.99997962e-01 -1.16067168e-05 3.56526488e+01] [-2.68282188e-03 6.19021799e-06 9.99996401e-01 7.88743359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.424391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:284.27, Y:35.65, Z:7.89 [[ 9.99991918e-01 2.70102895e-03 2.97791595e-03 2.84273289e+02] [-2.70100131e-03 9.99996352e-01 -1.33054671e-05 3.56525230e+01] [-2.97794103e-03 5.26200470e-06 9.99995566e-01 7.88674702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.454391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:284.30, Y:35.65, Z:7.89 [[ 9.99990720e-01 3.61358617e-03 2.34581895e-03 2.84304859e+02] [-3.61357150e-03 9.99993471e-01 -1.04940323e-05 3.56514698e+01] [-2.34584155e-03 2.01715042e-06 9.99997249e-01 7.88622077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:284.33, Y:35.63, Z:7.88 [[ 9.99961075e-01 -3.28349466e-03 -8.18940300e-03 2.84327418e+02] [ 3.71035954e-03 9.98605311e-01 5.26656112e-02 3.56335014e+01] [ 8.00505407e-03 -5.26939468e-02 9.98578623e-01 7.88493142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.514391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:284.37, Y:35.69, Z:7.91 [[ 9.99957279e-01 5.40396958e-03 7.49919623e-03 2.84371522e+02] [-4.74628898e-03 9.96360710e-01 -8.51046880e-02 3.56881199e+01] [-7.93180763e-03 8.50654589e-02 9.96343793e-01 7.90794384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:284.40, Y:35.63, Z:7.87 [[ 9.99992178e-01 9.27200689e-04 3.84493247e-03 2.84396259e+02] [-1.05522873e-03 9.99440483e-01 3.34306440e-02 3.56311629e+01] [-3.81178424e-03 -3.34344398e-02 9.99433644e-01 7.87496826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.574391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:284.43, Y:35.65, Z:7.89 [[ 9.99993219e-01 -4.59046707e-04 3.65405099e-03 2.84427711e+02] [ 4.59119211e-04 9.99999894e-01 -1.90032371e-05 3.56465746e+01] [-3.65404188e-03 2.06807533e-05 9.99993324e-01 7.88500855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604391418 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:284.46, Y:35.64, Z:7.88 [[ 9.99988002e-01 -2.97945792e-03 3.88833719e-03 2.84459098e+02] [ 2.97955375e-03 9.99995561e-01 -1.88521553e-05 3.56445107e+01] [-3.88826376e-03 3.04374388e-05 9.99992440e-01 7.88483097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.634391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:284.49, Y:35.64, Z:7.88 [[ 9.99986910e-01 -3.92980692e-03 3.27650867e-03 2.84491679e+02] [ 3.92988483e-03 9.99992278e-01 -1.73428152e-05 3.56429366e+01] [-3.27641522e-03 3.02188899e-05 9.99994632e-01 7.88458019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:284.52, Y:35.64, Z:7.88 [[ 9.99985767e-01 -4.39997013e-03 3.01775510e-03 2.84523857e+02] [ 4.40003997e-03 9.99990320e-01 -1.65037796e-05 3.56411886e+01] [-3.01765327e-03 2.97817878e-05 9.99995446e-01 7.88383309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.694391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:284.56, Y:35.64, Z:7.88 [[ 9.99986070e-01 -4.52172755e-03 2.72298531e-03 2.84555367e+02] [ 4.52178569e-03 9.99989777e-01 -1.51946998e-05 3.56397170e+01] [-2.72288876e-03 2.75072442e-05 9.99996293e-01 7.88358731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:284.59, Y:35.64, Z:7.88 [[ 9.99988227e-01 -3.40170711e-03 3.46047709e-03 2.84587588e+02] [ 3.40179504e-03 9.99994214e-01 -1.95247926e-05 3.56378046e+01] [-3.46039065e-03 3.12963965e-05 9.99994012e-01 7.88347189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.754391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:284.62, Y:35.64, Z:7.88 [[ 9.99989856e-01 -2.48193112e-03 3.75874292e-03 2.84619838e+02] [ 2.48202983e-03 9.99996920e-01 -2.15974075e-05 3.56368061e+01] [-3.75867774e-03 3.09265005e-05 9.99992936e-01 7.88331947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:284.65, Y:35.63, Z:7.88 [[ 9.99990573e-01 -1.64889411e-04 4.33898392e-03 2.84652175e+02] [ 1.65001270e-04 9.99999986e-01 -2.54220688e-05 3.56347629e+01] [-4.33897967e-03 2.61377670e-05 9.99990586e-01 7.88324212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.814391418 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:284.68, Y:35.63, Z:7.88 [[ 9.99988228e-01 4.93636237e-04 4.82693037e-03 2.84683347e+02] [-4.93502461e-04 9.99999878e-01 -2.89054737e-05 3.56336465e+01] [-4.82694405e-03 2.65230314e-05 9.99988350e-01 7.88268608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844391418 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:284.72, Y:35.65, Z:7.88 [[ 9.99933044e-01 3.69314869e-03 1.09667277e-02 2.84716944e+02] [-3.31051364e-03 9.99392081e-01 -3.47060300e-02 3.56461143e+01] [-1.10882354e-02 3.46674007e-02 9.99337392e-01 7.88411370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.874391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:284.74, Y:35.61, Z:7.87 [[ 9.99990909e-01 -1.41930211e-03 4.02084206e-03 2.84743376e+02] [ 1.27819902e-03 9.99390665e-01 3.48807213e-02 3.56115554e+01] [-4.06789830e-03 -3.48752647e-02 9.99383394e-01 7.87133233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:284.78, Y:35.62, Z:7.88 [[ 9.99979343e-01 -5.53012340e-03 3.27589065e-03 2.84776307e+02] [ 5.53020956e-03 9.99984708e-01 -1.72428774e-05 3.56245262e+01] [-3.27574521e-03 3.53588830e-05 9.99994634e-01 7.88018407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.934391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:284.81, Y:35.62, Z:7.88 [[ 9.99959167e-01 -8.62393198e-03 2.70046828e-03 2.84808201e+02] [ 8.62400425e-03 9.99962812e-01 -1.51186059e-05 3.56220615e+01] [-2.70023747e-03 3.84068385e-05 9.99996354e-01 7.87960780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:284.84, Y:35.62, Z:7.88 [[ 9.99922325e-01 -1.21922629e-02 2.58703660e-03 2.84840392e+02] [ 1.21923402e-02 9.99925671e-01 -1.40986700e-05 3.56196360e+01] [-2.58667241e-03 4.56396052e-05 9.99996654e-01 7.87879170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.994391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:284.87, Y:35.62, Z:7.88 [[ 9.99863920e-01 -1.63410368e-02 2.26086918e-03 2.84873679e+02] [ 1.63411105e-02 9.99866475e-01 -1.41372544e-05 3.56172017e+01] [-2.26033628e-03 5.10804438e-05 9.99997444e-01 7.87816215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:284.91, Y:35.61, Z:7.88 [[ 9.99687711e-01 -2.49485288e-02 1.43217745e-03 2.84907056e+02] [ 2.49485640e-02 9.99688736e-01 -6.71975378e-06 3.56131247e+01] [-1.43156402e-03 4.24484261e-05 9.99998974e-01 7.87763520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.054391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:284.94, Y:35.61, Z:7.88 [[ 9.99571650e-01 -2.92485665e-02 1.01830948e-03 2.84939087e+02] [ 2.92485881e-02 9.99572169e-01 -6.29672122e-06 3.56108689e+01] [-1.01768965e-03 3.60781385e-05 9.99999482e-01 7.87722653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:284.98, Y:35.62, Z:7.88 [[ 9.99535065e-01 -2.95858280e-02 7.37103155e-03 2.84977413e+02] [ 2.98293540e-02 9.98925480e-01 -3.54696332e-02 3.56221961e+01] [-6.31371276e-03 3.56730152e-02 9.99343571e-01 7.87668127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.114391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:285.00, Y:35.59, Z:7.87 [[ 9.99141879e-01 -4.14146589e-02 5.75292077e-04 2.85001754e+02] [ 4.13673657e-02 9.98499391e-01 3.58846412e-02 3.55889930e+01] [-2.06057896e-03 -3.58300496e-02 9.99355773e-01 7.86710784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.144391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:285.04, Y:35.61, Z:7.88 [[ 9.99163552e-01 -4.08912026e-02 3.26562750e-04 2.85035526e+02] [ 4.08912050e-02 9.99163605e-01 -8.93136032e-07 3.56063566e+01] [-3.26253093e-04 1.42459333e-05 9.99999947e-01 7.87648532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.174391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:285.07, Y:35.60, Z:7.88 [[ 9.99032478e-01 -4.39732768e-02 6.77636786e-04 2.85068167e+02] [ 4.39732895e-02 9.99032707e-01 -3.72555173e-06 3.56048985e+01] [-6.76817489e-04 3.35198657e-05 9.99999770e-01 7.87632304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.204391418 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:285.10, Y:35.60, Z:7.88 [[ 9.98775085e-01 -4.94292252e-02 2.25426125e-03 2.85100875e+02] [ 4.94293858e-02 9.98777621e-01 -1.55916341e-05 3.56031452e+01] [-2.25073501e-03 1.26999285e-04 9.99997459e-01 7.87631366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.234391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:285.13, Y:35.60, Z:7.88 [[ 9.98665158e-01 -5.15881183e-02 2.56274164e-03 2.85133737e+02] [ 5.15883343e-02 9.98668435e-01 -1.82382371e-05 3.56022232e+01] [-2.55838831e-03 1.50421465e-04 9.99996716e-01 7.87649698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.264391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:285.16, Y:35.60, Z:7.87 [[ 9.98633876e-01 -5.20207307e-02 4.92201272e-03 2.85163426e+02] [ 5.19728885e-02 9.98604309e-01 9.39427712e-03 3.55964942e+01] [-5.40384027e-03 -9.12563215e-03 9.99943759e-01 7.87296270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.294391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:285.20, Y:35.60, Z:7.88 [[ 9.98494903e-01 -5.46096651e-02 5.07081886e-03 2.85197395e+02] [ 5.46567424e-02 9.98458449e-01 -9.66257995e-03 3.56048807e+01] [-4.53533168e-03 9.92519127e-03 9.99940459e-01 7.87775250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.324391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:285.23, Y:35.60, Z:7.88 [[ 9.98346996e-01 -5.73873911e-02 3.15633121e-03 2.85230443e+02] [ 5.73877522e-02 9.98351965e-01 -2.38824580e-05 3.56003676e+01] [-3.14975891e-03 2.04977734e-04 9.99995018e-01 7.87554833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.354391418 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:285.26, Y:35.60, Z:7.88 [[ 9.98326522e-01 -5.77444111e-02 3.12069452e-03 2.85262048e+02] [ 5.77447653e-02 9.98331379e-01 -2.34627845e-05 3.56004128e+01] [-3.11413242e-03 2.03627293e-04 9.99995130e-01 7.87521271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384391418 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:285.30, Y:35.61, Z:7.87 [[ 9.98470077e-01 -5.46725570e-02 8.27146544e-03 2.85300943e+02] [ 5.48767869e-02 9.98130841e-01 -2.68953991e-02 3.56096653e+01] [-6.78556452e-03 2.73081626e-02 9.99604032e-01 7.87453910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.414391418 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:285.33, Y:35.59, Z:7.87 [[ 9.98267706e-01 -5.87422622e-02 3.30676701e-03 2.85325377e+02] [ 5.86309629e-02 9.97908559e-01 2.72197923e-02 3.55875457e+01] [-4.89880328e-03 -2.69787607e-02 9.99624003e-01 7.86679414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444391418 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:285.36, Y:35.60, Z:7.87 [[ 9.98330741e-01 -5.76796632e-02 2.96445222e-03 2.85357772e+02] [ 5.76799833e-02 9.98335124e-01 -2.25228064e-05 3.56016856e+01] [-2.95821766e-03 1.93474764e-04 9.99995606e-01 7.87383504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.474391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:285.39, Y:35.60, Z:7.87 [[ 9.98369895e-01 -5.70189320e-02 2.52871630e-03 2.85390401e+02] [ 5.70191670e-02 9.98373084e-01 -2.08652240e-05 3.56019162e+01] [-2.52341258e-03 1.65016508e-04 9.99996803e-01 7.87356470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:285.42, Y:35.60, Z:7.87 [[ 9.98413775e-01 -5.62568084e-02 2.25962478e-03 2.85423315e+02] [ 5.62569943e-02 9.98416321e-01 -1.87699566e-05 3.56024160e+01] [-2.25499032e-03 1.45859882e-04 9.99997447e-01 7.87296467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.534391418 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:285.46, Y:35.60, Z:7.87 [[ 9.98616159e-01 -5.25708643e-02 1.43939000e-03 2.85455018e+02] [ 5.25709334e-02 9.98617192e-01 -1.01529389e-05 3.56041526e+01] [-1.43686585e-03 8.58089647e-05 9.99998964e-01 7.87205684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564391418 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:285.49, Y:35.61, Z:7.87 [[ 9.98746681e-01 -5.00439217e-02 8.20162796e-04 2.85488498e+02] [ 5.00439438e-02 9.98747017e-01 -6.40719202e-06 3.56052007e+01] [-8.18814505e-04 4.74433426e-05 9.99999664e-01 7.87149383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.594391418 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:285.53, Y:35.62, Z:7.87 [[ 9.99009522e-01 -4.42269815e-02 4.89381991e-03 2.85525963e+02] [ 4.43375469e-02 9.98692830e-01 -2.54325344e-02 3.56153335e+01] [-3.76261862e-03 2.56243240e-02 9.99664562e-01 7.87133397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:285.55, Y:35.60, Z:7.86 [[ 9.99029541e-01 -4.40448686e-02 1.58895644e-04 2.85552526e+02] [ 4.40262144e-02 9.98699216e-01 2.57209746e-02 3.55953805e+01] [-1.29156590e-03 -2.56890179e-02 9.99669148e-01 7.86457106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.654391418 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:285.59, Y:35.61, Z:7.87 [[ 9.99357533e-01 -3.58349450e-02 6.15420938e-04 2.85585570e+02] [ 3.58349547e-02 9.99357722e-01 -4.63102987e-06 3.56116104e+01] [-6.14859714e-04 2.66816360e-05 9.99999811e-01 7.87192987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.684391418 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:285.62, Y:35.61, Z:7.87 [[ 9.99508906e-01 -3.12935986e-02 1.63049477e-03 2.85617875e+02] [ 3.12936639e-02 9.99510233e-01 -1.45735122e-05 3.56133413e+01] [-1.62924015e-03 6.55905105e-05 9.99998671e-01 7.87173995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.714391418 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:285.65, Y:35.61, Z:7.87 [[ 9.99653679e-01 -2.62254358e-02 2.17910666e-03 2.85651102e+02] [ 2.62255413e-02 9.99656051e-01 -1.98513909e-05 3.56148644e+01] [-2.17783655e-03 7.69927676e-05 9.99997626e-01 7.87201995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.744391418 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:285.68, Y:35.62, Z:7.87 [[ 9.99865270e-01 -1.58561839e-02 4.24529879e-03 2.85683648e+02] [ 1.58564985e-02 9.99874277e-01 -4.04431315e-05 3.56183688e+01] [-4.24412378e-03 1.07753256e-04 9.99990988e-01 7.87183514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.774391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:285.72, Y:35.62, Z:7.87 [[ 9.99931911e-01 -1.05866919e-02 4.90869769e-03 2.85715931e+02] [ 1.05870501e-02 9.99943955e-01 -4.69812225e-05 3.56195814e+01] [-4.90792521e-03 9.89466517e-05 9.99987951e-01 7.87155702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.804391418 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:285.75, Y:35.62, Z:7.87 [[ 9.99985577e-01 -3.98876170e-04 5.35598931e-03 2.85747900e+02] [ 3.99165609e-04 9.99999919e-01 -5.29713268e-05 3.56221965e+01] [-5.35596775e-03 5.51084895e-05 9.99985655e-01 7.87087795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.834391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:285.78, Y:35.62, Z:7.87 [[ 9.99975530e-01 3.95787842e-03 5.76838012e-03 2.85779642e+02] [-3.95761220e-03 9.99992167e-01 -5.75669632e-05 3.56232310e+01] [-5.76856278e-03 3.47365431e-05 9.99983361e-01 7.87035820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.864391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:285.81, Y:35.62, Z:7.87 [[ 9.99918282e-01 1.16235659e-02 5.32184921e-03 2.85812188e+02] [-1.16234459e-02 9.99932444e-01 -5.34712386e-05 3.56246839e+01] [-5.32211122e-03 -8.39135748e-06 9.99985837e-01 7.86985592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.894391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:285.84, Y:35.63, Z:7.87 [[ 9.99879637e-01 1.45927463e-02 5.26904773e-03 2.85842268e+02] [-1.45926649e-02 9.99893520e-01 -5.38812491e-05 3.56252526e+01] [-5.26927296e-03 -2.30146842e-05 9.99986117e-01 7.86936775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.924391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:285.87, Y:35.63, Z:7.87 [[ 9.99846649e-01 1.66878511e-02 5.30984693e-03 2.85870479e+02] [-1.66877977e-02 9.99860748e-01 -5.43694950e-05 3.56255482e+01] [-5.31001483e-03 -3.42484938e-05 9.99985901e-01 7.86906005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.954391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:285.90, Y:35.63, Z:7.87 [[ 9.99826234e-01 1.78653865e-02 5.32253494e-03 2.85899378e+02] [-1.78653531e-02 9.99840400e-01 -5.38173014e-05 3.56255047e+01] [-5.32264693e-03 -4.12810165e-05 9.99985834e-01 7.86830150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:285.93, Y:35.63, Z:7.87 [[ 9.99825168e-01 1.79370972e-02 5.28147901e-03 2.85928017e+02] [-1.79370676e-02 9.99839116e-01 -5.29790674e-05 3.56253418e+01] [-5.28157960e-03 -4.17644410e-05 9.99986051e-01 7.86781036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.014391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:285.96, Y:35.62, Z:7.87 [[ 9.99856364e-01 1.59772336e-02 5.65511996e-03 2.85955870e+02] [-1.59771707e-02 9.99872355e-01 -5.62967934e-05 3.56243018e+01] [-5.65529758e-03 -3.40641100e-05 9.99984008e-01 7.86783680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:285.99, Y:35.62, Z:7.87 [[ 9.99915131e-01 1.12125481e-02 6.63393743e-03 2.85985998e+02] [-1.12123633e-02 9.99937137e-01 -6.50452898e-05 3.56224062e+01] [-6.63424973e-03 -9.34234735e-06 9.99977993e-01 7.86795011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.074391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:286.02, Y:35.62, Z:7.87 [[ 9.99946749e-01 8.13240772e-03 6.35318107e-03 2.86016113e+02] [-8.13217846e-03 9.99966931e-01 -6.19188194e-05 3.56209521e+01] [-6.35347453e-03 1.02503199e-05 9.99979816e-01 7.86806347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:286.05, Y:35.62, Z:7.87 [[ 9.99966598e-01 5.33256580e-03 6.19406189e-03 2.86046647e+02] [-5.33229613e-03 9.99985781e-01 -6.00497886e-05 3.56192373e+01] [-6.19429403e-03 2.70192106e-05 9.99980815e-01 7.86813445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.134391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:286.08, Y:35.62, Z:7.87 [[ 9.99978401e-01 1.95684966e-03 6.27437355e-03 2.86078212e+02] [-1.95650164e-03 9.99998084e-01 -6.16034874e-05 3.56180424e+01] [-6.27448208e-03 4.93263347e-05 9.99980314e-01 7.86785841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164391418 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:286.11, Y:35.62, Z:7.87 [[ 9.99978075e-01 -3.70191724e-03 5.49042970e-03 2.86110074e+02] [ 3.70226453e-03 9.99993145e-01 -5.30921112e-05 3.56153289e+01] [-5.49019552e-03 7.34179703e-05 9.99984926e-01 7.86869972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.194391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:286.14, Y:35.61, Z:7.87 [[ 9.99965230e-01 -6.45664583e-03 5.27730990e-03 2.86142458e+02] [ 6.45701187e-03 9.99979152e-01 -5.23263527e-05 3.56134510e+01] [-5.27686203e-03 8.64001860e-05 9.99986074e-01 7.86832835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:286.17, Y:35.61, Z:7.87 [[ 9.99946450e-01 -9.31013899e-03 4.51864930e-03 2.86174702e+02] [ 9.31044077e-03 9.99956656e-01 -4.57550502e-05 3.56115515e+01] [-4.51802746e-03 8.78232167e-05 9.99989790e-01 7.86857714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.254391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:286.21, Y:35.61, Z:7.87 [[ 9.99874130e-01 -1.49721940e-02 5.24948520e-03 2.86207638e+02] [ 1.49726895e-02 9.99887901e-01 -5.51012804e-05 3.56078072e+01] [-5.24807175e-03 1.33693257e-04 9.99986220e-01 7.86898823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:286.24, Y:35.61, Z:7.87 [[ 9.99828396e-01 -1.77107573e-02 5.43202258e-03 2.86240999e+02] [ 1.77113424e-02 9.99843140e-01 -5.96136813e-05 3.56056212e+01] [-5.43011471e-03 1.55811863e-04 9.99985245e-01 7.86899659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.314391418 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:286.27, Y:35.60, Z:7.87 [[ 9.99742831e-01 -2.19728201e-02 5.60959772e-03 2.86273010e+02] [ 2.19735133e-02 9.99758551e-01 -6.19610258e-05 3.56021580e+01] [-5.60688183e-03 1.85207661e-04 9.99984264e-01 7.86978259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:286.31, Y:35.60, Z:7.87 [[ 9.99707882e-01 -2.35830720e-02 5.29052548e-03 2.86305835e+02] [ 2.35837178e-02 9.99721864e-01 -5.97096938e-05 3.56003745e+01] [-5.28764585e-03 1.84462511e-04 9.99986003e-01 7.87005541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.374391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:286.34, Y:35.60, Z:7.87 [[ 9.99691896e-01 -2.42425299e-02 5.33029034e-03 2.86337496e+02] [ 2.42431986e-02 9.99706089e-01 -6.08770322e-05 3.55983391e+01] [-5.32724789e-03 1.90081563e-04 9.99985792e-01 7.86995631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:286.37, Y:35.60, Z:7.87 [[ 9.99708471e-01 -2.36711565e-02 4.75906189e-03 2.86370691e+02] [ 2.36716842e-02 9.99719785e-01 -5.45926482e-05 3.55955397e+01] [-4.75643606e-03 1.67231743e-04 9.99988674e-01 7.86987503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.434391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:286.40, Y:35.59, Z:7.87 [[ 9.99739882e-01 -2.23500038e-02 4.54381950e-03 2.86403478e+02] [ 2.23504735e-02 9.99750196e-01 -5.26248338e-05 3.55942161e+01] [-4.54150827e-03 1.54167663e-04 9.99989675e-01 7.86904979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464391418 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:286.44, Y:35.59, Z:7.87 [[ 9.99819234e-01 -1.87776136e-02 2.98341796e-03 2.86435387e+02] [ 1.87777986e-02 9.99823681e-01 -3.39889785e-05 3.55930979e+01] [-2.98225369e-03 9.00048559e-05 9.99995549e-01 7.86895665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.494391418 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:286.47, Y:35.59, Z:7.87 [[ 9.99855975e-01 -1.67618994e-02 2.65846533e-03 2.86467133e+02] [ 1.67620419e-02 9.99859507e-01 -3.13655189e-05 3.55925291e+01] [-2.65756609e-03 7.59223089e-05 9.99996466e-01 7.86861270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524391418 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:286.50, Y:35.59, Z:7.87 [[ 9.99881335e-01 -1.52102663e-02 2.44202687e-03 2.86499722e+02] [ 1.52103826e-02 9.99884315e-01 -2.90622555e-05 3.55921812e+01] [-2.44130232e-03 6.62029698e-05 9.99997018e-01 7.86816793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.554391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:286.53, Y:35.60, Z:7.87 [[ 9.99918462e-01 -1.27000183e-02 -1.33353777e-03 2.86530937e+02] [ 1.26892271e-02 9.99888982e-01 -7.81072296e-03 3.55954100e+01] [ 1.43258605e-03 7.79316453e-03 9.99968607e-01 7.86999259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584391418 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:286.56, Y:35.59, Z:7.86 [[ 9.99911331e-01 -1.33161216e-02 -1.04045399e-04 2.86562762e+02] [ 1.33165281e-02 9.99880237e-01 7.88550980e-03 3.55871403e+01] [-9.71469503e-07 -7.88619612e-03 9.99968903e-01 7.86493053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.614391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:286.59, Y:35.59, Z:7.87 [[ 9.99906082e-01 -1.36256567e-02 -1.47285044e-03 2.86594671e+02] [ 1.36256995e-02 9.99907166e-01 1.90686036e-05 3.55904868e+01] [ 1.47245389e-03 -3.91354302e-05 9.99998915e-01 7.86677301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.644391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:286.63, Y:35.59, Z:7.87 [[ 9.99866639e-01 -1.59466550e-02 -3.52258158e-03 2.86626097e+02] [ 1.59469109e-02 9.99872839e-01 4.45510640e-05 3.55898012e+01] [ 3.52142320e-03 -1.00719417e-04 9.99993795e-01 7.86614649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.674391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:286.66, Y:35.59, Z:7.87 [[ 9.99822944e-01 -1.81027003e-02 -5.13548302e-03 2.86657162e+02] [ 1.81144199e-02 9.99833400e-01 2.24481966e-03 3.55890852e+01] [ 5.09399015e-03 -2.33744849e-03 9.99984294e-01 7.86633847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.704391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:286.69, Y:35.59, Z:7.87 [[ 9.99791833e-01 -1.97076616e-02 -5.28188014e-03 2.86688324e+02] [ 1.96990486e-02 9.99804547e-01 -1.67778521e-03 3.55909438e+01] [ 5.31391301e-03 1.57338793e-03 9.99984643e-01 7.86676259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.734391418 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:286.72, Y:35.59, Z:7.87 [[ 9.99744726e-01 -2.19816141e-02 -5.22409350e-03 2.86720428e+02] [ 2.19796159e-02 9.99758322e-01 -4.39596704e-04 3.55899157e+01] [ 5.23249400e-03 3.24660917e-04 9.99986258e-01 7.86603893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.764391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:286.75, Y:35.59, Z:7.87 [[ 9.99720704e-01 -2.30739650e-02 -5.10937233e-03 2.86752387e+02] [ 2.30746032e-02 9.99733744e-01 6.59923949e-05 3.55897272e+01] [ 5.10648922e-03 -1.83870703e-04 9.99986945e-01 7.86607910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.794391418 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:286.78, Y:35.59, Z:7.87 [[ 9.99694322e-01 -2.42679110e-02 -4.72559685e-03 2.86783174e+02] [ 2.42684710e-02 9.99705475e-01 6.11810556e-05 3.55909175e+01] [ 4.72272030e-03 -1.75845364e-04 9.99988832e-01 7.86714880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.824391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:286.81, Y:35.59, Z:7.87 [[ 9.99698101e-01 -2.42271906e-02 -4.09268041e-03 2.86814044e+02] [ 2.42276115e-02 9.99706467e-01 5.32915891e-05 3.55912462e+01] [ 4.09018797e-03 -1.52431372e-04 9.99991624e-01 7.86746958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.854391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:286.85, Y:35.59, Z:7.87 [[ 9.99701724e-01 -2.41496068e-02 -3.64149707e-03 2.86846677e+02] [ 2.41499415e-02 9.99708346e-01 4.79707529e-05 3.55916099e+01] [ 3.63927654e-03 -1.35898386e-04 9.99993369e-01 7.86771832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:286.88, Y:35.59, Z:7.87 [[ 9.99713859e-01 -2.37915340e-02 -2.48258551e-03 2.86878939e+02] [ 2.37916896e-02 9.99716937e-01 3.31509556e-05 3.55925938e+01] [ 2.48109407e-03 -9.22063735e-05 9.99996918e-01 7.86805119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.914391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:286.91, Y:35.59, Z:7.87 [[ 9.99731901e-01 -2.30948573e-02 -1.65961422e-03 2.86910502e+02] [ 2.30949261e-02 9.99733276e-01 2.23250552e-05 3.55931081e+01] [ 1.65865596e-03 -6.06477376e-05 9.99998623e-01 7.86818930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:286.94, Y:35.59, Z:7.87 [[ 9.99777480e-01 -2.10856363e-02 -6.21263750e-04 2.86942624e+02] [ 2.10856460e-02 9.99777673e-01 8.95866980e-06 3.55942470e+01] [ 6.20936727e-04 -2.20564238e-05 9.99999807e-01 7.86846123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.974391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:286.97, Y:35.59, Z:7.87 [[ 9.99815745e-01 -1.91892258e-02 -4.99518197e-04 2.86974173e+02] [ 1.91892321e-02 9.99815870e-01 7.85956165e-06 3.55944500e+01] [ 4.99275401e-04 -1.74434841e-05 9.99999875e-01 7.86840269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:287.01, Y:35.59, Z:7.87 [[ 9.99855598e-01 -1.69856151e-02 -5.21815555e-04 2.87006860e+02] [ 1.69856214e-02 9.99855734e-01 7.74089874e-06 3.55946008e+01] [ 5.21608791e-04 -1.66031424e-05 9.99999864e-01 7.86788823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.034391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:287.04, Y:35.59, Z:7.87 [[ 9.99857263e-01 -1.68873015e-02 -5.21812323e-04 2.87039555e+02] [ 1.68873080e-02 9.99857399e-01 7.97858885e-06 3.55940818e+01] [ 5.21603176e-04 -1.67894554e-05 9.99999864e-01 7.86757586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:287.07, Y:35.59, Z:7.87 [[ 9.99929227e-01 -1.18671098e-02 -8.43874125e-04 2.87070849e+02] [ 1.18671241e-02 9.99929583e-01 1.19929710e-05 3.55949205e+01] [ 8.43672380e-04 -2.20064812e-05 9.99999644e-01 7.86730250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.094391418 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:287.10, Y:35.60, Z:7.87 [[ 9.99961673e-01 -8.75353983e-03 1.68623917e-04 2.87103487e+02] [ 8.75424952e-03 9.99950121e-01 -4.80825561e-03 3.55973119e+01] [-1.26526250e-04 4.80954750e-03 9.99988426e-01 7.86683810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:287.13, Y:35.59, Z:7.87 [[ 9.99977084e-01 -6.66917527e-03 -1.16353858e-03 2.87134738e+02] [ 6.67480281e-03 9.99965710e-01 4.90165948e-03 3.55940990e+01] [ 1.13080865e-03 -4.90931355e-03 9.99987310e-01 7.86573737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.154391418 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:287.17, Y:35.60, Z:7.87 [[ 9.99991358e-01 -3.86791144e-03 -1.52439814e-03 2.87165666e+02] [ 3.86794868e-03 9.99992519e-01 2.14825447e-05 3.55969714e+01] [ 1.52430364e-03 -2.73786528e-05 9.99998838e-01 7.86623692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.184391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:287.20, Y:35.60, Z:7.87 [[ 9.99995601e-01 5.84366907e-04 -2.90785856e-03 2.87196286e+02] [-5.96409719e-04 9.99991243e-01 -4.14232869e-03 3.56006831e+01] [ 2.90541245e-03 4.14404474e-03 9.99987193e-01 7.86814895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.214391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:287.23, Y:35.60, Z:7.87 [[ 9.99996766e-01 5.61602672e-04 -2.48054266e-03 2.87225864e+02] [-5.51303328e-04 9.99991233e-01 4.15078703e-03 3.55970849e+01] [ 2.48285201e-03 -4.14940607e-03 9.99988309e-01 7.86520658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.244391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:287.25, Y:35.60, Z:7.87 [[ 9.99993110e-01 4.58904473e-04 -3.68369947e-03 2.87254727e+02] [-4.58725417e-04 9.99999894e-01 4.94523939e-05 3.55991871e+01] [ 3.68372177e-03 -4.77622466e-05 9.99993214e-01 7.86562444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.274391418 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:287.28, Y:35.60, Z:7.87 [[ 9.99990626e-01 -8.58841289e-04 -4.24384954e-03 2.87283038e+02] [ 8.59088138e-04 9.99999629e-01 5.63436835e-05 3.55987211e+01] [ 4.24379958e-03 -5.99889961e-05 9.99990993e-01 7.86526020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.304391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:287.31, Y:35.60, Z:7.86 [[ 9.99987452e-01 -2.62286327e-03 -4.26801172e-03 2.87312020e+02] [ 2.62312759e-03 9.99996558e-01 5.63336035e-05 3.55982880e+01] [ 4.26784927e-03 -6.75284360e-05 9.99990890e-01 7.86477365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.334391418 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:287.34, Y:35.60, Z:7.87 [[ 9.99962072e-01 -5.75039164e-03 -6.54114976e-03 2.87340559e+02] [ 5.68860106e-03 9.99939392e-01 -9.42614383e-03 3.56017587e+01] [ 6.59495734e-03 9.38857633e-03 9.99934178e-01 7.86822793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.364391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:287.37, Y:35.59, Z:7.86 [[ 9.99941104e-01 -1.01450657e-02 -3.85561119e-03 2.87370394e+02] [ 1.01807520e-02 9.99904445e-01 9.35160620e-03 3.55927323e+01] [ 3.76037011e-03 -9.39030845e-03 9.99948840e-01 7.86188322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.394391418 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:287.40, Y:35.60, Z:7.86 [[ 9.99913998e-01 -1.26630778e-02 -3.41209382e-03 2.87401334e+02] [ 1.26633153e-02 9.99919816e-01 4.80136376e-05 3.55965564e+01] [ 3.41121223e-03 -9.12179284e-05 9.99994178e-01 7.86427446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.424391418 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:287.43, Y:35.60, Z:7.86 [[ 9.99878353e-01 -1.52581480e-02 -3.23550040e-03 2.87432594e+02] [ 1.52583731e-02 9.99883583e-01 4.48981156e-05 3.55957010e+01] [ 3.23443867e-03 -9.42611261e-05 9.99994765e-01 7.86421590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.454391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:287.47, Y:35.59, Z:7.86 [[ 9.99774309e-01 -2.11301331e-02 -2.20186611e-03 2.87465734e+02] [ 2.11302529e-02 9.99776731e-01 3.11655262e-05 3.55939267e+01] [ 2.20071597e-03 -7.76844802e-05 9.99997575e-01 7.86422445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:287.50, Y:35.59, Z:7.86 [[ 9.99716022e-01 -2.37834980e-02 -1.49017506e-03 2.87497507e+02] [ 2.37835564e-02 9.99717131e-01 2.14229562e-05 3.55924975e+01] [ 1.48924402e-03 -5.68585350e-05 9.99998889e-01 7.86391795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.514391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:287.53, Y:35.59, Z:7.86 [[ 9.99607538e-01 -2.80121235e-02 3.00556623e-04 2.87530324e+02] [ 2.80121257e-02 9.99607583e-01 -3.02123787e-06 3.55910828e+01] [-3.00354049e-04 1.14392821e-05 9.99999955e-01 7.86368822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544391418 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:287.56, Y:35.59, Z:7.86 [[ 9.99571094e-01 -2.92624236e-02 1.15692374e-03 2.87563459e+02] [ 2.92624606e-02 9.99571762e-01 -1.50125901e-05 3.55905004e+01] [-1.15598900e-03 4.88605866e-05 9.99999331e-01 7.86346734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.574391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:287.60, Y:35.59, Z:7.86 [[ 9.99563418e-01 -2.95019402e-02 1.61539168e-03 2.87596474e+02] [ 2.95020135e-02 9.99564721e-01 -2.16192514e-05 3.55897724e+01] [-1.61405072e-03 6.92671200e-05 9.99998695e-01 7.86354049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:287.63, Y:35.59, Z:7.86 [[ 9.99575851e-01 -2.90476983e-02 2.08572434e-03 2.87628458e+02] [ 2.90478212e-02 9.99578023e-01 -2.86663041e-05 3.55891532e+01] [-2.08401153e-03 8.92398931e-05 9.99997824e-01 7.86323192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.634391418 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:287.66, Y:35.59, Z:7.86 [[ 9.99604850e-01 -2.80058671e-02 2.41164470e-03 2.87661803e+02] [ 2.80060291e-02 9.99607754e-01 -3.34167525e-05 3.55887917e+01] [-2.40976288e-03 1.00944140e-04 9.99997091e-01 7.86260938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:287.70, Y:35.59, Z:7.86 [[ 9.99678746e-01 -2.52001377e-02 2.71265637e-03 2.87695263e+02] [ 2.52003337e-02 9.99682420e-01 -3.80638060e-05 3.55887432e+01] [-2.71083568e-03 1.06411424e-04 9.99996320e-01 7.86218582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.694391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:287.73, Y:35.59, Z:7.86 [[ 9.99721952e-01 -2.34640064e-02 2.33644469e-03 2.87728652e+02] [ 2.34641473e-02 9.99724678e-01 -3.29140744e-05 3.55886831e+01] [-2.33502912e-03 8.77276049e-05 9.99997270e-01 7.86224319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:287.76, Y:35.59, Z:7.86 [[ 9.99760809e-01 -2.17750196e-02 2.04293402e-03 2.87761759e+02] [ 2.17751241e-02 9.99762893e-01 -2.88917845e-05 3.55887829e+01] [-2.04182051e-03 7.33700156e-05 9.99997913e-01 7.86188464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.754391418 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:287.80, Y:35.60, Z:7.86 [[ 9.99858323e-01 -1.63853136e-02 3.85439833e-03 2.87797227e+02] [ 1.64491966e-02 9.99717243e-01 -1.71714437e-02 3.55951623e+01] [-3.57194898e-03 1.72324126e-02 9.99845131e-01 7.86034178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:287.83, Y:35.58, Z:7.86 [[ 9.99847490e-01 -1.74575115e-02 -4.82045681e-04 2.87825237e+02] [ 1.74632561e-02 9.99696175e-01 1.73951841e-02 3.55813654e+01] [ 1.78222597e-04 -1.74009493e-02 9.99848576e-01 7.85586755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.814391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:287.86, Y:35.60, Z:7.86 [[ 9.99923049e-01 -1.14394425e-02 4.79945847e-03 2.87861637e+02] [ 1.15894932e-02 9.99404626e-01 -3.24973329e-02 3.56016713e+01] [-4.42484963e-03 3.25504555e-02 9.99460299e-01 7.86034004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:287.89, Y:35.57, Z:7.85 [[ 9.99895429e-01 -1.43981954e-02 -1.35045219e-03 2.87887439e+02] [ 1.44348412e-02 9.99354333e-01 3.29021624e-02 3.55739885e+01] [ 8.75848485e-04 -3.29182154e-02 9.99457665e-01 7.85073498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.874391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:287.92, Y:35.59, Z:7.86 [[ 9.99912856e-01 -1.30460019e-02 -2.02068179e-03 2.87920524e+02] [ 1.30460948e-02 9.99914896e-01 3.28159209e-05 3.55897101e+01] [ 2.02008171e-03 -5.91750675e-05 9.99997958e-01 7.86001247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904391418 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:287.96, Y:35.61, Z:7.86 [[ 9.99948923e-01 -8.04205449e-03 6.12189226e-03 2.87955471e+02] [ 8.29747589e-03 9.99044549e-01 -4.29085279e-02 3.56052650e+01] [-5.77097037e-03 4.29571325e-02 9.99060249e-01 7.86053575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.934391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:287.98, Y:35.57, Z:7.85 [[ 9.99913493e-01 -1.30855967e-02 -1.33195001e-03 2.87979144e+02] [ 1.31310467e-02 9.98973400e-01 4.33557567e-02 3.55694628e+01] [ 7.63246684e-04 -4.33694960e-02 9.99058809e-01 7.84735317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:288.01, Y:35.59, Z:7.86 [[ 9.99918441e-01 -1.26533926e-02 -1.73288630e-03 2.88012332e+02] [ 1.26534615e-02 9.99919941e-01 2.88130644e-05 3.55901604e+01] [ 1.73238298e-03 -5.07377245e-05 9.99998498e-01 7.85981606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.994391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:288.04, Y:35.59, Z:7.86 [[ 9.99894911e-01 -1.44292439e-02 -1.40158944e-03 2.88043356e+02] [ 1.44292884e-02 9.99895892e-01 2.16626679e-05 3.55899608e+01] [ 1.40113095e-03 -4.18843296e-05 9.99999018e-01 7.85982081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:288.08, Y:35.59, Z:7.86 [[ 9.99870111e-01 -1.60261808e-02 -1.70959557e-03 2.88075881e+02] [ 1.60262496e-02 9.99871571e-01 2.65857814e-05 3.55894318e+01] [ 1.70894994e-03 -5.39807336e-05 9.99998538e-01 7.85957480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.054391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:288.11, Y:35.59, Z:7.86 [[ 9.99831131e-01 -1.83260789e-02 -1.36572615e-03 2.88108481e+02] [ 1.83261254e-02 9.99832062e-01 2.14953197e-05 3.55889480e+01] [ 1.36510287e-03 -4.65201584e-05 9.99999067e-01 7.85936072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:288.14, Y:35.59, Z:7.86 [[ 9.99718918e-01 -2.37044544e-02 -4.28899660e-04 2.88141392e+02] [ 2.37044599e-02 9.99719010e-01 7.60448629e-06 3.55881228e+01] [ 4.28598883e-04 -1.77691836e-05 9.99999908e-01 7.85896044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.114391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:288.17, Y:35.59, Z:7.86 [[ 9.99645463e-01 -2.66251206e-02 -2.24495992e-04 2.88173250e+02] [ 2.66251222e-02 9.99645489e-01 4.31254660e-06 3.55876193e+01] [ 2.24301584e-04 -1.02882509e-05 9.99999975e-01 7.85885460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.144391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:288.20, Y:35.59, Z:7.86 [[ 9.99557970e-01 -2.97251393e-02 5.29422420e-04 2.88204967e+02] [ 2.97251474e-02 9.99558110e-01 -7.40924142e-06 3.55872228e+01] [-5.28968233e-04 2.31431258e-05 9.99999860e-01 7.85833653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.174391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:288.24, Y:35.59, Z:7.86 [[ 9.99385025e-01 -3.50513199e-02 9.88526337e-04 2.88238473e+02] [ 3.50513513e-02 9.99385512e-01 -1.44836809e-05 3.55871988e+01] [-9.87411228e-04 4.91239577e-05 9.99999511e-01 7.85819639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.204391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:288.27, Y:35.59, Z:7.86 [[ 9.99308758e-01 -3.71582924e-02 1.12613813e-03 2.88270532e+02] [ 3.71583342e-02 9.99309391e-01 -1.62059378e-05 3.55868924e+01] [-1.12475822e-03 5.80401525e-05 9.99999366e-01 7.85780629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.234391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:288.30, Y:35.59, Z:7.86 [[ 9.99178728e-01 -4.04680303e-02 2.05134289e-03 2.88303472e+02] [ 4.04681806e-02 9.99180827e-01 -3.18091291e-05 3.55871880e+01] [-2.04837523e-03 1.14797120e-04 9.99997895e-01 7.85745260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.264391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:288.34, Y:35.59, Z:7.86 [[ 9.99135544e-01 -4.15268261e-02 1.92028428e-03 2.88335557e+02] [ 4.15269603e-02 9.99137383e-01 -3.00853759e-05 3.55874048e+01] [-1.91737846e-03 1.09802938e-04 9.99998156e-01 7.85740240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.294391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:288.37, Y:35.59, Z:7.86 [[ 9.99121304e-01 -4.18516468e-02 2.24930611e-03 2.88368371e+02] [ 4.18518324e-02 9.99123828e-01 -3.55070461e-05 3.55873122e+01] [-2.24584930e-03 1.29613429e-04 9.99997470e-01 7.85701490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.324391418 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:288.40, Y:35.59, Z:7.86 [[ 9.99119920e-01 -4.18845261e-02 2.25216550e-03 2.88401328e+02] [ 4.18847129e-02 9.99122450e-01 -3.58103901e-05 3.55875478e+01] [-2.24868921e-03 1.30110180e-04 9.99997463e-01 7.85694271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.354391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:288.43, Y:35.59, Z:7.86 [[ 9.99166271e-01 -4.07576036e-02 2.36214857e-03 2.88434788e+02] [ 4.07578067e-02 9.99169055e-01 -3.79003012e-05 3.55888878e+01] [-2.35864102e-03 1.34144697e-04 9.99997209e-01 7.85725486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384391418 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:288.47, Y:35.59, Z:7.86 [[ 9.99211936e-01 -3.96284281e-02 2.25703465e-03 2.88468144e+02] [ 3.96286111e-02 9.99214477e-01 -3.64343818e-05 3.55891532e+01] [-2.25381786e-03 1.25848818e-04 9.99997452e-01 7.85714199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.414391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:288.50, Y:35.59, Z:7.86 [[ 9.99256507e-01 -3.84923239e-02 2.18512730e-03 2.88500144e+02] [ 3.84924936e-02 9.99258889e-01 -3.56433656e-05 3.55891012e+01] [-2.18213588e-03 1.19727864e-04 9.99997612e-01 7.85679466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:288.53, Y:35.59, Z:7.86 [[ 9.99364950e-01 -3.55992449e-02 1.54587206e-03 2.88532283e+02] [ 3.55993262e-02 9.99366143e-01 -2.51419737e-05 3.55898715e+01] [-1.54399716e-03 8.01580111e-05 9.99998805e-01 7.85627633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.474391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:288.56, Y:35.59, Z:7.86 [[ 9.99429843e-01 -3.37468472e-02 1.06761077e-03 2.88564945e+02] [ 3.37468846e-02 9.99430412e-01 -1.70419506e-05 3.55902525e+01] [-1.06642756e-03 5.30607715e-05 9.99999430e-01 7.85639311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:288.60, Y:35.59, Z:7.86 [[ 9.99502474e-01 -3.15362131e-02 5.21847875e-04 2.88596700e+02] [ 3.15362216e-02 9.99502610e-01 -8.03519374e-06 3.55906262e+01] [-5.21334914e-04 2.44883063e-05 9.99999864e-01 7.85610697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.534391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:288.63, Y:35.59, Z:7.86 [[ 9.99659858e-01 -2.60798060e-02 1.11853349e-04 2.88628755e+02] [ 2.60798062e-02 9.99659864e-01 -2.73067188e-07 3.55925999e+01] [-1.11808182e-04 3.19008798e-06 9.99999994e-01 7.85631074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:288.66, Y:35.59, Z:7.86 [[ 9.99736245e-01 -2.29653824e-02 -1.80499441e-04 2.88662184e+02] [ 2.29653835e-02 9.99736261e-01 4.12589659e-06 3.55933882e+01] [ 1.80357083e-04 -8.27004724e-06 9.99999984e-01 7.85638719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.594391418 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:288.69, Y:35.60, Z:7.86 [[ 9.99868038e-01 -1.62364604e-02 -5.33797231e-04 2.88693104e+02] [ 1.62364679e-02 9.99868180e-01 9.78096663e-06 3.55957028e+01] [ 5.33568057e-04 -1.84466575e-05 9.99999857e-01 7.85661716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:288.73, Y:35.60, Z:7.86 [[ 9.99919894e-01 -1.26405059e-02 -6.50309568e-04 2.88725238e+02] [ 1.26405164e-02 9.99920105e-01 1.20207681e-05 3.55965098e+01] [ 6.50105663e-04 -2.02400539e-05 9.99999788e-01 7.85652510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.654391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:288.76, Y:35.60, Z:7.86 [[ 9.99958341e-01 -9.11794746e-03 -4.24211286e-04 2.88757054e+02] [ 9.11795172e-03 9.99958431e-01 8.09754644e-06 3.55971752e+01] [ 4.24119819e-04 -1.19651471e-05 9.99999910e-01 7.85624684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.684391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:288.79, Y:35.60, Z:7.86 [[ 9.99995843e-01 -2.75583265e-03 -8.47862698e-04 2.88787864e+02] [ 2.75584727e-03 9.99996203e-01 1.60743849e-05 3.55992250e+01] [ 8.47815179e-04 -1.84108982e-05 9.99999640e-01 7.85631148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.714391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:288.82, Y:35.60, Z:7.86 [[ 9.99999755e-01 3.22523820e-04 -6.21232382e-04 2.88817753e+02] [-3.22516705e-04 9.99999948e-01 1.15542059e-05 3.55999328e+01] [ 6.21236076e-04 -1.13538453e-05 9.99999807e-01 7.85623246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.744391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:288.85, Y:35.60, Z:7.86 [[ 9.99982603e-01 5.85434295e-03 -7.21759077e-04 2.88848186e+02] [-5.85433523e-03 9.99982863e-01 1.28103474e-05 3.56015483e+01] [ 7.21821705e-04 -8.58470490e-06 9.99999739e-01 7.85571037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.774391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:288.88, Y:35.60, Z:7.86 [[ 9.99962644e-01 8.53225645e-03 -1.38216660e-03 2.88875884e+02] [-8.53223194e-03 9.99963600e-01 2.36277352e-05 3.56019592e+01] [ 1.38231788e-03 -1.18338865e-05 9.99999045e-01 7.85605620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.804391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:288.90, Y:35.60, Z:7.86 [[ 9.99940787e-01 1.08214313e-02 -1.14852233e-03 2.88904509e+02] [-1.08214160e-02 9.99941447e-01 1.95777286e-05 3.56022570e+01] [ 1.14866694e-03 -7.14793139e-06 9.99999340e-01 7.85591850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.834391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:288.93, Y:35.60, Z:7.86 [[ 9.99903087e-01 1.38642696e-02 -1.26422082e-03 2.88932620e+02] [-1.38642537e-02 9.99903886e-01 2.12787169e-05 3.56025900e+01] [ 1.26439433e-03 -3.74917640e-06 9.99999201e-01 7.85605896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.864391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:288.96, Y:35.60, Z:7.86 [[ 9.99891441e-01 1.46609729e-02 -1.47030264e-03 2.88961794e+02] [-1.46609521e-02 9.99892522e-01 2.49334367e-05 3.56023974e+01] [ 1.47051016e-03 -3.37469343e-06 9.99998919e-01 7.85610390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.894391418 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:288.99, Y:35.60, Z:7.86 [[ 9.99880621e-01 1.53767151e-02 -1.51656228e-03 2.88989520e+02] [-1.53766942e-02 9.99881771e-01 2.54337804e-05 3.56018237e+01] [ 1.51677407e-03 -2.11102963e-06 9.99998850e-01 7.85619097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.924391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:289.02, Y:35.60, Z:7.86 [[ 9.99868103e-01 1.62304078e-02 5.91351495e-04 2.89019792e+02] [-1.62246942e-02 9.99831017e-01 -8.64269270e-03 3.56048028e+01] [-7.31525994e-04 8.63195826e-03 9.99962476e-01 7.85624119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.954391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:289.05, Y:35.60, Z:7.85 [[ 9.99872650e-01 1.59480568e-02 5.85725485e-04 2.89048032e+02] [-1.59480534e-02 9.99872822e-01 -1.05998929e-05 3.56003910e+01] [-5.85820041e-04 1.25736174e-06 9.99999828e-01 7.85324112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:289.08, Y:35.60, Z:7.85 [[ 9.99899599e-01 1.41648274e-02 3.85724555e-04 2.89075914e+02] [-1.41647631e-02 9.99899660e-01 -1.68929008e-04 3.55995327e+01] [-3.88078702e-04 1.63448350e-04 9.99999911e-01 7.85303427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.014391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:289.11, Y:35.60, Z:7.85 [[ 9.99917001e-01 1.28458169e-02 -9.88314425e-04 2.89105130e+02] [-1.28413049e-02 9.99907673e-01 4.44371321e-03 3.55951432e+01] [ 1.04530630e-03 -4.43065314e-03 9.99989638e-01 7.85252538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:289.13, Y:35.60, Z:7.86 [[ 9.99952170e-01 8.91639146e-03 -4.01938610e-03 2.89130993e+02] [-8.91525986e-03 9.99960213e-01 2.99365332e-04 3.55958083e+01] [ 4.02189544e-03 -2.63517141e-04 9.99991877e-01 7.85520458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.074391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:289.16, Y:35.60, Z:7.86 [[ 9.99950326e-01 9.36888289e-03 -3.40149050e-03 2.89159723e+02] [-9.39492072e-03 9.99926056e-01 -7.72129579e-03 3.55965133e+01] [ 3.32889906e-03 7.75286898e-03 9.99964405e-01 7.85602020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:289.19, Y:35.59, Z:7.85 [[ 9.99992940e-01 2.69377313e-03 -2.61984840e-03 2.89186826e+02] [-2.66825298e-03 9.99949430e-01 9.69627168e-03 3.55873262e+01] [ 2.64583547e-03 -9.68921280e-03 9.99949558e-01 7.85080829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.134391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:289.22, Y:35.59, Z:7.86 [[ 9.99980205e-01 5.54399906e-05 -6.29181212e-03 2.89215171e+02] [-8.36520392e-05 9.99989944e-01 -4.48375597e-03 3.55922774e+01] [ 6.29150028e-03 4.48419354e-03 9.99970154e-01 7.85654844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:289.24, Y:35.59, Z:7.85 [[ 9.99993184e-01 -1.47533242e-03 -3.38467769e-03 2.89244076e+02] [ 1.48638513e-03 9.99993564e-01 3.26532465e-03 3.55867095e+01] [ 3.37983846e-03 -3.27033333e-03 9.99988941e-01 7.85249616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.194391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:289.27, Y:35.59, Z:7.85 [[ 9.99984460e-01 -4.76061375e-03 -2.90094532e-03 2.89274997e+02] [ 4.74773021e-03 9.99978908e-01 -4.43197164e-03 3.55863533e+01] [ 2.92198304e-03 4.41812986e-03 9.99985971e-01 7.85285114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:289.30, Y:35.58, Z:7.85 [[ 9.99935134e-01 -9.05305851e-03 -6.91157139e-03 2.89303968e+02] [ 9.09969595e-03 9.99935839e-01 6.74637232e-03 3.55812722e+01] [ 6.85005264e-03 -6.80882790e-03 9.99953357e-01 7.85263622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.254391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:289.33, Y:35.58, Z:7.86 [[ 9.99893489e-01 -1.24443358e-02 -7.62560495e-03 2.89332396e+02] [ 1.24228443e-02 9.99918746e-01 -2.85925522e-03 3.55833257e+01] [ 7.66056687e-03 2.76421897e-03 9.99966837e-01 7.85660514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:289.36, Y:35.58, Z:7.85 [[ 9.99899706e-01 -1.29487124e-02 -5.73663253e-03 2.89362428e+02] [ 1.29721897e-02 9.99907557e-01 4.07439132e-03 3.55784557e+01] [ 5.68334410e-03 -4.14839937e-03 9.99975245e-01 7.85390003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.314391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:289.39, Y:35.58, Z:7.86 [[ 9.99903817e-01 -1.29914878e-02 -4.85577673e-03 2.89394112e+02] [ 1.29919960e-02 9.99915598e-01 7.31240760e-05 3.55786312e+01] [ 4.85441691e-03 -1.36203275e-04 9.99988208e-01 7.85561682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:289.43, Y:35.58, Z:7.86 [[ 9.99908715e-01 -1.33412281e-02 -2.13866593e-03 2.89425025e+02] [ 1.33211658e-02 9.99869536e-01 -9.13549509e-03 3.55810645e+01] [ 2.26026563e-03 9.10617163e-03 9.99955983e-01 7.85558055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.374391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:289.46, Y:35.57, Z:7.85 [[ 9.99872986e-01 -1.54995654e-02 -3.71148369e-03 2.89455472e+02] [ 1.55343041e-02 9.99834000e-01 9.52139107e-03 3.55696634e+01] [ 3.56329016e-03 -9.57783704e-03 9.99947783e-01 7.85214198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:289.49, Y:35.57, Z:7.85 [[ 9.99855828e-01 -1.65777577e-02 -3.67447619e-03 2.89487959e+02] [ 1.65780768e-02 9.99862573e-01 5.63933617e-05 3.55728071e+01] [ 3.67303634e-03 -1.17300980e-04 9.99993248e-01 7.85465463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.434391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:289.52, Y:35.57, Z:7.85 [[ 9.99836127e-01 -1.77633140e-02 -3.49044384e-03 2.89520089e+02] [ 1.77636102e-02 9.99842213e-01 5.38813729e-05 3.55714758e+01] [ 3.48893598e-03 -1.15875427e-04 9.99993907e-01 7.85433217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464391418 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:289.55, Y:35.57, Z:7.85 [[ 9.99759593e-01 -2.19241630e-02 -2.96461047e-04 2.89553823e+02] [ 2.19200686e-02 9.99709029e-01 -1.00682066e-02 3.55744608e+01] [ 5.17111788e-04 1.00592877e-02 9.99949270e-01 7.85287118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.494391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:289.58, Y:35.56, Z:7.85 [[ 9.99724485e-01 -2.31679749e-02 -3.76812860e-03 2.89582535e+02] [ 2.32070139e-02 9.99673746e-01 1.06694100e-02 3.55618745e+01] [ 3.51971061e-03 -1.07539174e-02 9.99935980e-01 7.84965027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:289.62, Y:35.56, Z:7.85 [[ 9.99616772e-01 -2.71690630e-02 -5.30570735e-03 2.89615584e+02] [ 2.71698996e-02 9.99630826e-01 8.56454064e-05 3.55640189e+01] [ 5.30142172e-03 -2.29768121e-04 9.99985921e-01 7.85255076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.554391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:289.65, Y:35.56, Z:7.85 [[ 9.99560686e-01 -2.91251660e-02 -5.49172835e-03 2.89647170e+02] [ 2.91260911e-02 9.99575742e-01 8.85392183e-05 3.55624275e+01] [ 5.48681972e-03 -2.48452902e-04 9.99984916e-01 7.85224823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:289.68, Y:35.56, Z:7.85 [[ 9.99504415e-01 -3.09829878e-02 -5.56594509e-03 2.89678889e+02] [ 3.09839701e-02 9.99519877e-01 9.03211881e-05 3.55609241e+01] [ 5.56047434e-03 -2.62731502e-04 9.99984506e-01 7.85159707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.614391418 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:289.71, Y:35.56, Z:7.85 [[ 9.99405326e-01 -3.39816979e-02 -5.85133824e-03 2.89711033e+02] [ 3.39828389e-02 9.99422412e-01 9.56480741e-05 3.55590588e+01] [ 5.84470829e-03 -2.94436279e-04 9.99982876e-01 7.85188991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.644391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:289.74, Y:35.56, Z:7.85 [[ 9.99372349e-01 -3.48653951e-02 -6.26994902e-03 2.89743711e+02] [ 3.48667276e-02 9.99391965e-01 1.03309279e-04 3.55577498e+01] [ 6.26253476e-03 -3.21857041e-04 9.99980338e-01 7.85151484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.674391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:289.78, Y:35.56, Z:7.85 [[ 9.99344719e-01 -3.55439124e-02 -6.83833917e-03 2.89776713e+02] [ 3.55455186e-02 9.99368052e-01 1.13446373e-04 3.55564086e+01] [ 6.82998537e-03 -3.56444346e-04 9.99976612e-01 7.85091345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.704391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:289.81, Y:35.56, Z:7.85 [[ 9.99318434e-01 -3.61145554e-02 -7.64244637e-03 2.89809465e+02] [ 3.61165845e-02 9.99347575e-01 1.27602520e-04 3.55554236e+01] [ 7.63285194e-03 -4.03534610e-04 9.99970788e-01 7.85037318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.734391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:289.84, Y:35.55, Z:7.85 [[ 9.99305229e-01 -3.62209998e-02 -8.78054311e-03 2.89841693e+02] [ 3.62236849e-02 9.99343696e-01 1.46905497e-04 3.55549078e+01] [ 8.76945935e-03 -4.64867059e-04 9.99961439e-01 7.84972558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.764391418 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:289.87, Y:35.56, Z:7.85 [[ 9.99300897e-01 -3.60528663e-02 -9.89481398e-03 2.89873457e+02] [ 3.60233986e-02 9.99346012e-01 -3.14039538e-03 3.55569411e+01] [ 1.00015632e-02 2.78175509e-03 9.99946114e-01 7.85131773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.794391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:289.90, Y:35.55, Z:7.85 [[ 9.99387420e-01 -3.41613160e-02 -7.60191615e-03 2.89904373e+02] [ 3.41885178e-02 9.99409352e-01 3.47753501e-03 3.55543306e+01] [ 7.47862892e-03 -3.73530298e-03 9.99965058e-01 7.84965907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.824391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:289.94, Y:35.56, Z:7.85 [[ 9.99426738e-01 -3.32034999e-02 -6.61236789e-03 2.89936364e+02] [ 3.32049789e-02 9.99448556e-01 1.13985317e-04 3.55558365e+01] [ 6.60493683e-03 -3.33483510e-04 9.99978132e-01 7.85034863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.854391418 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:289.97, Y:35.56, Z:7.85 [[ 9.99527590e-01 -3.04026156e-02 -4.50298701e-03 2.89967679e+02] [ 3.04032779e-02 9.99537710e-01 7.86808247e-05 3.55555264e+01] [ 4.49851322e-03 -2.15549220e-04 9.99989858e-01 7.85003045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:290.00, Y:35.56, Z:7.85 [[ 9.99562678e-01 -2.93645140e-02 -3.48974728e-03 2.90000883e+02] [ 2.93698660e-02 9.99567498e-01 1.49239446e-03 3.55550679e+01] [ 3.44441452e-03 -1.59423521e-03 9.99992797e-01 7.84935358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.914391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:290.03, Y:35.56, Z:7.85 [[ 9.99635991e-01 -2.68264927e-02 -2.86781275e-03 2.90032158e+02] [ 2.68227165e-02 9.99639298e-01 -1.34718816e-03 3.55567387e+01] [ 2.90291866e-03 1.26977524e-03 9.99994980e-01 7.85008802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:290.06, Y:35.56, Z:7.85 [[ 9.99683552e-01 -2.50188769e-02 -2.61767606e-03 2.90064335e+02] [ 2.50190833e-02 9.99686973e-01 4.61181263e-05 3.55567307e+01] [ 2.61570283e-03 -1.11595388e-04 9.99996573e-01 7.84988236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.974391418 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:290.10, Y:35.56, Z:7.85 [[ 9.99757156e-01 -2.14723420e-02 -4.95649069e-03 2.90096666e+02] [ 2.14398084e-02 9.99748840e-01 -6.52622218e-03 3.55618902e+01] [ 5.09537909e-03 6.41837112e-03 9.99966420e-01 7.85227674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:290.13, Y:35.55, Z:7.85 [[ 9.99817633e-01 -1.88033726e-02 -3.33663095e-03 2.90127738e+02] [ 1.88255221e-02 9.99800094e-01 6.73592177e-03 3.55548929e+01] [ 3.20930589e-03 -6.79750718e-03 9.99971747e-01 7.84647630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.034391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:290.16, Y:35.56, Z:7.85 [[ 9.99869955e-01 -1.55396222e-02 -4.31198587e-03 2.90159366e+02] [ 1.55400988e-02 9.99879242e-01 7.70469916e-05 3.55581057e+01] [ 4.31026788e-03 -1.44045659e-04 9.99990700e-01 7.84729405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064391418 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:290.19, Y:35.56, Z:7.85 [[ 9.99890316e-01 -1.39999884e-02 -4.83285095e-03 2.90191518e+02] [ 1.40005715e-02 9.99901983e-01 8.68428373e-05 3.55575928e+01] [ 4.83116145e-03 -1.54495988e-04 9.99988318e-01 7.84664412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.094391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:290.22, Y:35.56, Z:7.85 [[ 9.99908622e-01 -1.24079372e-02 -5.36572071e-03 2.90223627e+02] [ 1.24086351e-02 9.99923005e-01 9.67862141e-05 3.55573810e+01] [ 5.36410666e-03 -1.63358640e-04 9.99985600e-01 7.84607495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:290.26, Y:35.56, Z:7.85 [[ 9.99931989e-01 -9.55750109e-03 -6.68364521e-03 2.90255150e+02] [ 9.55851940e-03 9.99954309e-01 1.20430932e-04 3.55591914e+01] [ 6.68218881e-03 -1.84308494e-04 9.99977657e-01 7.84578878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.154391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:290.28, Y:35.55, Z:7.84 [[ 9.99880454e-01 -1.03401698e-02 -1.14960085e-02 2.90282557e+02] [ 1.06504265e-02 9.99571562e-01 2.72628224e-02 3.55519603e+01] [ 1.12091810e-02 -2.73820006e-02 9.99562194e-01 7.84496293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.184391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:290.32, Y:35.57, Z:7.85 [[ 9.99958805e-01 -5.31135932e-03 -7.36050001e-03 2.90316204e+02] [ 5.11025683e-03 9.99620303e-01 -2.70764633e-02 3.55740560e+01] [ 7.50151807e-03 2.70377338e-02 9.99606267e-01 7.85401452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.214391418 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:290.35, Y:35.57, Z:7.85 [[ 9.99966622e-01 1.29288752e-04 -8.16932012e-03 2.90345071e+02] [-1.93321530e-04 9.99969265e-01 -7.83789816e-03 3.55664870e+01] [ 8.16805568e-03 7.83921586e-03 9.99935913e-01 7.84783785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.244391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:290.37, Y:35.56, Z:7.84 [[ 9.99988395e-01 1.42828659e-03 -4.60107597e-03 2.90373391e+02] [-1.39162650e-03 9.99967342e-01 7.96109173e-03 3.55598159e+01] [ 4.61229642e-03 -7.95459636e-03 9.99957725e-01 7.84188813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.274391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:290.40, Y:35.57, Z:7.84 [[ 9.99984258e-01 4.97410223e-03 -2.59661818e-03 2.90401410e+02] [-4.97400789e-03 9.99987629e-01 4.27847920e-05 3.55658194e+01] [ 2.59679887e-03 -2.98685192e-05 9.99996628e-01 7.84482824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.304391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:290.43, Y:35.57, Z:7.84 [[ 9.99981264e-01 5.93222837e-03 -1.50978666e-03 2.90428915e+02] [-5.93219688e-03 9.99982404e-01 2.53349422e-05 3.55667442e+01] [ 1.50991039e-03 -1.63781158e-05 9.99998860e-01 7.84496988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.334391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:290.47, Y:35.59, Z:7.85 [[ 9.99889797e-01 1.13876048e-02 9.52453506e-03 2.90467397e+02] [-1.07173302e-02 9.97649063e-01 -6.76866752e-02 3.55943363e+01] [-1.02729326e-02 6.75771383e-02 9.97661164e-01 7.85245429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.364391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:290.49, Y:35.54, Z:7.83 [[ 9.99986621e-01 5.14000830e-03 -5.80897719e-04 2.90486307e+02] [-5.09844288e-03 9.98354704e-01 5.71129653e-02 3.55405537e+01] [ 8.73503086e-04 -5.71092395e-02 9.98367553e-01 7.82696790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.394391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:290.52, Y:35.56, Z:7.84 [[ 9.99995240e-01 1.98273247e-03 2.36421082e-03 2.90515794e+02] [-2.01208618e-03 9.99920112e-01 1.24788071e-02 3.55619461e+01] [-2.33927981e-03 -1.24835047e-02 9.99919342e-01 7.84000442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.424391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:290.55, Y:35.57, Z:7.84 [[ 9.99991503e-01 -3.21124674e-03 2.58488708e-03 2.90546470e+02] [ 3.21137083e-03 9.99994843e-01 -4.38578952e-05 3.55661937e+01] [-2.58473291e-03 5.21585536e-05 9.99996658e-01 7.84267395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.454391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:290.58, Y:35.56, Z:7.84 [[ 9.99980750e-01 -5.51788010e-03 2.83767807e-03 2.90578587e+02] [ 5.51803542e-03 9.99984774e-01 -4.69092047e-05 3.55646842e+01] [-2.83737602e-03 6.25667098e-05 9.99995973e-01 7.84148659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:290.61, Y:35.56, Z:7.84 [[ 9.99967451e-01 -7.71998732e-03 2.34500308e-03 2.90611193e+02] [ 7.72010199e-03 9.99970199e-01 -3.98510167e-05 3.55631928e+01] [-2.34462555e-03 5.79533826e-05 9.99997250e-01 7.84105363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.514391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:290.64, Y:35.56, Z:7.84 [[ 9.99952738e-01 -9.37238898e-03 2.58464226e-03 2.90643621e+02] [ 9.37253534e-03 9.99956076e-01 -4.45183433e-05 3.55621373e+01] [-2.58411149e-03 6.87408902e-05 9.99996659e-01 7.84032255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:290.68, Y:35.56, Z:7.84 [[ 9.99930235e-01 -1.15035863e-02 2.68187381e-03 2.90675682e+02] [ 1.15037521e-02 9.99933829e-01 -4.64271628e-05 3.55604261e+01] [-2.68116227e-03 7.72755355e-05 9.99996403e-01 7.83922498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.574391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:290.71, Y:35.56, Z:7.84 [[ 9.99924382e-01 -1.18928636e-02 3.12900363e-03 2.90707093e+02] [ 1.18930926e-02 9.99929273e-01 -5.46135346e-05 3.55592265e+01] [-3.12813282e-03 9.18229349e-05 9.99995103e-01 7.83833303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:290.74, Y:35.56, Z:7.84 [[ 9.99934701e-01 -1.09822922e-02 3.15954511e-03 2.90739545e+02] [ 1.09825213e-02 9.99939689e-01 -5.51865039e-05 3.55574861e+01] [-3.15874848e-03 8.98826718e-05 9.99995007e-01 7.83716923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.634391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:290.77, Y:35.56, Z:7.84 [[ 9.99945336e-01 -1.00605124e-02 2.84810004e-03 2.90771637e+02] [ 1.00606958e-02 9.99949389e-01 -5.00492882e-05 3.55562970e+01] [-2.84745238e-03 7.87004203e-05 9.99995943e-01 7.83664246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:290.81, Y:35.58, Z:7.84 [[ 9.99895224e-01 -4.01145358e-03 1.39085993e-02 2.90808765e+02] [ 4.92411776e-03 9.97793021e-01 -6.62181311e-02 3.55826552e+01] [-1.36122723e-02 6.62796806e-02 9.97708229e-01 7.84082388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.694391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:290.83, Y:35.52, Z:7.82 [[ 9.99959379e-01 -8.05296797e-03 4.04854123e-03 2.90831776e+02] [ 7.76813845e-03 9.97787372e-01 6.60304142e-02 3.55225580e+01] [-4.57132412e-03 -6.59962823e-02 9.97809397e-01 7.81607776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:290.87, Y:35.55, Z:7.84 [[ 9.99983035e-01 -3.95860683e-03 4.27315648e-03 2.90865369e+02] [ 3.95896131e-03 9.99992161e-01 -7.44996305e-05 3.55549624e+01] [-4.27282806e-03 9.14156277e-05 9.99990867e-01 7.83547490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.754391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:290.91, Y:35.59, Z:7.84 [[ 9.99858083e-01 4.30667594e-03 1.62870036e-02 2.90905223e+02] [-3.02200092e-03 9.96941352e-01 -7.80948612e-02 3.55850428e+01] [-1.65735167e-02 7.80345589e-02 9.96812884e-01 7.84250606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:290.92, Y:35.52, Z:7.81 [[ 9.99971962e-01 -3.36065609e-04 7.48084470e-03 2.90924326e+02] [-2.43798330e-04 9.97001832e-01 7.73775618e-02 3.55161184e+01] [-7.48441981e-03 -7.73772160e-02 9.96973796e-01 7.81153330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.814391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:290.96, Y:35.55, Z:7.83 [[ 9.99981639e-01 1.72523705e-03 5.80907842e-03 2.90958136e+02] [-1.72466766e-03 9.99998507e-01 -1.03026225e-04 3.55537372e+01] [-5.80924750e-03 9.30056032e-05 9.99983122e-01 7.83452141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:290.99, Y:35.55, Z:7.83 [[ 9.99981460e-01 1.82615383e-03 5.80903805e-03 2.90990832e+02] [-1.82557321e-03 9.99998328e-01 -1.05251401e-04 3.55530666e+01] [-5.80922055e-03 9.46446256e-05 9.99983122e-01 7.83428056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.874391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:291.02, Y:35.55, Z:7.83 [[ 9.99982523e-01 2.54831964e-03 5.33474551e-03 2.91023284e+02] [-2.54783747e-03 9.99996750e-01 -9.71775946e-05 3.55524388e+01] [-5.33497581e-03 8.35838318e-05 9.99985765e-01 7.83375914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:291.06, Y:35.55, Z:7.83 [[ 9.99984554e-01 3.06269424e-03 4.63798652e-03 2.91055328e+02] [-3.06233655e-03 9.99995308e-01 -8.42214703e-05 3.55508685e+01] [-4.63822270e-03 7.00170938e-05 9.99989241e-01 7.83240982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.934391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:291.09, Y:35.55, Z:7.83 [[ 9.99987714e-01 2.97345377e-03 3.96623137e-03 2.91086302e+02] [-2.97318792e-03 9.99995577e-01 -7.29232341e-05 3.55494011e+01] [-3.96643067e-03 6.11299870e-05 9.99992132e-01 7.83160284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:291.12, Y:35.55, Z:7.83 [[ 9.99991834e-01 2.06105606e-03 3.47624262e-03 2.91117255e+02] [-2.06084100e-03 9.99997874e-01 -6.54478460e-05 3.55482269e+01] [-3.47637012e-03 5.82833283e-05 9.99993956e-01 7.83147106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.994391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:291.15, Y:35.56, Z:7.83 [[ 9.99970620e-01 2.47980352e-03 7.25327423e-03 2.91147598e+02] [-2.31524127e-03 9.99741702e-01 -2.26090644e-02 3.55578594e+01] [-7.30746676e-03 2.25916071e-02 9.99718070e-01 7.83140401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024391418 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:291.18, Y:35.53, Z:7.82 [[ 9.99990887e-01 3.96016368e-04 4.25075016e-03 2.91179670e+02] [-4.91346803e-04 9.99747865e-01 2.24491686e-02 3.55335456e+01] [-4.24078816e-03 -2.24510526e-02 9.99738949e-01 7.82320810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.054391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:291.21, Y:35.54, Z:7.83 [[ 9.99990662e-01 9.26710895e-04 4.22114502e-03 2.91211991e+02] [-9.26383090e-04 9.99999568e-01 -7.96124627e-05 3.55432242e+01] [-4.22121698e-03 7.57013218e-05 9.99991088e-01 7.82983233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:291.24, Y:35.54, Z:7.83 [[ 9.99982923e-01 2.93021884e-03 5.05638472e-03 2.91243118e+02] [-2.92976238e-03 9.99995703e-01 -9.76777531e-05 3.55416216e+01] [-5.05664921e-03 8.28620793e-05 9.99987212e-01 7.82989190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.114391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:291.28, Y:35.54, Z:7.83 [[ 9.99973284e-01 4.75601132e-03 5.55085684e-03 2.91275778e+02] [-4.75548750e-03 9.99988687e-01 -1.07563273e-04 3.55405693e+01] [-5.55130561e-03 8.11633686e-05 9.99984588e-01 7.82984849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.144391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:291.31, Y:35.54, Z:7.83 [[ 9.99957405e-01 6.93869086e-03 6.08620944e-03 2.91307293e+02] [-6.93809805e-03 9.99975924e-01 -1.18510179e-04 3.55395378e+01] [-6.08688521e-03 7.62784135e-05 9.99981472e-01 7.83001948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.174391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:291.34, Y:35.54, Z:7.83 [[ 9.99894457e-01 1.21194700e-02 8.01202630e-03 2.91338604e+02] [-1.21186041e-02 9.99926555e-01 -1.56616725e-04 3.55376306e+01] [-8.01333597e-03 5.95056204e-05 9.99967891e-01 7.82984596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.204391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:291.37, Y:35.56, Z:7.83 [[ 9.99676159e-01 1.83494928e-02 1.76315742e-02 2.91374938e+02] [-1.74573571e-02 9.98622261e-01 -4.94855577e-02 3.55556056e+01] [-1.85153174e-02 4.91617316e-02 9.98619200e-01 7.83082984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.234391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:291.40, Y:35.51, Z:7.81 [[ 9.99816956e-01 1.66211383e-02 9.47591959e-03 2.91398538e+02] [-1.70694707e-02 9.98634258e-01 4.93786534e-02 3.55092049e+01] [-8.64224851e-03 -4.95313639e-02 9.98735178e-01 7.81490479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.264391418 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:291.43, Y:35.53, Z:7.83 [[ 9.99809774e-01 1.77515230e-02 8.08083134e-03 2.91429439e+02] [-1.77508503e-02 9.99842429e-01 -1.54964728e-04 3.55318505e+01] [-8.08230890e-03 1.14936218e-05 9.99967338e-01 7.82913066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.294391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:291.46, Y:35.53, Z:7.83 [[ 9.99812138e-01 1.78132809e-02 7.64044158e-03 2.91458495e+02] [-1.78126819e-02 9.99841331e-01 -1.46448283e-04 3.55297915e+01] [-7.64183800e-03 1.03240154e-05 9.99970801e-01 7.82858630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.324391418 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:291.49, Y:35.53, Z:7.83 [[ 9.99858850e-01 1.56970714e-02 5.99009142e-03 2.91487552e+02] [-1.56966675e-02 9.99876793e-01 -1.14448581e-04 3.55260583e+01] [-5.99114991e-03 2.04079539e-05 9.99982053e-01 7.82793742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.354391418 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:291.52, Y:35.52, Z:7.83 [[ 9.99892931e-01 1.36377202e-02 5.30466416e-03 2.91516173e+02] [-1.36373765e-02 9.99907002e-01 -1.00955199e-04 3.55236992e+01] [-5.30554763e-03 2.86026873e-05 9.99985925e-01 7.82732176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:291.55, Y:35.52, Z:7.83 [[ 9.99955266e-01 8.85071308e-03 3.33621949e-03 2.91545315e+02] [-8.85055089e-03 9.99960831e-01 -6.33745201e-05 3.55189459e+01] [-3.33664973e-03 3.38443047e-05 9.99994433e-01 7.82701083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.414391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:291.58, Y:35.52, Z:7.83 [[ 9.99978054e-01 6.02037049e-03 2.76524070e-03 2.91575364e+02] [-6.02024843e-03 9.99981877e-01 -5.24625336e-05 3.55162798e+01] [-2.76550643e-03 3.58139462e-05 9.99996175e-01 7.82638969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:291.61, Y:35.51, Z:7.83 [[ 9.99992976e-01 3.19449744e-03 1.96056191e-03 2.91605854e+02] [-3.19443103e-03 9.99994897e-01 -3.70042370e-05 3.55134889e+01] [-1.96067011e-03 3.07410973e-05 9.99998077e-01 7.82604446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.474391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:291.64, Y:35.51, Z:7.83 [[ 9.99993885e-01 1.97643923e-03 2.88503225e-03 2.91636538e+02] [-1.95866727e-03 9.99979171e-01 -6.14993776e-03 3.55134417e+01] [-2.89712714e-03 6.14424933e-03 9.99976927e-01 7.82623391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:291.67, Y:35.50, Z:7.82 [[ 9.99994293e-01 -3.11960799e-03 1.29663823e-03 2.91666368e+02] [ 3.11165776e-03 9.99976621e-01 6.08886264e-03 3.55037028e+01] [-1.31560278e-03 -6.08479320e-03 9.99980622e-01 7.82418915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.534391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:291.70, Y:35.50, Z:7.83 [[ 9.99991350e-01 -3.86876977e-03 1.52700537e-03 2.91697682e+02] [ 3.86881855e-03 9.99992516e-01 -2.89896791e-05 3.55046378e+01] [-1.52688179e-03 3.48971350e-05 9.99998834e-01 7.82597136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:291.73, Y:35.50, Z:7.83 [[ 9.99988374e-01 -4.45164761e-03 1.85353864e-03 2.91730167e+02] [ 4.45172036e-03 9.99990090e-01 -3.51238184e-05 3.55027085e+01] [-1.85336391e-03 4.33748457e-05 9.99998282e-01 7.82593008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.594391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:291.76, Y:35.50, Z:7.83 [[ 9.99988789e-01 -3.78640216e-03 2.84342825e-03 2.91762512e+02] [ 3.78657214e-03 9.99992829e-01 -5.44000669e-05 3.54995535e+01] [-2.84320188e-03 6.51663033e-05 9.99995956e-01 7.82644183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:291.79, Y:35.50, Z:7.83 [[ 9.99989224e-01 -3.15572704e-03 3.40483079e-03 2.91793563e+02] [ 3.15596866e-03 9.99995018e-01 -6.55943674e-05 3.54976897e+01] [-3.40460683e-03 7.63391999e-05 9.99994201e-01 7.82660108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.654391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:291.83, Y:35.49, Z:7.83 [[ 9.99990745e-01 -1.91619635e-03 3.85208011e-03 2.91825546e+02] [ 1.91649730e-03 9.99998161e-01 -7.44365856e-05 3.54944985e+01] [-3.85193039e-03 8.18183978e-05 9.99992578e-01 7.82632580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.684391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:291.86, Y:35.49, Z:7.83 [[ 9.99993003e-01 -1.53023368e-03 3.41357658e-03 2.91857696e+02] [ 1.53046848e-03 9.99998827e-01 -6.61739886e-05 3.54925294e+01] [-3.41347131e-03 7.13978970e-05 9.99994172e-01 7.82609611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.714391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:291.89, Y:35.49, Z:7.83 [[ 9.99993321e-01 -1.46707200e-03 3.34758680e-03 2.91888435e+02] [ 1.46729858e-03 9.99998921e-01 -6.52294517e-05 3.54904879e+01] [-3.34748749e-03 7.01409254e-05 9.99994395e-01 7.82584292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.744391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:291.92, Y:35.49, Z:7.83 [[ 9.99994445e-01 -2.30278136e-03 2.40979290e-03 2.91920226e+02] [ 2.30289912e-03 9.99997347e-01 -4.60912313e-05 3.54876189e+01] [-2.40968037e-03 5.16404852e-05 9.99997095e-01 7.82567995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.774391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:291.95, Y:35.49, Z:7.83 [[ 9.99995274e-01 -2.76425284e-03 1.34551573e-03 2.91952103e+02] [ 2.76429077e-03 9.99996179e-01 -2.63315069e-05 3.54858438e+01] [-1.34543780e-03 3.00507792e-05 9.99999094e-01 7.82586808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.804391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:291.98, Y:35.48, Z:7.83 [[ 9.99993444e-01 -3.45613918e-03 1.08031865e-03 2.91983605e+02] [ 3.45616423e-03 9.99994027e-01 -2.13266738e-05 3.54842272e+01] [-1.08023849e-03 2.50602927e-05 9.99999416e-01 7.82557625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.834391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:292.02, Y:35.48, Z:7.82 [[ 9.99991050e-01 -4.10971250e-03 1.00555034e-03 2.92015110e+02] [ 4.10973456e-03 9.99991555e-01 -1.98700800e-05 3.54810848e+01] [-1.00546018e-03 2.40024472e-05 9.99999494e-01 7.82484057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.864391418 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:292.05, Y:35.48, Z:7.82 [[ 9.99991905e-01 -3.97649356e-03 6.14646648e-04 2.92046792e+02] [ 3.97650156e-03 9.99992094e-01 -1.18090873e-05 3.54797142e+01] [-6.14594829e-04 1.42531351e-05 9.99999811e-01 7.82497300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.894391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:292.08, Y:35.48, Z:7.83 [[ 9.99993680e-01 -3.55505675e-03 -3.24555345e-05 2.92077706e+02] [ 3.55505678e-03 9.99993681e-01 9.27466971e-07 3.54789417e+01] [ 3.24520321e-05 -1.04284237e-06 9.99999999e-01 7.82514746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.924391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:292.11, Y:35.48, Z:7.82 [[ 9.99998793e-01 -1.30495930e-03 -8.43309208e-04 2.92109422e+02] [ 1.30497436e-03 9.99999148e-01 1.73017204e-05 3.54782194e+01] [ 8.43285912e-04 -1.84021964e-05 9.99999644e-01 7.82484076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.954391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:292.14, Y:35.48, Z:7.82 [[ 9.99999147e-01 2.14920603e-04 -1.28837010e-03 2.92140020e+02] [-2.14887260e-04 9.99999977e-01 2.60184552e-05 3.54777444e+01] [ 1.28837566e-03 -2.57415787e-05 9.99999170e-01 7.82438968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984391418 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:292.17, Y:35.48, Z:7.82 [[ 9.99995849e-01 2.02778330e-03 -2.04682853e-03 2.92169370e+02] [-2.02770330e-03 9.99997943e-01 4.11590184e-05 3.54776512e+01] [ 2.04690778e-03 -3.70084866e-05 9.99997904e-01 7.82414889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.014391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:292.20, Y:35.48, Z:7.82 [[ 9.99989902e-01 3.59282212e-03 -2.69938538e-03 2.92197974e+02] [-3.59269536e-03 9.99993545e-01 5.18063724e-05 3.54775406e+01] [ 2.69955409e-03 -4.21077800e-05 9.99996355e-01 7.82412726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:292.23, Y:35.48, Z:7.82 [[ 9.99972563e-01 6.55683674e-03 -3.44703725e-03 2.92226738e+02] [-6.55664913e-03 9.99978503e-01 6.57236803e-05 3.54772704e+01] [ 3.44739408e-03 -4.31208632e-05 9.99994057e-01 7.82403293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.074391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:292.25, Y:35.48, Z:7.82 [[ 9.99962443e-01 7.91482838e-03 -3.53093155e-03 2.92254406e+02] [-7.91463712e-03 9.99968676e-01 6.81354476e-05 3.54769112e+01] [ 3.53136023e-03 -4.01868468e-05 9.99993764e-01 7.82409972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:292.28, Y:35.48, Z:7.82 [[ 9.99945183e-01 9.98894526e-03 -3.13879873e-03 2.92283113e+02] [-9.98880480e-03 9.99950109e-01 6.04247519e-05 3.54765998e+01] [ 3.13924571e-03 -2.90685919e-05 9.99995072e-01 7.82475707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.134391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:292.31, Y:35.48, Z:7.82 [[ 9.99941987e-01 1.03276345e-02 -3.05989114e-03 2.92310857e+02] [-1.03275040e-02 9.99946668e-01 5.84551388e-05 3.54759794e+01] [ 3.06033165e-03 -2.68507096e-05 9.99995317e-01 7.82474198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:292.34, Y:35.48, Z:7.82 [[ 9.99944028e-01 1.01742144e-02 -2.90297330e-03 2.92339853e+02] [-1.01740967e-02 9.99948241e-01 5.53074082e-05 3.54751825e+01] [ 2.90338575e-03 -2.57691814e-05 9.99995785e-01 7.82472729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.194391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:292.37, Y:35.47, Z:7.82 [[ 9.99957512e-01 9.04802508e-03 -1.76258208e-03 2.92367319e+02] [-9.04798099e-03 9.99959066e-01 3.29855149e-05 3.54732871e+01] [ 1.76280839e-03 -1.70363042e-05 9.99998446e-01 7.82454530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:292.39, Y:35.47, Z:7.82 [[ 9.99967153e-01 8.01869465e-03 -1.18057765e-03 2.92394624e+02] [-8.01867450e-03 9.99967850e-01 2.18034231e-05 3.54719157e+01] [ 1.18071453e-03 -1.23360391e-05 9.99999303e-01 7.82412560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.254391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:292.42, Y:35.47, Z:7.82 [[ 9.99982041e-01 5.99254135e-03 -8.92712719e-05 2.92423490e+02] [-5.99254127e-03 9.99982045e-01 1.17736719e-06 3.54694499e+01] [ 8.92767243e-05 -6.42384260e-07 9.99999996e-01 7.82416476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:292.45, Y:35.47, Z:7.82 [[ 9.99987224e-01 5.04861913e-03 2.51229426e-04 2.92452225e+02] [-5.04861797e-03 9.99987256e-01 -5.28039346e-06 3.54681728e+01] [-2.51252883e-04 4.01196461e-06 9.99999968e-01 7.82378537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.314391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:292.48, Y:35.47, Z:7.82 [[ 9.99990398e-01 4.38228271e-03 1.55122037e-05 2.92482096e+02] [-4.38228270e-03 9.99990398e-01 -5.60668938e-07 3.54668602e+01] [-1.55145119e-05 4.92684699e-07 1.00000000e+00 7.82381478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:292.51, Y:35.47, Z:7.82 [[ 9.99993467e-01 3.60891039e-03 -2.05034566e-04 2.92510388e+02] [-3.60890976e-03 9.99993488e-01 3.45048443e-06 3.54656386e+01] [ 2.05045683e-04 -2.71051063e-06 9.99999979e-01 7.82381094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.374391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:292.54, Y:35.46, Z:7.82 [[ 9.99996290e-01 2.71855178e-03 -1.74486131e-04 2.92539895e+02] [-2.71855130e-03 9.99996305e-01 3.00601249e-06 3.54634117e+01] [ 1.74493658e-04 -2.53165183e-06 9.99999985e-01 7.82394263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:292.57, Y:35.46, Z:7.82 [[ 9.99997530e-01 2.22211038e-03 3.62333026e-05 2.92569428e+02] [-2.22211035e-03 9.99997531e-01 -9.48903305e-07 3.54619681e+01] [-3.62353219e-05 8.68386572e-07 9.99999999e-01 7.82370506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.434391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:292.60, Y:35.46, Z:7.82 [[ 9.99998094e-01 1.93831165e-03 -2.34964831e-04 2.92599245e+02] [-1.93831070e-03 9.99998121e-01 4.25472097e-06 3.54603186e+01] [ 2.34972636e-04 -3.79927801e-06 9.99999972e-01 7.82373592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:292.63, Y:35.46, Z:7.82 [[ 9.99998770e-01 1.18200785e-03 -1.03110024e-03 2.92629000e+02] [-1.18198894e-03 9.99999301e-01 1.89454713e-05 3.54575781e+01] [ 1.03112192e-03 -1.77266989e-05 9.99999468e-01 7.82356131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.494391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:292.66, Y:35.46, Z:7.82 [[ 9.99998085e-01 9.42640679e-04 -1.71485390e-03 2.92658718e+02] [-9.42587541e-04 9.99999555e-01 3.17945987e-05 3.54558414e+01] [ 1.71488311e-03 -3.01781379e-05 9.99998529e-01 7.82322090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:292.69, Y:35.45, Z:7.82 [[ 9.99996239e-01 1.55902396e-04 -2.73806870e-03 2.92688607e+02] [-1.55764422e-04 9.99999987e-01 5.06041367e-05 3.54532418e+01] [ 2.73807655e-03 -5.01774527e-05 9.99996250e-01 7.82288547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.554391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:292.72, Y:35.45, Z:7.82 [[ 9.99994058e-01 -2.88586962e-04 -3.43522498e-03 2.92717276e+02] [ 2.88805847e-04 9.99999956e-01 6.32220756e-05 3.54515876e+01] [ 3.43520659e-03 -6.42138130e-05 9.99994098e-01 7.82272714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.584391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:292.75, Y:35.45, Z:7.82 [[ 9.99993755e-01 -6.56207927e-04 -3.47270795e-03 2.92746130e+02] [ 6.56432369e-04 9.99999783e-01 6.34909936e-05 3.54499317e+01] [ 3.47266554e-03 -6.57701950e-05 9.99993968e-01 7.82259224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.614391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:292.78, Y:35.45, Z:7.82 [[ 9.99993678e-01 -1.05330792e-03 -3.39624158e-03 2.92775184e+02] [ 1.05352393e-03 9.99999443e-01 6.18125835e-05 3.54485530e+01] [ 3.39617458e-03 -6.53902144e-05 9.99994231e-01 7.82257102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.644391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:292.80, Y:35.45, Z:7.82 [[ 9.99992031e-01 -9.48797548e-04 -3.87787555e-03 2.92803916e+02] [ 9.49078319e-04 9.99999547e-01 7.05637102e-05 3.54462070e+01] [ 3.87780684e-03 -7.42435555e-05 9.99992479e-01 7.82292376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.674391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:292.83, Y:35.44, Z:7.82 [[ 9.99991473e-01 -1.12874349e-03 -3.97233644e-03 2.92832440e+02] [ 1.12902933e-03 9.99999360e-01 6.97160234e-05 3.54449707e+01] [ 3.97225521e-03 -7.42003133e-05 9.99992108e-01 7.82277065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.704391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:292.86, Y:35.44, Z:7.82 [[ 9.99990353e-01 -1.53509140e-03 -4.11542523e-03 2.92860796e+02] [ 1.53539702e-03 9.99998819e-01 7.11029398e-05 3.54438256e+01] [ 4.11531122e-03 -7.74210655e-05 9.99991529e-01 7.82246283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.734391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:292.89, Y:35.44, Z:7.82 [[ 9.99989966e-01 -1.98741479e-03 -4.01465229e-03 2.92889357e+02] [ 1.98771415e-03 9.99998022e-01 7.05788533e-05 3.54411127e+01] [ 4.01450407e-03 -7.85581263e-05 9.99991939e-01 7.82281347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.764391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:292.92, Y:35.44, Z:7.82 [[ 9.99989419e-01 -2.24596784e-03 -4.01469404e-03 2.92918610e+02] [ 2.24625973e-03 9.99997475e-01 6.81966083e-05 3.54406983e+01] [ 4.01453074e-03 -7.72139323e-05 9.99991939e-01 7.82261557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.794391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:292.95, Y:35.44, Z:7.82 [[ 9.99988762e-01 -2.61562842e-03 -3.95409495e-03 2.92948604e+02] [ 2.61591958e-03 9.99996576e-01 6.84630277e-05 3.54389254e+01] [ 3.95390233e-03 -7.88058527e-05 9.99992180e-01 7.82268806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.824391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:292.98, Y:35.44, Z:7.82 [[ 9.99987688e-01 -3.72283957e-03 -3.28099534e-03 2.92978405e+02] [ 3.72304539e-03 9.99993068e-01 5.66279227e-05 3.54362042e+01] [ 3.28076178e-03 -6.88425201e-05 9.99994616e-01 7.82260931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.854391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:293.01, Y:35.43, Z:7.82 [[ 9.99985467e-01 -4.23635179e-03 -3.33455725e-03 2.93008077e+02] [ 4.23656750e-03 9.99991024e-01 5.76272117e-05 3.54344913e+01] [ 3.33428319e-03 -7.17534511e-05 9.99994439e-01 7.82265236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:293.04, Y:35.43, Z:7.82 [[ 9.99978029e-01 -5.41185336e-03 -3.82809595e-03 2.93037367e+02] [ 5.41214524e-03 9.99985352e-01 6.58915533e-05 3.54318757e+01] [ 3.82768329e-03 -8.66083169e-05 9.99992671e-01 7.82245765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.914391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:293.07, Y:35.43, Z:7.82 [[ 9.99973274e-01 -5.71555944e-03 -4.55890203e-03 2.93066964e+02] [ 5.71597597e-03 9.99983661e-01 7.83410529e-05 3.54306283e+01] [ 4.55837978e-03 -1.04397534e-04 9.99989605e-01 7.82253000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:293.10, Y:35.43, Z:7.82 [[ 9.99968374e-01 -5.93618269e-03 -5.29273099e-03 2.93096446e+02] [ 5.93674632e-03 9.99982373e-01 9.07869880e-05 3.54294514e+01] [ 5.29209877e-03 -1.22205718e-04 9.99985989e-01 7.82225562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.974391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:293.12, Y:35.43, Z:7.82 [[ 9.99966241e-01 -5.77313423e-03 -5.84699083e-03 2.93124701e+02] [ 5.77381672e-03 9.99983326e-01 9.98505979e-05 3.54284518e+01] [ 5.84631689e-03 -1.33606680e-04 9.99982901e-01 7.82235432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:293.15, Y:35.43, Z:7.82 [[ 9.99960762e-01 -4.99714318e-03 -7.31451077e-03 2.93154670e+02] [ 4.99819008e-03 9.99987501e-01 1.24853485e-04 3.54269392e+01] [ 7.31379544e-03 -1.61407901e-04 9.99973241e-01 7.82308557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.034391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:293.18, Y:35.43, Z:7.82 [[ 9.99964849e-01 -4.23938550e-03 -7.23379093e-03 2.93182851e+02] [ 4.24037663e-03 9.99991002e-01 1.21681532e-04 3.54263065e+01] [ 7.23320998e-03 -1.52351253e-04 9.99973828e-01 7.82345127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:293.21, Y:35.42, Z:7.83 [[ 9.99940125e-01 -4.01298246e-03 -1.01805309e-02 2.93209695e+02] [ 4.25928520e-03 9.99695922e-01 2.42883190e-02 3.54160633e+01] [ 1.00799667e-02 -2.43302265e-02 9.99653157e-01 7.82554375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.094391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:293.24, Y:35.44, Z:7.83 [[ 9.99970735e-01 -3.94444550e-04 -7.64026178e-03 2.93241394e+02] [ 2.11174584e-04 9.99712575e-01 -2.39733635e-02 3.54355474e+01] [ 7.64752194e-03 2.39710485e-02 9.99683402e-01 7.82998484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:293.27, Y:35.42, Z:7.82 [[ 9.99972631e-01 7.42344405e-04 -7.36110962e-03 2.93268206e+02] [-7.41477676e-04 9.99999718e-01 1.20472680e-04 3.54232476e+01] [ 7.36119698e-03 -1.15011284e-04 9.99972899e-01 7.82456916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.154391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:293.30, Y:35.42, Z:7.82 [[ 9.99962166e-01 2.21207919e-03 -8.41265520e-03 2.93296187e+02] [-2.21102456e-03 9.99997547e-01 1.34661223e-04 3.54223745e+01] [ 8.41293244e-03 -1.16055541e-04 9.99964604e-01 7.82498727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.184391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:293.32, Y:35.42, Z:7.82 [[ 9.99959918e-01 2.43725697e-03 -8.61524659e-03 2.93323807e+02] [-2.43615681e-03 9.99997023e-01 1.38191151e-04 3.54213703e+01] [ 8.61555775e-03 -1.17197520e-04 9.99962879e-01 7.82481039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.214391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:293.35, Y:35.42, Z:7.82 [[ 9.99956970e-01 1.99453406e-03 -9.05978297e-03 2.93351496e+02] [-1.99330880e-03 9.99998003e-01 1.44269496e-04 3.54202346e+01] [ 9.06005263e-03 -1.26204343e-04 9.99958949e-01 7.82482125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.244391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:293.38, Y:35.42, Z:7.83 [[ 9.99947194e-01 -5.52159932e-04 -1.02617786e-02 2.93378794e+02] [ 5.53858051e-04 9.99999833e-01 1.62638770e-04 3.54182418e+01] [ 1.02616871e-02 -1.68313750e-04 9.99947333e-01 7.82524039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.274391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:293.41, Y:35.42, Z:7.83 [[ 9.99946035e-01 -2.45953657e-03 -1.00935010e-02 2.93406259e+02] [ 2.46126289e-03 9.99996959e-01 1.58614159e-04 3.54171408e+01] [ 1.00930802e-02 -1.83448359e-04 9.99949047e-01 7.82520096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.304391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:293.44, Y:35.42, Z:7.83 [[ 9.99932858e-01 -4.51504238e-03 -1.06720794e-02 2.93435141e+02] [ 4.51708369e-03 9.99989784e-01 1.67178912e-04 3.54158867e+01] [ 1.06712155e-02 -2.15374362e-04 9.99943038e-01 7.82573295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.334391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:293.46, Y:35.41, Z:7.83 [[ 9.99908017e-01 -8.97005426e-03 -1.01733162e-02 2.93462986e+02] [ 8.97212791e-03 9.99959737e-01 1.58209740e-04 3.54138954e+01] [ 1.01714875e-02 -2.49471482e-04 9.99948238e-01 7.82656098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.364391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:293.49, Y:35.41, Z:7.83 [[ 9.99885462e-01 -1.16084776e-02 -9.71111658e-03 2.93490733e+02] [ 1.16104742e-02 9.99932585e-01 1.49236563e-04 3.54130739e+01] [ 9.70872950e-03 -2.61970138e-04 9.99952835e-01 7.82700483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.394391418 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:293.52, Y:35.41, Z:7.83 [[ 9.99849289e-01 -1.31474759e-02 -1.13377121e-02 2.93518443e+02] [ 1.30772139e-02 9.99894961e-01 -6.24922630e-03 3.54147471e+01] [ 1.14186827e-02 6.10001879e-03 9.99916198e-01 7.82907580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.424391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:293.55, Y:35.41, Z:7.83 [[ 9.99785981e-01 -1.75787009e-02 -1.09079086e-02 2.93546886e+02] [ 1.75867150e-02 9.99845137e-01 6.39221146e-04 3.54091509e+01] [ 1.08949827e-02 -8.30918621e-04 9.99940303e-01 7.82801429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.454391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:293.58, Y:35.41, Z:7.83 [[ 9.99739234e-01 -2.10520444e-02 -8.84731020e-03 2.93575280e+02] [ 2.11047491e-02 9.99759822e-01 5.90660375e-03 3.54059535e+01] [ 8.72083918e-03 -6.09178377e-03 9.99943417e-01 7.82615649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:293.61, Y:35.41, Z:7.83 [[ 9.99694856e-01 -2.29637466e-02 -9.10278307e-03 2.93605865e+02] [ 2.29659420e-02 9.99736239e-01 1.36702944e-04 3.54078190e+01] [ 9.09724289e-03 -3.45715218e-04 9.99958559e-01 7.82729723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.514391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:293.64, Y:35.41, Z:7.83 [[ 9.99615012e-01 -2.59444208e-02 -9.83436893e-03 2.93636596e+02] [ 2.59471229e-02 9.99663306e-01 1.47246406e-04 3.54071296e+01] [ 9.82723754e-03 -4.02363297e-04 9.99951631e-01 7.82680178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:293.67, Y:35.41, Z:7.83 [[ 9.99584319e-01 -2.69544443e-02 -1.02297231e-02 2.93668232e+02] [ 2.69574273e-02 9.99636571e-01 1.53796738e-04 3.54067871e+01] [ 1.02218598e-02 -4.29499824e-04 9.99947663e-01 7.82687119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.574391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:293.70, Y:35.41, Z:7.83 [[ 9.99557568e-01 -2.78925113e-02 -1.03284374e-02 2.93699597e+02] [ 2.78956061e-02 9.99610830e-01 1.55665971e-04 3.54066531e+01] [ 1.03200760e-02 -4.43715120e-04 9.99946648e-01 7.82670764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:293.73, Y:35.41, Z:7.83 [[ 9.99505873e-01 -2.95835305e-02 -1.06219143e-02 2.93730537e+02] [ 2.95869037e-02 9.99562199e-01 1.60540762e-04 3.54067059e+01] [ 1.06125147e-02 -4.74730990e-04 9.99943573e-01 7.82681800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.634391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:293.76, Y:35.41, Z:7.83 [[ 9.99486144e-01 -3.03642043e-02 -1.02695346e-02 2.93761328e+02] [ 3.03674076e-02 9.99538792e-01 1.56093497e-04 3.54064967e+01] [ 1.02600586e-02 -4.67872431e-04 9.99947255e-01 7.82672821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:293.79, Y:35.41, Z:7.83 [[ 9.99408289e-01 -3.27618172e-02 -1.04754323e-02 2.93791546e+02] [ 3.27652804e-02 9.99463061e-01 1.59112476e-04 3.54075195e+01] [ 1.04645948e-02 -5.02248803e-04 9.99945118e-01 7.82747707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.694391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:293.82, Y:35.41, Z:7.83 [[ 9.99361199e-01 -3.40397924e-02 -1.08851558e-02 2.93823159e+02] [ 3.40436136e-02 9.99420334e-01 1.65896099e-04 3.54081670e+01] [ 1.08731990e-02 -5.36360164e-04 9.99940741e-01 7.82791502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:293.85, Y:35.41, Z:7.83 [[ 9.99311746e-01 -3.53406009e-02 -1.12728041e-02 2.93854170e+02] [ 3.53447866e-02 9.99375163e-01 1.72246915e-04 3.54087359e+01] [ 1.12596732e-02 -5.70563222e-04 9.99936445e-01 7.82803650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.754391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:293.89, Y:35.41, Z:7.83 [[ 9.99191068e-01 -3.83453944e-02 -1.21177398e-02 2.93885919e+02] [ 3.83504573e-02 9.99264333e-01 1.85635113e-04 3.54105881e+01] [ 1.21017069e-02 -6.50205810e-04 9.99926560e-01 7.82825775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:293.92, Y:35.41, Z:7.83 [[ 9.99128681e-01 -3.98003338e-02 -1.25623704e-02 2.93916676e+02] [ 3.98059009e-02 9.99207412e-01 1.93332002e-04 3.54111613e+01] [ 1.25447189e-02 -6.93220018e-04 9.99921072e-01 7.82808696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.814391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:293.95, Y:35.41, Z:7.83 [[ 9.99067623e-01 -4.13897131e-02 -1.22790975e-02 2.93949253e+02] [ 4.13951653e-02 9.99142835e-01 1.90086186e-04 3.54114891e+01] [ 1.22607046e-02 -6.98204223e-04 9.99924591e-01 7.82762245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:293.98, Y:35.41, Z:7.83 [[ 9.98991959e-01 -4.31438024e-02 -1.23966688e-02 2.93981756e+02] [ 4.31495063e-02 9.99068608e-01 1.92897828e-04 3.54120148e+01] [ 1.23768003e-02 -7.27613519e-04 9.99923140e-01 7.82763910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.874391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:294.01, Y:35.41, Z:7.83 [[ 9.98823823e-01 -4.68901057e-02 -1.23405102e-02 2.94014149e+02] [ 4.68960606e-02 9.98899756e-01 1.93461558e-04 3.54146646e+01] [ 1.23178612e-02 -7.71955326e-04 9.99923834e-01 7.82778889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:294.05, Y:35.42, Z:7.83 [[ 9.98743959e-01 -4.85030986e-02 -1.25679956e-02 2.94045972e+02] [ 4.85094136e-02 9.98822706e-01 1.97926850e-04 3.54156698e+01] [ 1.25435993e-02 -8.07344341e-04 9.99921000e-01 7.82775094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.934391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:294.08, Y:35.42, Z:7.83 [[ 9.98629659e-01 -5.08100313e-02 -1.25357216e-02 2.94077369e+02] [ 5.08165195e-02 9.98707986e-01 1.99398029e-04 3.54179981e+01] [ 1.25093939e-02 -8.36146527e-04 9.99921405e-01 7.82792021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:294.11, Y:35.42, Z:7.83 [[ 9.98534747e-01 -5.25810933e-02 -1.27901185e-02 2.94109580e+02] [ 5.26875304e-02 9.98577936e-01 8.13208093e-03 3.54162677e+01] [ 1.23443364e-02 -8.79404514e-03 9.99885134e-01 7.82761246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.994391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:294.14, Y:35.42, Z:7.83 [[ 9.98579682e-01 -5.19717956e-02 -1.17282393e-02 2.94142457e+02] [ 5.18825606e-02 9.98622818e-01 -7.78889742e-03 3.54240216e+01] [ 1.21168904e-02 7.16934361e-03 9.99900886e-01 7.82938915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:294.17, Y:35.42, Z:7.83 [[ 9.98641414e-01 -5.10957933e-02 -1.02247997e-02 2.94173417e+02] [ 5.11001248e-02 9.98693522e-01 1.62658587e-04 3.54236198e+01] [ 1.02031300e-02 -6.84926142e-04 9.99947712e-01 7.82760009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.054391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:294.20, Y:35.43, Z:7.83 [[ 9.98718258e-01 -4.96401417e-02 -9.88423652e-03 2.94204976e+02] [ 4.96441245e-02 9.98766958e-01 1.57855395e-04 3.54253146e+01] [ 9.86421287e-03 -6.48347334e-04 9.99951137e-01 7.82803659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.084391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:294.24, Y:35.43, Z:7.83 [[ 9.98834084e-01 -4.74128960e-02 -9.08238122e-03 2.94237686e+02] [ 4.74161755e-02 9.98875210e-01 1.45971738e-04 3.54269519e+01] [ 9.06524451e-03 -5.76453329e-04 9.99958744e-01 7.82788570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.114391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:294.27, Y:35.43, Z:7.83 [[ 9.99105265e-01 -4.14712613e-02 -8.29485610e-03 2.94270196e+02] [ 4.14737987e-02 9.99139583e-01 1.34045565e-04 3.54307032e+01] [ 8.28216002e-03 -4.77944822e-04 9.99965588e-01 7.82795762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.144391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:294.30, Y:35.43, Z:7.83 [[ 9.99266718e-01 -3.74082280e-02 -8.16405017e-03 2.94301350e+02] [ 3.74105537e-02 9.99299971e-01 1.32299571e-04 3.54324770e+01] [ 8.15338601e-03 -4.37624195e-04 9.99966665e-01 7.82800919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.174391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:294.33, Y:35.43, Z:7.83 [[ 9.99416995e-01 -3.32492246e-02 -7.75621473e-03 2.94332717e+02] [ 3.32512098e-02 9.99447018e-01 1.27102311e-04 3.54345360e+01] [ 7.74769963e-03 -3.84931733e-04 9.99969912e-01 7.82767138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.204391418 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:294.36, Y:35.44, Z:7.83 [[ 9.99663246e-01 -2.47388099e-02 -7.83492077e-03 2.94364979e+02] [ 2.47405772e-02 9.99693897e-01 1.28718257e-04 3.54382180e+01] [ 7.82933814e-03 -3.22515373e-04 9.99969298e-01 7.82765904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.234391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:294.40, Y:35.44, Z:7.83 [[ 9.99753516e-01 -2.08226773e-02 -7.70221301e-03 2.94396858e+02] [ 2.08242742e-02 9.99783143e-01 1.27172833e-04 3.54396249e+01] [ 7.69789465e-03 -2.87534482e-04 9.99970329e-01 7.82739663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.264391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:294.43, Y:35.44, Z:7.83 [[ 9.99866120e-01 -1.41570807e-02 -8.20483171e-03 2.94428107e+02] [ 1.41586687e-02 9.99899752e-01 1.35498408e-04 3.54421205e+01] [ 8.20209093e-03 -2.51649762e-04 9.99966331e-01 7.82690880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.294391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:294.46, Y:35.44, Z:7.83 [[ 9.99898106e-01 -1.16840586e-02 -8.20122538e-03 2.94457254e+02] [ 1.16855575e-02 9.99931712e-01 1.34870998e-04 3.54427365e+01] [ 8.19908949e-03 -2.30693146e-04 9.99966360e-01 7.82606732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.324391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:294.49, Y:35.44, Z:7.83 [[ 9.99921764e-01 -9.54774987e-03 -8.08122108e-03 2.94486618e+02] [ 9.54913194e-03 9.99954397e-01 1.32453335e-04 3.54433241e+01] [ 8.07958792e-03 -2.09611619e-04 9.99967338e-01 7.82577043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.354391418 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:294.52, Y:35.44, Z:7.83 [[ 9.99935828e-01 -7.91682969e-03 -8.10332865e-03 2.94515915e+02] [ 7.91816303e-03 9.99968642e-01 1.32473217e-04 3.54439618e+01] [ 8.10202578e-03 -1.96628193e-04 9.99967159e-01 7.82506469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:294.54, Y:35.45, Z:7.82 [[ 9.99946914e-01 -6.25265237e-03 -8.18986963e-03 2.94544480e+02] [ 6.25395343e-03 9.99980435e-01 1.33261206e-04 3.54454029e+01] [ 8.18887616e-03 -1.84473195e-04 9.99966454e-01 7.82448145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.414391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:294.57, Y:35.45, Z:7.82 [[ 9.99946821e-01 -6.32852221e-03 -8.14282002e-03 2.94572785e+02] [ 6.32978004e-03 9.99979958e-01 1.28708834e-04 3.54456932e+01] [ 8.14184229e-03 -1.80244249e-04 9.99966838e-01 7.82385114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:294.60, Y:35.45, Z:7.82 [[ 9.99945031e-01 -6.83140326e-03 -7.95404436e-03 2.94601366e+02] [ 6.83260129e-03 9.99976650e-01 1.23454764e-04 3.54457815e+01] [ 7.95301526e-03 -1.77794791e-04 9.99968358e-01 7.82340492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.474391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:294.63, Y:35.45, Z:7.82 [[ 9.99937295e-01 -7.86896678e-03 -7.96778910e-03 2.94629667e+02] [ 7.87018366e-03 9.99969022e-01 1.21380843e-04 3.54460742e+01] [ 7.96658713e-03 -1.84081195e-04 9.99968249e-01 7.82352004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:294.66, Y:35.45, Z:7.82 [[ 9.99921654e-01 -1.03954806e-02 -6.97283518e-03 2.94658664e+02] [ 1.03964582e-02 9.99945950e-01 1.03959265e-04 3.54457860e+01] [ 6.97137759e-03 -1.76443910e-04 9.99975684e-01 7.82326991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.534391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:294.69, Y:35.45, Z:7.82 [[ 9.99908206e-01 -1.17604553e-02 -6.72835493e-03 2.94689090e+02] [ 1.17614088e-02 9.99930827e-01 1.02168286e-04 3.54453315e+01] [ 6.72668797e-03 -1.81293841e-04 9.99977359e-01 7.82311012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:294.72, Y:35.45, Z:7.82 [[ 9.99876641e-01 -1.47148674e-02 -5.49326405e-03 2.94719186e+02] [ 1.47155475e-02 9.99891717e-01 8.34137584e-05 3.54451120e+01] [ 5.49144180e-03 -1.64239857e-04 9.99984908e-01 7.82325079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.594391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:294.75, Y:35.44, Z:7.82 [[ 9.99860142e-01 -1.59923837e-02 -4.89276668e-03 2.94750588e+02] [ 1.59929463e-02 9.99872102e-01 7.58667155e-05 3.54444147e+01] [ 4.89092762e-03 -1.54105860e-04 9.99988027e-01 7.82333881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:294.78, Y:35.44, Z:7.82 [[ 9.99812906e-01 -1.89346051e-02 -3.95388158e-03 2.94782942e+02] [ 1.89349960e-02 9.99820715e-01 6.14469812e-05 3.54437530e+01] [ 3.95200923e-03 -1.36302217e-04 9.99992181e-01 7.82343042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.654391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:294.82, Y:35.44, Z:7.82 [[ 9.99814836e-01 -1.88324108e-02 -3.95387321e-03 2.94815636e+02] [ 1.88328030e-02 9.99822645e-01 6.19865069e-05 3.54431713e+01] [ 3.95200462e-03 -1.36437545e-04 9.99992181e-01 7.82321217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.684391418 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:294.85, Y:35.44, Z:7.82 [[ 9.99784383e-01 -2.04268283e-02 -3.73267450e-03 2.94846574e+02] [ 2.04271889e-02 9.99791342e-01 5.85088566e-05 3.54425058e+01] [ 3.73070049e-03 -1.34744288e-04 9.99993032e-01 7.82283526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.714391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:294.88, Y:35.44, Z:7.82 [[ 9.99753630e-01 -2.18617179e-02 -3.83988365e-03 2.94878670e+02] [ 2.18621118e-02 9.99760994e-01 6.06299588e-05 3.54414526e+01] [ 3.83764042e-03 -1.44562987e-04 9.99992626e-01 7.82248961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.744391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:294.91, Y:35.44, Z:7.82 [[ 9.99673396e-01 -2.52004014e-02 -4.24744881e-03 2.94909394e+02] [ 2.52009137e-02 9.99682404e-01 6.71270875e-05 3.54403464e+01] [ 4.24440821e-03 -1.74144754e-04 9.99990977e-01 7.82223305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.774391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:294.94, Y:35.44, Z:7.82 [[ 9.99637598e-01 -2.65770231e-02 -4.28180055e-03 2.94941356e+02] [ 2.65775584e-02 9.99646752e-01 6.81563689e-05 3.54397785e+01] [ 4.27847661e-03 -1.81931473e-04 9.99990831e-01 7.82198242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.804391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:294.97, Y:35.44, Z:7.82 [[ 9.99610138e-01 -2.75877896e-02 -4.29962708e-03 2.94972920e+02] [ 2.75883426e-02 9.99619367e-01 6.93484341e-05 3.54391779e+01] [ 4.29607733e-03 -1.87940983e-04 9.99990754e-01 7.82162317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.834391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:295.00, Y:35.44, Z:7.82 [[ 9.99587387e-01 -2.83173689e-02 -4.81477518e-03 2.95004944e+02] [ 2.83180704e-02 9.99598960e-01 7.75833537e-05 3.54387085e+01] [ 4.81064730e-03 -2.13896484e-04 9.99988406e-01 7.82153089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.864391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:295.04, Y:35.44, Z:7.82 [[ 9.99572892e-01 -2.87901646e-02 -5.01593107e-03 2.95035873e+02] [ 2.87909370e-02 9.99585452e-01 8.18379005e-05 3.54387535e+01] [ 5.01149560e-03 -2.26216303e-04 9.99987417e-01 7.82127821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.894391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:295.07, Y:35.44, Z:7.82 [[ 9.99574507e-01 -2.86632818e-02 -5.40566507e-03 2.95067859e+02] [ 2.86641770e-02 9.99589094e-01 8.81731908e-05 3.54386475e+01] [ 5.40091651e-03 -2.43084614e-04 9.99985385e-01 7.82108052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.924391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:295.10, Y:35.44, Z:7.82 [[ 9.99603195e-01 -2.74642573e-02 -6.25842576e-03 2.95099052e+02] [ 2.74654346e-02 9.99622749e-01 1.02231719e-04 3.54384294e+01] [ 6.25325704e-03 -2.74081536e-04 9.99980411e-01 7.82094220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.954391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:295.13, Y:35.44, Z:7.82 [[ 9.99640205e-01 -2.59761652e-02 -6.68570886e-03 2.95131224e+02] [ 2.59774799e-02 9.99662522e-01 1.09863852e-04 3.54384319e+01] [ 6.68059874e-03 -2.83502191e-04 9.99977644e-01 7.82085559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:295.16, Y:35.44, Z:7.82 [[ 9.99694478e-01 -2.38039868e-02 -6.65743218e-03 2.95162223e+02] [ 2.38052441e-02 9.99716609e-01 1.09661222e-04 3.54387038e+01] [ 6.65293515e-03 -2.68109516e-04 9.99977833e-01 7.82047531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.014391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:295.19, Y:35.44, Z:7.82 [[ 9.99814064e-01 -1.81607400e-02 -6.48267014e-03 2.95194885e+02] [ 1.81618178e-02 9.99835055e-01 1.07423089e-04 3.54401874e+01] [ 6.47964997e-03 -2.25140189e-04 9.99978982e-01 7.82018255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044391418 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:295.23, Y:35.44, Z:7.82 [[ 9.99876197e-01 -1.46382202e-02 -5.77172839e-03 2.95225918e+02] [ 1.46390161e-02 9.99892839e-01 9.56582420e-05 3.54406513e+01] [ 5.76970962e-03 -1.80138824e-04 9.99983339e-01 7.81963699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.074391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:295.26, Y:35.44, Z:7.82 [[ 9.99922989e-01 -1.11495899e-02 -5.45003524e-03 2.95256916e+02] [ 1.11502490e-02 9.99937830e-01 9.05677813e-05 3.54411517e+01] [ 5.44868662e-03 -1.51330057e-04 9.99985144e-01 7.81936589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:295.29, Y:35.44, Z:7.82 [[ 9.99954191e-01 -7.63679911e-03 -5.77025597e-03 2.95287192e+02] [ 7.63747931e-03 9.99970829e-01 9.58530715e-05 3.54414961e+01] [ 5.76935564e-03 -1.39918891e-04 9.99983347e-01 7.81947052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.134391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:295.32, Y:35.44, Z:7.82 [[ 9.99982991e-01 -1.50054762e-03 -5.63618815e-03 2.95317271e+02] [ 1.50109559e-03 9.99998869e-01 9.29950647e-05 3.54423524e+01] [ 5.63604223e-03 -1.01453940e-04 9.99984112e-01 7.81909997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:295.35, Y:35.44, Z:7.82 [[ 9.99981016e-01 7.43639460e-04 -6.11667402e-03 2.95346253e+02] [-7.43056488e-04 9.99999719e-01 9.75806283e-05 3.54424820e+01] [ 6.11674487e-03 -9.30337416e-05 9.99981288e-01 7.81939457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.194391418 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:295.37, Y:35.44, Z:7.82 [[ 9.99972611e-01 4.05269435e-03 -6.19290880e-03 2.95373044e+02] [-4.05216684e-03 9.99991785e-01 9.77250712e-05 3.54425017e+01] [ 6.19325397e-03 -7.26276950e-05 9.99980819e-01 7.81877396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:295.40, Y:35.44, Z:7.82 [[ 9.99967855e-01 5.01936123e-03 -6.25266761e-03 2.95399655e+02] [-5.01884664e-03 9.99987401e-01 9.79872906e-05 3.54423402e+01] [ 6.25308066e-03 -6.66029609e-05 9.99980447e-01 7.81864705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.254391418 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:295.43, Y:35.44, Z:7.82 [[ 9.99964650e-01 5.62629059e-03 -6.24847744e-03 2.95428166e+02] [-5.62578763e-03 9.99984170e-01 9.80666207e-05 3.54418740e+01] [ 6.24893028e-03 -6.29105470e-05 9.99980473e-01 7.81836992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:295.46, Y:35.44, Z:7.82 [[ 9.99966952e-01 5.51945921e-03 -5.96918839e-03 2.95455984e+02] [-5.51900445e-03 9.99984766e-01 9.26531503e-05 3.54412516e+01] [ 5.96960885e-03 -5.97061110e-05 9.99982180e-01 7.81760240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.314391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:295.48, Y:35.44, Z:7.82 [[ 9.99967557e-01 5.10635416e-03 -6.22970587e-03 2.95484611e+02] [-5.10585210e-03 9.99986960e-01 9.64923876e-05 3.54406368e+01] [ 6.23011736e-03 -6.46813003e-05 9.99980591e-01 7.81744845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:295.51, Y:35.44, Z:7.82 [[ 9.99978189e-01 2.90061304e-03 -5.93364851e-03 2.95512034e+02] [-2.90012321e-03 9.99995790e-01 9.11539893e-05 3.54396069e+01] [ 5.93388794e-03 -7.39436893e-05 9.99982392e-01 7.81675488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.374391418 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:295.54, Y:35.44, Z:7.82 [[ 9.99982462e-01 9.40673645e-04 -5.84729005e-03 2.95540774e+02] [-9.40166459e-04 9.99999554e-01 8.94868088e-05 3.54388954e+01] [ 5.84737162e-03 -8.39878134e-05 9.99982900e-01 7.81627805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:295.57, Y:35.44, Z:7.82 [[ 9.99981289e-01 -1.15275692e-03 -6.00772518e-03 2.95569515e+02] [ 1.15332728e-03 9.99999331e-01 9.14743031e-05 3.54379664e+01] [ 6.00761572e-03 -9.84014649e-05 9.99981949e-01 7.81608255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.434391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:295.60, Y:35.44, Z:7.82 [[ 9.99976884e-01 -3.62699478e-03 -5.75120189e-03 2.95598760e+02] [ 3.62755563e-03 9.99993417e-01 8.70908599e-05 3.54370664e+01] [ 5.75084815e-03 -1.07951652e-04 9.99983458e-01 7.81601171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464391418 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:295.63, Y:35.44, Z:7.82 [[ 9.99942381e-01 -9.44815950e-03 -5.09577476e-03 2.95627626e+02] [ 9.44867420e-03 9.99955357e-01 7.69389343e-05 3.54355671e+01] [ 5.09482034e-03 -1.25082817e-04 9.99987013e-01 7.81609723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.494391418 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:295.66, Y:35.43, Z:7.82 [[ 9.99908602e-01 -1.27146751e-02 -4.59613141e-03 2.95658322e+02] [ 1.27151299e-02 9.99919157e-01 6.97521739e-05 3.54347687e+01] [ 4.59487297e-03 -1.28186207e-04 9.99989435e-01 7.81633984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:295.69, Y:35.43, Z:7.82 [[ 9.99865881e-01 -1.59813024e-02 -3.58023923e-03 2.95689282e+02] [ 1.59816008e-02 9.99872285e-01 5.47334026e-05 3.54336094e+01] [ 3.57890726e-03 -1.11944016e-04 9.99993589e-01 7.81572978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.554391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:295.72, Y:35.43, Z:7.82 [[ 9.99744622e-01 -2.24843574e-02 -2.26823760e-03 2.95722387e+02] [ 2.24844959e-02 9.99747191e-01 3.55782426e-05 3.54320102e+01] [ 2.26686421e-03 -8.65693356e-05 9.99997427e-01 7.81550703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.584391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:295.75, Y:35.43, Z:7.82 [[ 9.99669605e-01 -2.56423652e-02 -1.77467994e-03 2.95754749e+02] [ 2.56424550e-02 9.99671178e-01 2.78847476e-05 3.54310070e+01] [ 1.77338136e-03 -7.33826852e-05 9.99998425e-01 7.81506041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.614391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:295.79, Y:35.43, Z:7.81 [[ 9.99483543e-01 -3.21336288e-02 -2.79003271e-04 2.95787128e+02] [ 3.21336314e-02 9.99483582e-01 4.98925399e-06 3.54298128e+01] [ 2.78698865e-04 -1.39520655e-05 9.99999961e-01 7.81390442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.644391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:295.82, Y:35.43, Z:7.81 [[ 9.99385599e-01 -3.50488633e-02 -4.80153127e-05 2.95820050e+02] [ 3.50488634e-02 9.99385600e-01 1.53530181e-06 3.54288804e+01] [ 4.79320013e-05 -3.21724064e-06 9.99999999e-01 7.81330766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.674391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:295.85, Y:35.43, Z:7.81 [[ 9.99276730e-01 -3.80256452e-02 2.60691472e-04 2.95853088e+02] [ 3.80256474e-02 9.99276764e-01 -3.29168279e-06 3.54282684e+01] [-2.60377763e-04 1.32022640e-05 9.99999966e-01 7.81269582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.704391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:295.89, Y:35.43, Z:7.81 [[ 9.99173901e-01 -4.06367965e-02 4.08282056e-04 2.95885017e+02] [ 4.06368023e-02 9.99173984e-01 -5.79693145e-06 3.54278621e+01] [-4.07709240e-04 2.23834198e-05 9.99999917e-01 7.81207409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.734391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:295.92, Y:35.43, Z:7.81 [[ 9.99016295e-01 -4.43431710e-02 3.55091410e-04 2.95918490e+02] [ 4.43431755e-02 9.99016358e-01 -4.86507400e-06 3.54281696e+01] [-3.54526394e-04 2.06061689e-05 9.99999937e-01 7.81159522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.764391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:295.95, Y:35.43, Z:7.81 [[ 9.98951431e-01 -4.57753259e-02 8.11101754e-04 2.95951769e+02] [ 4.57753509e-02 9.98951759e-01 -1.22295979e-05 3.54283607e+01] [-8.09691711e-04 4.93452418e-05 9.99999671e-01 7.81092961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.794391418 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:295.99, Y:35.43, Z:7.81 [[ 9.98927420e-01 -4.62980575e-02 7.07217243e-04 2.95985204e+02] [ 4.62980766e-02 9.98927669e-01 -1.06366263e-05 3.54284490e+01] [-7.05966417e-04 4.33680157e-05 9.99999750e-01 7.81044124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.824391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:296.02, Y:35.43, Z:7.81 [[ 9.98925949e-01 -4.63225764e-02 1.08021407e-03 2.96016962e+02] [ 4.63226217e-02 9.98926531e-01 -1.69445604e-05 3.54302342e+01] [-1.07826958e-03 6.69647089e-05 9.99999416e-01 7.80992905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.854391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:296.05, Y:35.43, Z:7.81 [[ 9.98943503e-01 -4.59319534e-02 1.46072801e-03 2.96050374e+02] [ 4.59320363e-02 9.98944567e-01 -2.32157946e-05 3.54311572e+01] [-1.45811997e-03 9.02854794e-05 9.99998933e-01 7.80933333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:296.08, Y:35.43, Z:7.81 [[ 9.99024300e-01 -4.41493617e-02 1.13242559e-03 2.96083504e+02] [ 4.41494103e-02 9.99024939e-01 -1.79563152e-05 3.54340791e+01] [-1.13052865e-03 6.79347172e-05 9.99999359e-01 7.80860112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.914391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:296.12, Y:35.44, Z:7.81 [[ 9.99098904e-01 -4.24143648e-02 1.54989472e-03 2.96116610e+02] [ 4.24144545e-02 9.99100102e-01 -2.50618417e-05 3.54351034e+01] [-1.54743699e-03 9.07771977e-05 9.99998799e-01 7.80777111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944391418 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:296.15, Y:35.44, Z:7.81 [[ 9.99151587e-01 -4.11661317e-02 1.20641456e-03 2.96149756e+02] [ 4.11661851e-02 9.99152313e-01 -1.94671903e-05 3.54366993e+01] [-1.20459051e-03 6.91141593e-05 9.99999272e-01 7.80741989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.974391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:296.18, Y:35.44, Z:7.81 [[ 9.99297567e-01 -3.74609002e-02 1.02638461e-03 2.96181773e+02] [ 3.74609371e-02 9.99298093e-01 -1.66856999e-05 3.54400120e+01] [-1.02503912e-03 5.51233087e-05 9.99999473e-01 7.80657489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:296.22, Y:35.44, Z:7.81 [[ 9.99385585e-01 -3.50285651e-02 1.20491423e-03 2.96215219e+02] [ 3.50286143e-02 9.99386310e-01 -1.97346663e-05 3.54414996e+01] [-1.20348351e-03 6.19290169e-05 9.99999274e-01 7.80613942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.034391418 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:296.25, Y:35.44, Z:7.81 [[ 9.99475624e-01 -3.23482785e-02 1.43709175e-03 2.96248483e+02] [ 3.23483462e-02 9.99476655e-01 -2.38392301e-05 3.54430154e+01] [-1.43556850e-03 7.03142709e-05 9.99998967e-01 7.80587947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:296.28, Y:35.45, Z:7.81 [[ 9.99655627e-01 -2.61703053e-02 1.93439579e-03 2.96280191e+02] [ 2.61704175e-02 9.99657495e-01 -3.27042820e-05 3.54473774e+01] [-1.93287737e-03 8.33169648e-05 9.99998129e-01 7.80582080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.094391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:296.31, Y:35.45, Z:7.81 [[ 9.99744090e-01 -2.24240332e-02 2.98611323e-03 2.96313410e+02] [ 2.24242857e-02 9.99748543e-01 -5.10908037e-05 3.54491547e+01] [-2.98421669e-03 1.18039185e-04 9.99995540e-01 7.80510128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:296.35, Y:35.45, Z:7.80 [[ 9.99825011e-01 -1.83789035e-02 3.48746939e-03 2.96346552e+02] [ 1.83792251e-02 9.99831086e-01 -6.01930101e-05 3.54509846e+01] [-3.48577403e-03 1.24279462e-04 9.99993917e-01 7.80497414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.154391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:296.38, Y:35.46, Z:7.80 [[ 9.99936251e-01 -1.04120447e-02 4.36838207e-03 2.96379792e+02] [ 1.04124766e-02 9.99945786e-01 -7.61269288e-05 3.54552896e+01] [-4.36735261e-03 1.21607752e-04 9.99990456e-01 7.80450345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.184391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:296.41, Y:35.46, Z:7.80 [[ 9.99967146e-01 -6.31453847e-03 5.08267931e-03 2.96411777e+02] [ 6.31507438e-03 9.99980056e-01 -8.93960178e-05 3.54568071e+01] [-5.08201344e-03 1.21490579e-04 9.99987079e-01 7.80390620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.214391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:296.44, Y:35.46, Z:7.80 [[ 9.99981833e-01 -2.41274351e-03 5.52374924e-03 2.96442529e+02] [ 2.41331935e-03 9.99997083e-01 -9.75838270e-05 3.54583491e+01] [-5.52349768e-03 1.10912625e-04 9.99984739e-01 7.80353851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.244391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:296.48, Y:35.46, Z:7.80 [[ 9.99966986e-01 4.79690682e-03 6.55870006e-03 2.96475192e+02] [-4.79624312e-03 9.99988491e-01 -1.16919493e-04 3.54614373e+01] [-6.55918543e-03 8.54585125e-05 9.99978485e-01 7.80290096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.274391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:296.51, Y:35.46, Z:7.80 [[ 9.99946247e-01 7.76545148e-03 6.87033746e-03 2.96507721e+02] [-7.76478944e-03 9.99969846e-01 -1.23031930e-04 3.54624018e+01] [-6.87108569e-03 6.96785927e-05 9.99976391e-01 7.80256044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.304391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:296.54, Y:35.46, Z:7.80 [[ 9.99921621e-01 1.03286172e-02 7.07608658e-03 2.96538056e+02] [-1.03279751e-02 9.99946657e-01 -1.27287149e-04 3.54632889e+01] [-7.07702382e-03 5.41955263e-05 9.99974956e-01 7.80219255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.334391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:296.57, Y:35.47, Z:7.80 [[ 9.99874452e-01 1.41401252e-02 7.15095910e-03 2.96568246e+02] [-1.41395659e-02 9.99900023e-01 -1.28770172e-04 3.54651603e+01] [-7.15206500e-03 2.76425472e-05 9.99974423e-01 7.80117751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.364391418 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:296.60, Y:35.47, Z:7.80 [[ 9.99847228e-01 1.57566255e-02 7.56631598e-03 2.96597686e+02] [-1.57560459e-02 9.99875857e-01 -1.36214145e-04 3.54654242e+01] [-7.56752294e-03 1.69781138e-05 9.99971366e-01 7.80032342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.394391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:296.63, Y:35.47, Z:7.80 [[ 9.99826733e-01 1.70597389e-02 7.44775276e-03 2.96626044e+02] [-1.70592157e-02 9.99854472e-01 -1.33771032e-04 3.54656951e+01] [-7.44895100e-03 6.69503226e-06 9.99972256e-01 7.80001444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.424391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:296.65, Y:35.47, Z:7.80 [[ 9.99800322e-01 1.82047129e-02 8.24039879e-03 2.96654714e+02] [-1.82041160e-02 9.99834280e-01 -1.47444839e-04 3.54660169e+01] [-8.24171738e-03 -2.59377769e-06 9.99966036e-01 7.79929038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.454391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:296.68, Y:35.47, Z:7.80 [[ 9.99756413e-01 2.01038384e-02 9.10775129e-03 2.96682202e+02] [-2.01031955e-02 9.99797897e-01 -1.62140449e-04 3.54664053e+01] [-9.10917023e-03 -2.09939505e-05 9.99958510e-01 7.79823581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:296.71, Y:35.47, Z:7.80 [[ 9.99750000e-01 2.03777417e-02 9.20243028e-03 2.96711184e+02] [-2.03771049e-02 9.99792352e-01 -1.62959384e-04 3.54660296e+01] [-9.20384016e-03 -2.46002430e-05 9.99957643e-01 7.79795628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.514391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:296.74, Y:35.46, Z:7.80 [[ 9.99768060e-01 1.92093219e-02 9.73802485e-03 2.96740274e+02] [-1.92085608e-02 9.99815484e-01 -1.71690912e-04 3.54648403e+01] [-9.73952610e-03 -1.54023528e-05 9.99952570e-01 7.79705446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:296.77, Y:35.46, Z:7.80 [[ 9.99790274e-01 1.76050752e-02 1.04627957e-02 2.96768930e+02] [-1.76041165e-02 9.99845019e-01 -1.83727555e-04 3.54637658e+01] [-1.04644087e-02 -4.99252231e-07 9.99945247e-01 7.79617046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.574391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:296.80, Y:35.46, Z:7.80 [[ 9.99790635e-01 1.75845463e-02 1.04628067e-02 2.96799084e+02] [-1.75835930e-02 9.99845380e-01 -1.83100739e-04 3.54632726e+01] [-1.04644086e-02 -9.11329460e-07 9.99945247e-01 7.79596884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:296.83, Y:35.46, Z:7.80 [[ 9.99827490e-01 1.54087536e-02 1.03711355e-02 2.96828908e+02] [-1.54077021e-02 9.99881278e-01 -1.81285345e-04 3.54617351e+01] [-1.03726976e-02 2.14587045e-05 9.99946202e-01 7.79559046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.634391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:296.86, Y:35.46, Z:7.79 [[ 9.99872737e-01 1.21979584e-02 1.02820343e-02 2.96859491e+02] [-1.21967564e-02 9.99925601e-01 -1.79593060e-04 3.54600697e+01] [-1.02834600e-02 5.41627362e-05 9.99947122e-01 7.79485534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:296.89, Y:35.46, Z:7.79 [[ 9.99940086e-01 4.41433405e-03 1.00168681e-02 2.96891235e+02] [-4.41280146e-03 9.99990248e-01 -1.75096737e-04 3.54567052e+01] [-1.00175433e-02 1.30883797e-04 9.99949815e-01 7.79400776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.694391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:296.92, Y:35.45, Z:7.79 [[ 9.99952313e-01 6.24009617e-04 9.74589087e-03 2.96923535e+02] [-6.22367256e-04 9.99999792e-01 -1.71550187e-04 3.54542377e+01] [-9.74599589e-03 1.65476483e-04 9.99952493e-01 7.79354724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:296.96, Y:35.45, Z:7.79 [[ 9.99918388e-01 -7.99979752e-03 9.96099525e-03 2.96956223e+02] [ 8.00197191e-03 9.99967968e-01 -1.78453801e-04 3.54497324e+01] [-9.95924859e-03 2.58146841e-04 9.99950372e-01 7.79307211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.754391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:296.99, Y:35.45, Z:7.79 [[ 9.99882924e-01 -1.18465914e-02 9.68483290e-03 2.96989024e+02] [ 1.18488568e-02 9.99929784e-01 -1.76563156e-04 3.54472815e+01] [-9.68206120e-03 2.91296682e-04 9.99953085e-01 7.79288139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:297.02, Y:35.45, Z:7.79 [[ 9.99833342e-01 -1.55491923e-02 9.56610572e-03 2.97022258e+02] [ 1.55515956e-02 9.99879051e-01 -1.76884427e-04 3.54452009e+01] [-9.56219830e-03 3.25623155e-04 9.99954228e-01 7.79272211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.814391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:297.05, Y:35.44, Z:7.79 [[ 9.99743860e-01 -2.10109838e-02 8.41150213e-03 2.97054168e+02] [ 2.10130455e-02 9.99779189e-01 -1.56788039e-04 3.54417336e+01] [-8.40635051e-03 3.33499157e-04 9.99964610e-01 7.79279706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:297.09, Y:35.44, Z:7.79 [[ 9.99704708e-01 -2.29247495e-02 8.05935686e-03 2.97087457e+02] [ 2.29267213e-02 9.99737137e-01 -1.52343917e-04 3.54398643e+01] [-8.05374590e-03 3.37073560e-04 9.99967511e-01 7.79256076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.874391418 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:297.12, Y:35.44, Z:7.79 [[ 9.99674795e-01 -2.41131359e-02 8.29828408e-03 2.97121968e+02] [ 2.41054083e-02 9.99708892e-01 1.03000281e-03 3.54371650e+01] [-8.32070498e-03 -8.29634324e-04 9.99965038e-01 7.79164863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:297.15, Y:35.44, Z:7.79 [[ 9.99649323e-01 -2.54421498e-02 7.34359611e-03 2.97151586e+02] [ 2.54531574e-02 9.99675022e-01 -1.40937097e-03 3.54376331e+01] [-7.30535218e-03 1.59579445e-03 9.99972042e-01 7.79297175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.934391418 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:297.18, Y:35.44, Z:7.79 [[ 9.99636037e-01 -2.62192072e-02 6.35195637e-03 2.97183349e+02] [ 2.62205070e-02 9.99656176e-01 -1.21424730e-04 3.54351042e+01] [-6.34658876e-03 2.87932052e-04 9.99979819e-01 7.79243181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:297.22, Y:35.43, Z:7.79 [[ 9.99642944e-01 -2.58949868e-02 6.59051370e-03 2.97217275e+02] [ 2.58805524e-02 9.99662474e-01 2.26612693e-03 3.54327447e+01] [-6.64697055e-03 -2.09475166e-03 9.99975715e-01 7.79148516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.994391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:297.25, Y:35.43, Z:7.79 [[ 9.99669841e-01 -2.51093630e-02 5.45248902e-03 2.97247464e+02] [ 2.51238030e-02 9.99680976e-01 -2.59618576e-03 3.54348382e+01] [-5.38556098e-03 2.73231587e-03 9.99981765e-01 7.79295930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:297.28, Y:35.43, Z:7.79 [[ 9.99780541e-01 -2.06334841e-02 3.62351597e-03 2.97278995e+02] [ 2.06510254e-02 9.99774873e-01 -4.87218202e-03 3.54347718e+01] [-3.52217013e-03 4.94594209e-03 9.99981566e-01 7.79337729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.054391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:297.31, Y:35.43, Z:7.79 [[ 9.99785560e-01 -2.04082849e-02 3.51220032e-03 2.97314319e+02] [ 2.03891975e-02 9.99777605e-01 5.38720853e-03 3.54292234e+01] [-3.62136291e-03 -5.31444235e-03 9.99979321e-01 7.79024105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.084391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:297.34, Y:35.43, Z:7.79 [[ 9.99809883e-01 -1.94096343e-02 1.86135002e-03 2.97343989e+02] [ 1.94121142e-02 9.99810691e-01 -1.32363523e-03 3.54337374e+01] [-1.83530637e-03 1.35951632e-03 9.99997392e-01 7.79241822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.114391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:297.37, Y:35.44, Z:7.80 [[ 9.99902068e-01 -1.39224242e-02 -1.42148053e-03 2.97373272e+02] [ 1.39086764e-02 9.99860371e-01 -9.26212088e-03 3.54376399e+01] [ 1.55023322e-03 9.24144291e-03 9.99956095e-01 7.79573915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.144391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:297.41, Y:35.43, Z:7.79 [[ 9.99918951e-01 -1.25239387e-02 -2.28941740e-03 2.97406074e+02] [ 1.25214260e-02 9.99920989e-01 -1.10862170e-03 3.54338344e+01] [ 2.30312082e-03 1.07986508e-03 9.99996765e-01 7.79337610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.174391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:297.44, Y:35.43, Z:7.79 [[ 9.99925078e-01 -1.22408893e-02 4.83787181e-07 2.97439584e+02] [ 1.22402415e-02 9.99872562e-01 1.02486867e-02 3.54285420e+01] [-1.25936765e-04 -1.02479129e-02 9.99947481e-01 7.78914374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.204391418 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:297.47, Y:35.43, Z:7.79 [[ 9.99961785e-01 -8.72146403e-03 -6.04498244e-04 2.97472405e+02] [ 8.72147335e-03 9.99961967e-01 1.27757501e-05 3.54344125e+01] [ 6.04363830e-04 -1.80473772e-05 9.99999817e-01 7.79334672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.234391418 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:297.50, Y:35.43, Z:7.79 [[ 9.99974951e-01 -6.99532038e-03 -1.07869612e-03 2.97503205e+02] [ 6.99534854e-03 9.99975532e-01 2.23344178e-05 3.54341362e+01] [ 1.07851349e-03 -2.98797137e-05 9.99999418e-01 7.79371842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.264391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:297.54, Y:35.43, Z:7.79 [[ 9.99980664e-01 -5.90423716e-03 -1.95239234e-03 2.97535657e+02] [ 5.90432729e-03 9.99982569e-01 4.04009295e-05 3.54339978e+01] [ 1.95211977e-03 -5.19277117e-05 9.99998093e-01 7.79396278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.294391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:297.57, Y:35.43, Z:7.79 [[ 9.99987505e-01 -3.79447824e-03 -3.25439957e-03 2.97566089e+02] [ 3.79471538e-03 9.99992798e-01 6.66959973e-05 3.54343142e+01] [ 3.25412305e-03 -7.90446840e-05 9.99994702e-01 7.79474835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.324391418 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:297.60, Y:35.43, Z:7.79 [[ 9.99989098e-01 -3.09752574e-03 -3.49431226e-03 2.97596372e+02] [ 3.09779442e-03 9.99995199e-01 7.14797511e-05 3.54340919e+01] [ 3.49407407e-03 -8.23036328e-05 9.99993892e-01 7.79487236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.354391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:297.63, Y:35.43, Z:7.80 [[ 9.99991791e-01 -2.48196959e-03 -3.20292755e-03 2.97625822e+02] [ 2.48219230e-03 9.99996917e-01 6.55603842e-05 3.54336300e+01] [ 3.20275496e-03 -7.35101281e-05 9.99994868e-01 7.79510499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:297.66, Y:35.43, Z:7.80 [[ 9.99991840e-01 -2.39090213e-03 -3.25630748e-03 2.97655011e+02] [ 2.39113055e-03 9.99997139e-01 6.62574819e-05 3.54331043e+01] [ 3.25613975e-03 -7.40431976e-05 9.99994696e-01 7.79542772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.414391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:297.68, Y:35.43, Z:7.80 [[ 9.99995343e-01 -2.41051711e-03 -1.87150145e-03 2.97684962e+02] [ 2.40304668e-03 9.99989178e-01 -3.98371665e-03 3.54339839e+01] [ 1.88108401e-03 3.97920080e-03 9.99990314e-01 7.79644765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444391418 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:297.71, Y:35.43, Z:7.80 [[ 9.99987494e-01 -3.48033036e-03 -3.59143736e-03 2.97714640e+02] [ 3.49501260e-03 9.99985528e-01 4.08997932e-03 3.54292386e+01] [ 3.57715091e-03 -4.10248029e-03 9.99985187e-01 7.79512960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.474391418 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:297.74, Y:35.43, Z:7.80 [[ 9.99983917e-01 -4.36020004e-03 -3.62692539e-03 2.97744272e+02] [ 4.36049447e-03 9.99990490e-01 7.32755436e-05 3.54301106e+01] [ 3.62657140e-03 -8.90895532e-05 9.99993420e-01 7.79615755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504391418 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:297.77, Y:35.43, Z:7.80 [[ 9.99974035e-01 -6.38867445e-03 -3.33374315e-03 2.97773756e+02] [ 6.38893460e-03 9.99979588e-01 6.73917988e-05 3.54280087e+01] [ 3.33324456e-03 -8.86891160e-05 9.99994441e-01 7.79644181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.534391418 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:297.80, Y:35.43, Z:7.80 [[ 9.99965665e-01 -7.67578668e-03 -3.12259321e-03 2.97803721e+02] [ 7.67602212e-03 9.99970537e-01 6.34207629e-05 3.54267996e+01] [ 3.12201441e-03 -8.73876800e-05 9.99995123e-01 7.79654408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564391418 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:297.83, Y:35.42, Z:7.80 [[ 9.99949440e-01 -9.63754006e-03 -2.86981258e-03 2.97833630e+02] [ 9.63774841e-03 9.99953554e-01 5.87827426e-05 3.54249521e+01] [ 2.86911277e-03 -8.64383022e-05 9.99995880e-01 7.79673169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.594391418 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:297.86, Y:35.42, Z:7.80 [[ 9.99966064e-01 -7.08810663e-03 -4.19887807e-03 2.97861752e+02] [ 7.07815508e-03 9.99972117e-01 -2.38018882e-03 3.54240235e+01] [ 4.21563202e-03 2.35038773e-03 9.99988352e-01 7.79786321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624391418 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:297.89, Y:35.42, Z:7.80 [[ 9.99935904e-01 -1.06603451e-02 -3.81388244e-03 2.97893636e+02] [ 1.06698521e-02 9.99939997e-01 2.48113611e-03 3.54214999e+01] [ 3.78720383e-03 -2.52167064e-03 9.99989649e-01 7.79584964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.654391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:297.93, Y:35.42, Z:7.80 [[ 9.99936938e-01 -9.96549332e-03 -5.17775806e-03 2.97925211e+02] [ 9.96617929e-03 9.99950331e-01 1.06699766e-04 3.54212576e+01] [ 5.17643757e-03 -1.58295502e-04 9.99986590e-01 7.79692892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.684391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:297.96, Y:35.42, Z:7.80 [[ 9.99943162e-01 -9.16196730e-03 -5.45265299e-03 2.97956240e+02] [ 9.16271407e-03 9.99958015e-01 1.11988984e-04 3.54202605e+01] [ 5.45139802e-03 -1.61943719e-04 9.99985128e-01 7.79678727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.714391418 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:297.99, Y:35.42, Z:7.80 [[ 9.99946332e-01 -8.52467782e-03 -5.88757995e-03 2.97987157e+02] [ 8.52553589e-03 9.99963650e-01 1.20659585e-04 3.54195178e+01] [ 5.88633735e-03 -1.70847884e-04 9.99982661e-01 7.79697376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.744391418 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:298.02, Y:35.42, Z:7.80 [[ 9.99962309e-01 -6.13188627e-03 -6.14652453e-03 2.98016150e+02] [ 6.13277655e-03 9.99981186e-01 1.26004789e-04 3.54183017e+01] [ 6.14563625e-03 -1.63695301e-04 9.99981102e-01 7.79764357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.774391418 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:298.05, Y:35.42, Z:7.80 [[ 9.99967853e-01 -5.02273230e-03 -6.25013875e-03 2.98045379e+02] [ 5.02362791e-03 9.99987373e-01 1.27602479e-04 3.54173370e+01] [ 6.24941892e-03 -1.58996748e-04 9.99980460e-01 7.79755467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.804391418 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:298.07, Y:35.42, Z:7.80 [[ 9.99968893e-01 -4.26472620e-03 -6.63518845e-03 2.98074594e+02] [ 4.26571722e-03 9.99990893e-01 1.35213488e-04 3.54163430e+01] [ 6.63455137e-03 -1.63513120e-04 9.99977978e-01 7.79774336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.834391418 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:298.10, Y:35.42, Z:7.80 [[ 9.99973225e-01 -3.47961483e-03 -6.43755782e-03 2.98102966e+02] [ 3.48052812e-03 9.99993934e-01 1.30670341e-04 3.54150146e+01] [ 6.43706409e-03 -1.53072944e-04 9.99979270e-01 7.79724308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.864391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:298.13, Y:35.41, Z:7.80 [[ 9.99972991e-01 -2.90550693e-03 -6.75101559e-03 2.98131201e+02] [ 2.90647568e-03 9.99995767e-01 1.33689786e-04 3.54125262e+01] [ 6.75059858e-03 -1.53307838e-04 9.99977203e-01 7.79715148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.894391418 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:298.16, Y:35.41, Z:7.80 [[ 9.99968375e-01 -3.04143039e-03 -7.34843912e-03 2.98159451e+02] [ 3.04256770e-03 9.99995361e-01 1.43595281e-04 3.54110641e+01] [ 7.34796830e-03 -1.65948864e-04 9.99972990e-01 7.79688225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.924391418 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:298.19, Y:35.41, Z:7.80 [[ 9.99963807e-01 -3.58260293e-03 -7.71687986e-03 2.98186942e+02] [ 3.58385248e-03 9.99993567e-01 1.48101233e-04 3.54098686e+01] [ 7.71629963e-03 -1.75752031e-04 9.99970213e-01 7.79666012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.954391418 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:298.21, Y:35.41, Z:7.80 [[ 9.99959028e-01 -4.28207098e-03 -7.97539369e-03 2.98214447e+02] [ 4.28340761e-03 9.99990815e-01 1.50519646e-04 3.54086703e+01] [ 7.97467590e-03 -1.84675341e-04 9.99968185e-01 7.79627882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984391418 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:298.24, Y:35.41, Z:7.80 [[ 9.99943151e-01 -5.88249215e-03 -8.89332692e-03 2.98241785e+02] [ 5.88422415e-03 9.99982674e-01 1.68598599e-04 3.54068310e+01] [ 8.89218105e-03 -2.20919343e-04 9.99960439e-01 7.79648838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.014391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:298.27, Y:35.41, Z:7.80 [[ 9.99928640e-01 -7.16698922e-03 -9.55765291e-03 2.98270593e+02] [ 7.16901234e-03 9.99974287e-01 1.77431350e-04 3.54056996e+01] [ 9.55613550e-03 -2.45937621e-04 9.99954309e-01 7.79671307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044391418 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:298.30, Y:35.40, Z:7.80 [[ 9.99898947e-01 -1.02352304e-02 -9.86590985e-03 2.98299597e+02] [ 1.02375403e-02 9.99947578e-01 1.83659984e-04 3.54036660e+01] [ 9.86351285e-03 -2.84644075e-04 9.99951314e-01 7.79636240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.074391418 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:298.33, Y:35.40, Z:7.80 [[ 9.99874671e-01 -1.18204078e-02 -1.05319121e-02 2.98328475e+02] [ 1.18231230e-02 9.99930085e-01 1.95587791e-04 3.54024847e+01] [ 1.05288638e-02 -3.20083371e-04 9.99944519e-01 7.79666357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104391418 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:298.36, Y:35.40, Z:7.80 [[ 9.99850050e-01 -1.38373619e-02 -1.04117900e-02 2.98357404e+02] [ 1.38400813e-02 9.99904204e-01 1.89167197e-04 3.54014138e+01] [ 1.04081750e-02 -3.33238851e-04 9.99945778e-01 7.79659322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.134391418 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:298.39, Y:35.40, Z:7.80 [[ 9.99802153e-01 -1.71016578e-02 -1.01582017e-02 2.98387475e+02] [ 1.71044250e-02 9.99853691e-01 1.85587734e-04 3.53996314e+01] [ 1.01535416e-02 -3.59301214e-04 9.99948387e-01 7.79643010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164391418 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:298.42, Y:35.40, Z:7.80 [[ 9.99780252e-01 -1.84805227e-02 -9.89531702e-03 2.98418041e+02] [ 1.84832184e-02 9.99829154e-01 1.81024300e-04 3.53985395e+01] [ 9.89028102e-03 -3.63881825e-04 9.99951024e-01 7.79616384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.194391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:298.45, Y:35.40, Z:7.80 [[ 9.99757789e-01 -1.98648383e-02 -9.47375490e-03 2.98448252e+02] [ 1.98673741e-02 9.99802609e-01 1.73620634e-04 3.53980447e+01] [ 9.46843592e-03 -3.61797215e-04 9.99955108e-01 7.79621794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224391418 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:298.48, Y:35.40, Z:7.80 [[ 9.99709020e-01 -2.23457698e-02 -9.08530986e-03 2.98479124e+02] [ 2.23482085e-02 9.99750234e-01 1.66973165e-04 3.53977294e+01] [ 9.07930951e-03 -3.69964978e-04 9.99958714e-01 7.79626307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.254391418 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:298.51, Y:35.40, Z:7.80 [[ 9.99683764e-01 -2.35589046e-02 -8.79492846e-03 2.98510891e+02] [ 2.35612398e-02 9.99722382e-01 1.61982235e-04 3.53968136e+01] [ 8.78867071e-03 -3.69150428e-04 9.99961311e-01 7.79586691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284391418 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:298.54, Y:35.40, Z:7.80 [[ 9.99659251e-01 -2.47350025e-02 -8.34037963e-03 2.98543084e+02] [ 2.47371509e-02 9.99693978e-01 1.54512807e-04 3.53959387e+01] [ 8.33400541e-03 -3.60777386e-04 9.99965206e-01 7.79560665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.314391418 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:298.57, Y:35.40, Z:7.80 [[ 9.99592369e-01 -2.77628057e-02 -6.65754464e-03 2.98573835e+02] [ 2.77642496e-02 9.99614491e-01 1.24540757e-04 3.53956782e+01] [ 6.65152050e-03 -3.09331722e-04 9.99977831e-01 7.79564179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344391418 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:298.61, Y:35.40, Z:7.80 [[ 9.99558414e-01 -2.91168018e-02 -5.93195084e-03 2.98605573e+02] [ 2.91179735e-02 9.99575976e-01 1.11253400e-04 3.53954034e+01] [ 5.92619620e-03 -2.83930660e-04 9.99982400e-01 7.79591052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.374391418 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:298.64, Y:35.39, Z:7.80 [[ 9.99519045e-01 -3.05809663e-02 -5.14627535e-03 2.98636546e+02] [ 3.05818688e-02 9.99532261e-01 9.67622630e-05 3.53949833e+01] [ 5.14090915e-03 -2.54098442e-04 9.99986753e-01 7.79564805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:298.67, Y:35.39, Z:7.80 [[ 9.99475793e-01 -3.18901551e-02 -5.58184007e-03 2.98669132e+02] [ 3.18912402e-02 9.99491339e-01 1.05478200e-04 3.53949167e+01] [ 5.57563710e-03 -2.83434710e-04 9.99984416e-01 7.79596700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.434391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:298.70, Y:35.39, Z:7.79 [[ 9.99362613e-01 -3.54835203e-02 -3.90983171e-03 2.98702218e+02] [ 3.55022063e-02 9.99357983e-01 4.81819661e-03 3.53931724e+01] [ 3.73635496e-03 -4.95393321e-03 9.99980749e-01 7.79360095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:298.73, Y:35.39, Z:7.79 [[ 9.99362670e-01 -3.54817259e-02 -3.91173295e-03 2.98734885e+02] [ 3.54821940e-02 9.99370307e-01 5.03266280e-05 3.53948293e+01] [ 3.90748409e-03 -1.89091421e-04 9.99992348e-01 7.79475590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.494391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:298.76, Y:35.40, Z:7.80 [[ 9.99380168e-01 -3.48093467e-02 -5.25260880e-03 2.98764801e+02] [ 3.47858038e-02 9.99384620e-01 -4.50886413e-03 3.53964092e+01] [ 5.40632707e-03 4.32335317e-03 9.99976040e-01 7.79578409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:298.80, Y:35.39, Z:7.79 [[ 9.99316922e-01 -3.65296344e-02 -5.59249450e-03 2.98798944e+02] [ 3.65279817e-02 9.99332552e-01 -3.97407462e-04 3.53943539e+01] [ 5.60327895e-03 1.92853464e-04 9.99984283e-01 7.79420009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.554391418 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:298.83, Y:35.39, Z:7.79 [[ 9.99356315e-01 -3.54285468e-02 -5.63689513e-03 2.98829186e+02] [ 3.54327126e-02 9.99371859e-01 6.40853280e-04 3.53943533e+01] [ 5.61064987e-03 -8.40171257e-04 9.99983907e-01 7.79316710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.584391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:298.86, Y:35.40, Z:7.79 [[ 9.99383232e-01 -3.46258448e-02 -5.84859977e-03 2.98861596e+02] [ 3.46270931e-02 9.99400296e-01 1.12274551e-04 3.53951215e+01] [ 5.84120474e-03 -3.14725312e-04 9.99982890e-01 7.79287320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.614391418 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:298.90, Y:35.41, Z:7.79 [[ 9.99527487e-01 -3.07053550e-02 1.40866314e-03 2.98896007e+02] [ 3.07373308e-02 9.98675938e-01 -4.12503044e-02 3.54138886e+01] [-1.40192746e-04 4.12741116e-02 9.99147851e-01 7.79318938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.644391418 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:298.93, Y:35.38, Z:7.78 [[ 9.99545846e-01 -2.96764936e-02 -5.23527054e-03 2.98925105e+02] [ 2.98684126e-02 9.98692909e-01 4.14771232e-02 3.53783340e+01] [ 3.99753198e-03 -4.16146555e-02 9.99125738e-01 7.78010301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.674391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:298.96, Y:35.40, Z:7.79 [[ 9.99634497e-01 -2.64049083e-02 -5.80111861e-03 2.98959025e+02] [ 2.64060138e-02 9.99651294e-01 1.14032580e-04 3.53989076e+01] [ 5.79608470e-03 -2.67175319e-04 9.99983167e-01 7.79241435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.704391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:298.99, Y:35.40, Z:7.79 [[ 9.99714441e-01 -2.32907657e-02 -5.34576628e-03 2.98991358e+02] [ 2.32916613e-02 9.99728707e-01 1.05326833e-04 3.54001154e+01] [ 5.34186287e-03 -2.29808534e-04 9.99985706e-01 7.79259306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.734391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:299.02, Y:35.40, Z:7.79 [[ 9.99850325e-01 -1.67359730e-02 -4.38567163e-03 2.99023248e+02] [ 1.67365148e-02 9.99859931e-01 8.68643276e-05 3.54035944e+01] [ 4.38360358e-03 -1.60252184e-04 9.99990379e-01 7.79360695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.764391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:299.05, Y:35.40, Z:7.79 [[ 9.99906824e-01 -1.31937757e-02 -3.50251664e-03 2.99054638e+02] [ 1.31941002e-02 9.99912952e-01 6.95563457e-05 3.54049441e+01] [ 3.50129404e-03 -1.15762420e-04 9.99993864e-01 7.79363844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.794391418 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:299.09, Y:35.41, Z:7.79 [[ 9.99949985e-01 -9.67901855e-03 -2.51883860e-03 2.99086997e+02] [ 9.67917637e-03 9.99953154e-01 5.04711549e-05 3.54061462e+01] [ 2.51823209e-03 -7.48489136e-05 9.99996826e-01 7.79360254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.824391418 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:299.12, Y:35.41, Z:7.79 [[ 9.99996254e-01 -2.55703004e-03 -9.76298784e-04 2.99118448e+02] [ 2.55705059e-03 9.99996731e-01 1.98085187e-05 3.54090053e+01] [ 9.76244941e-04 -2.23048898e-05 9.99999523e-01 7.79382885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.854391418 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:299.15, Y:35.43, Z:7.79 [[ 9.99972362e-01 2.91548590e-03 6.83930347e-03 2.99149726e+02] [-2.62183905e-03 9.99090553e-01 -4.25581097e-02 3.54288068e+01] [-6.95716106e-03 4.25390019e-02 9.99070584e-01 7.79354624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:299.18, Y:35.39, Z:7.78 [[ 9.99994679e-01 3.24914370e-03 -2.90623847e-04 2.99178938e+02] [-3.23630044e-03 9.99322099e-01 3.66724475e-02 3.53928548e+01] [ 4.09580884e-04 -3.66713118e-02 9.99327297e-01 7.77998977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.914391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:299.21, Y:35.41, Z:7.79 [[ 9.99985193e-01 5.43864911e-03 1.85719431e-04 2.99207612e+02] [-5.43949771e-03 9.99973084e-01 4.92379333e-03 3.54090048e+01] [-1.58935648e-04 -4.92473065e-03 9.99987861e-01 7.78927136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:299.24, Y:35.41, Z:7.79 [[ 9.99956018e-01 9.32498698e-03 -1.00362932e-03 2.99236164e+02] [-9.32497418e-03 9.99956521e-01 1.74369795e-05 3.54125963e+01] [ 1.00374828e-03 -8.07739509e-06 9.99999496e-01 7.78991478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.974391418 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:299.26, Y:35.41, Z:7.79 [[ 9.99940600e-01 1.07972281e-02 -1.48843857e-03 2.99264882e+02] [-1.07971981e-02 9.99941708e-01 2.81790424e-05 3.54124951e+01] [ 1.48865606e-03 -1.21064024e-05 9.99998892e-01 7.78933532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:299.29, Y:35.41, Z:7.79 [[ 9.99928241e-01 1.18425725e-02 -1.80713688e-03 2.99292595e+02] [-1.18425305e-02 9.99929874e-01 3.39391818e-05 3.54126070e+01] [ 1.80741208e-03 -1.25356727e-05 9.99998367e-01 7.78921822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.034391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:299.32, Y:35.43, Z:7.79 [[ 9.99847056e-01 1.63680921e-02 6.16045368e-03 2.99322055e+02] [-1.60840520e-02 9.98918191e-01 -4.36320016e-02 3.54327296e+01] [-6.86796187e-03 4.35262433e-02 9.99028677e-01 7.79139868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:299.35, Y:35.39, Z:7.78 [[ 9.99887330e-01 1.50102186e-02 1.43700318e-04 2.99350359e+02] [-1.50023037e-02 9.98944448e-01 4.34156625e-02 3.53913967e+01] [ 5.08129948e-04 -4.34129267e-02 9.99057085e-01 7.77518683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.094391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:299.38, Y:35.41, Z:7.79 [[ 9.99868002e-01 1.62471476e-02 -9.48775393e-05 2.99379529e+02] [-1.62471475e-02 9.99868006e-01 1.20544264e-06 3.54114933e+01] [ 9.48846009e-05 3.36205863e-07 9.99999996e-01 7.78882870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:299.41, Y:35.41, Z:7.79 [[ 9.99840090e-01 1.78680485e-02 7.26551346e-04 2.99407296e+02] [-1.78680428e-02 9.99840354e-01 -1.44087634e-05 3.54103047e+01] [-7.26692812e-04 1.42440876e-06 9.99999736e-01 7.78853337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.154391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:299.44, Y:35.41, Z:7.79 [[ 9.99832809e-01 1.82374140e-02 1.32353369e-03 2.99435079e+02] [-1.82373960e-02 9.99833685e-01 -2.56438131e-05 3.54092959e+01] [-1.32378125e-03 1.50171763e-06 9.99999124e-01 7.78821330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.184391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:299.46, Y:35.41, Z:7.79 [[ 9.99837784e-01 1.79092841e-02 1.91379357e-03 2.99463367e+02] [-1.79092476e-02 9.99839616e-01 -3.62335323e-05 3.54082087e+01] [-1.91413555e-03 1.95305171e-06 9.99998168e-01 7.78754922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.214391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:299.49, Y:35.41, Z:7.79 [[ 9.99850915e-01 1.71640029e-02 1.88281271e-03 2.99491484e+02] [-1.71639662e-02 9.99852688e-01 -3.56670356e-05 3.54066529e+01] [-1.88314753e-03 3.34518454e-06 9.99998227e-01 7.78710493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.244391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:299.52, Y:35.40, Z:7.79 [[ 9.99893948e-01 1.44371031e-02 1.91373961e-03 2.99519250e+02] [-1.44370607e-02 9.99895780e-01 -3.59439422e-05 3.54036306e+01] [-1.91405908e-03 8.31135544e-06 9.99998168e-01 7.78611474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.274391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:299.55, Y:35.40, Z:7.79 [[ 9.99925798e-01 1.20542660e-02 1.75857235e-03 2.99548416e+02] [-1.20542269e-02 9.99927345e-01 -3.28156144e-05 3.54016362e+01] [-1.75884015e-03 1.16149493e-05 9.99998453e-01 7.78588807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.304391418 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:299.58, Y:35.40, Z:7.79 [[ 9.99976040e-01 6.72211520e-03 1.65285558e-03 2.99575989e+02] [-6.72207339e-03 9.99977406e-01 -3.08536803e-05 3.53975001e+01] [-1.65302564e-03 1.97423245e-05 9.99998634e-01 7.78537227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.334391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:299.61, Y:35.40, Z:7.79 [[ 9.99992087e-01 3.59204302e-03 1.70973948e-03 2.99605142e+02] [-3.59199461e-03 9.99993548e-01 -3.13845002e-05 3.53950384e+01] [-1.70984119e-03 2.52428769e-05 9.99998538e-01 7.78533585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.364391418 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:299.64, Y:35.39, Z:7.78 [[ 9.99992536e-01 -2.98360754e-03 2.45478457e-03 2.99635754e+02] [ 2.98372614e-03 9.99995548e-01 -4.46517024e-05 3.53901205e+01] [-2.45464042e-03 5.19757741e-05 9.99996986e-01 7.78479746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.394391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:299.67, Y:35.39, Z:7.78 [[ 9.99979302e-01 -5.92598079e-03 2.50567367e-03 2.99668239e+02] [ 5.92611033e-03 9.99982439e-01 -4.42762783e-05 3.53872493e+01] [-2.50536729e-03 5.91242604e-05 9.99996860e-01 7.78459283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.424391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:299.70, Y:35.38, Z:7.78 [[ 9.99955435e-01 -9.02280224e-03 2.77784363e-03 2.99701395e+02] [ 9.02297557e-03 9.99959291e-01 -4.98724510e-05 3.53846069e+01] [-2.77728056e-03 7.49346437e-05 9.99996141e-01 7.78368433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.454391418 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:299.73, Y:35.38, Z:7.78 [[ 9.99925657e-01 -1.19343304e-02 2.50037288e-03 2.99734300e+02] [ 1.19344836e-02 9.99928780e-01 -4.63859889e-05 3.53821246e+01] [-2.49964122e-03 7.62231997e-05 9.99996873e-01 7.78330591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:299.78, Y:35.41, Z:7.79 [[ 9.99872096e-01 -7.12436147e-03 1.43190185e-02 2.99777518e+02] [ 8.21964896e-03 9.96923455e-01 -7.79490985e-02 3.54080441e+01] [-1.37196278e-02 7.80568258e-02 9.96854505e-01 7.78720593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.514391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:299.79, Y:35.34, Z:7.76 [[ 9.99785636e-01 -2.04569565e-02 3.19296815e-03 2.99793056e+02] [ 2.01458385e-02 9.96751494e-01 7.79782279e-02 3.53389383e+01] [-4.77779299e-03 -7.78971872e-02 9.96949949e-01 7.76001868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:299.83, Y:35.38, Z:7.78 [[ 9.99768739e-01 -2.14425632e-02 1.63838244e-03 2.99826516e+02] [ 2.14426388e-02 9.99770080e-01 -2.86031711e-05 3.53753844e+01] [-1.63739242e-03 6.37277992e-05 9.99998657e-01 7.78199228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.574391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:299.86, Y:35.37, Z:7.78 [[ 9.99724790e-01 -2.34133727e-02 1.46910172e-03 2.99858654e+02] [ 2.34134377e-02 9.99725868e-01 -2.70770190e-05 3.53738587e+01] [-1.46806503e-03 6.14662886e-05 9.99998921e-01 7.78189664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:299.89, Y:35.37, Z:7.78 [[ 9.99626295e-01 -2.72352701e-02 2.34729532e-03 2.99891716e+02] [ 2.72354479e-02 9.99629045e-01 -4.37971698e-05 3.53714807e+01] [-2.34523175e-03 1.07710442e-04 9.99997244e-01 7.78141947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.634391418 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:299.92, Y:35.37, Z:7.78 [[ 9.99572466e-01 -2.91186460e-02 2.64389689e-03 2.99924395e+02] [ 2.91188792e-02 9.99575954e-01 -4.97632910e-05 3.53703816e+01] [-2.64132671e-03 1.26729330e-04 9.99996504e-01 7.78132863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:299.97, Y:35.39, Z:7.78 [[ 9.99557711e-01 -2.70839197e-02 1.22818842e-02 2.99965115e+02] [ 2.77474175e-02 9.97958368e-01 -5.75254345e-02 3.53892462e+01] [-1.06987949e-02 5.78407822e-02 9.98268491e-01 7.78376508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.694391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:299.99, Y:35.34, Z:7.76 [[ 9.99388524e-01 -3.46958517e-02 4.33318855e-03 2.99985748e+02] [ 3.43902370e-02 9.97757338e-01 5.74247780e-02 3.53400912e+01] [-6.31587225e-03 -5.72406447e-02 9.98340432e-01 7.76473014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:300.02, Y:35.37, Z:7.78 [[ 9.99377025e-01 -3.51419933e-02 3.25615169e-03 3.00018814e+02] [ 3.51423784e-02 9.99382314e-01 -6.11000925e-05 3.53672004e+01] [-3.25199323e-03 1.75490944e-04 9.99994697e-01 7.78042972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.754391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:300.05, Y:35.37, Z:7.78 [[ 9.99354815e-01 -3.58667326e-02 1.87903093e-03 3.00052103e+02] [ 3.58668624e-02 9.99356576e-01 -3.54388396e-05 3.53666867e+01] [-1.87655084e-03 1.02810919e-04 9.99998234e-01 7.77942953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784391418 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:300.08, Y:35.37, Z:7.78 [[ 9.99348702e-01 -3.60571263e-02 1.43369250e-03 3.00084755e+02] [ 3.60572020e-02 9.99349727e-01 -2.70080847e-05 3.53661212e+01] [-1.43178637e-03 7.86854344e-05 9.99998972e-01 7.77880179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.814391418 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:300.12, Y:35.37, Z:7.78 [[ 9.99338542e-01 -3.63455399e-02 1.21673124e-03 3.00116429e+02] [ 3.63455948e-02 9.99339280e-01 -2.30618335e-05 3.53656439e+01] [-1.21508913e-03 6.72693998e-05 9.99999260e-01 7.77794246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844391418 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:300.15, Y:35.37, Z:7.78 [[ 9.99320500e-01 -3.68583113e-02 5.54356335e-05 3.00149375e+02] [ 3.68583114e-02 9.99320502e-01 -2.51519670e-07 3.53657283e+01] [-5.53886946e-05 2.29461261e-06 9.99999998e-01 7.77749977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.874391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:300.18, Y:35.37, Z:7.78 [[ 9.99301399e-01 -3.73614302e-02 -9.15404293e-04 3.00182396e+02] [ 3.73614632e-02 9.99301817e-01 1.89276871e-05 3.53658674e+01] [ 9.14058007e-04 -5.31153079e-05 9.99999581e-01 7.77706420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904391418 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:300.21, Y:35.37, Z:7.78 [[ 9.99275848e-01 -3.80251339e-02 -1.36681258e-03 3.00214347e+02] [ 3.80252074e-02 9.99276780e-01 2.78439478e-05 3.53662565e+01] [ 1.36476531e-03 -7.97971165e-05 9.99999066e-01 7.77686790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.934391418 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:300.25, Y:35.37, Z:7.78 [[ 9.99260252e-01 -3.84194621e-02 -1.70133793e-03 3.00247427e+02] [ 3.84195769e-02 9.99261695e-01 3.48252736e-05 3.53663314e+01] [ 1.69874385e-03 -1.00164195e-04 9.99998552e-01 7.77646071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:300.28, Y:35.37, Z:7.78 [[ 9.99227925e-01 -3.92399393e-02 -1.94460872e-03 3.00280044e+02] [ 3.92400911e-02 9.99229810e-01 3.99157819e-05 3.53674927e+01] [ 1.94154471e-03 -1.16191587e-04 9.99998108e-01 7.77622143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.994391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:300.31, Y:35.37, Z:7.78 [[ 9.99224873e-01 -3.93519427e-02 -1.03795215e-03 3.00312768e+02] [ 3.93519865e-02 9.99225410e-01 2.18054597e-05 3.53677613e+01] [ 1.03629007e-03 -6.26340366e-05 9.99999461e-01 7.77607406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024391418 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:300.35, Y:35.37, Z:7.78 [[ 9.99232643e-01 -3.91621785e-02 6.69915599e-04 3.00345647e+02] [ 3.91621959e-02 9.99232867e-01 -1.28265243e-05 3.53695500e+01] [-6.68899370e-04 3.90520477e-05 9.99999776e-01 7.77661509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.054391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:300.38, Y:35.37, Z:7.78 [[ 9.99234384e-01 -3.90683161e-02 2.07660168e-03 3.00378647e+02] [ 3.90684868e-02 9.99236534e-01 -4.17012873e-05 3.53704315e+01] [-2.07338707e-03 1.22799045e-04 9.99997843e-01 7.77637332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.084391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:300.41, Y:35.37, Z:7.78 [[ 9.99251486e-01 -3.85653358e-02 3.03028248e-03 3.00411050e+02] [ 3.85656995e-02 9.99256065e-01 -6.16515569e-05 3.53714231e+01] [-3.02565053e-03 1.78470373e-04 9.99995407e-01 7.77641738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.114391418 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:300.44, Y:35.37, Z:7.78 [[ 9.99295362e-01 -3.73015095e-02 4.16866803e-03 3.00444660e+02] [ 3.73021893e-02 9.99304028e-01 -8.54109989e-05 3.53741846e+01] [-4.16258080e-03 2.40851259e-04 9.99991307e-01 7.77675097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.144391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:300.48, Y:35.38, Z:7.78 [[ 9.99319169e-01 -3.65644014e-02 4.92370188e-03 3.00477906e+02] [ 3.65653444e-02 9.99331259e-01 -1.01607795e-04 3.53750894e+01] [-4.91669397e-03 2.81575472e-04 9.99987873e-01 7.77630543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.174391418 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:300.51, Y:35.37, Z:7.77 [[ 9.99297415e-01 -3.73079413e-02 3.57687915e-03 3.00508560e+02] [ 3.72650360e-02 9.99240472e-01 1.13928113e-02 3.53726541e+01] [-3.99920474e-03 -1.12515144e-02 9.99928702e-01 7.77439844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.204391418 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:300.54, Y:35.38, Z:7.78 [[ 9.99377793e-01 -3.50345292e-02 4.07545723e-03 3.00542789e+02] [ 3.50798756e-02 9.99316661e-01 -1.16452886e-02 3.53836785e+01] [-3.66468511e-03 1.17810094e-02 9.99923886e-01 7.77903360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.234391418 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:300.57, Y:35.38, Z:7.77 [[ 9.99389057e-01 -3.47394202e-02 3.83224507e-03 3.00574361e+02] [ 3.47399832e-02 9.99396381e-01 -8.04200625e-05 3.53788732e+01] [-3.82713811e-03 2.13503060e-04 9.99992654e-01 7.77458801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.264391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:300.61, Y:35.38, Z:7.77 [[ 9.99389748e-01 -3.47837349e-02 3.19730058e-03 3.00607449e+02] [ 3.47841293e-02 9.99394847e-01 -6.78049324e-05 3.53794078e+01] [-3.19300722e-03 1.78978871e-04 9.99994886e-01 7.77428770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.294391418 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:300.64, Y:35.38, Z:7.77 [[ 9.99389649e-01 -3.48402861e-02 2.54644460e-03 3.00640017e+02] [ 3.48405368e-02 9.99392883e-01 -5.41347094e-05 3.53800700e+01] [-2.54301254e-03 1.42821165e-04 9.99996756e-01 7.77409129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.324391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:300.67, Y:35.38, Z:7.77 [[ 9.99417162e-01 -3.41228915e-02 9.82102363e-04 3.00672025e+02] [ 3.41229282e-02 9.99417643e-01 -2.06059779e-05 3.53825238e+01] [-9.80827294e-04 5.41061763e-05 9.99999518e-01 7.77369634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.354391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:300.70, Y:35.38, Z:7.77 [[ 9.99361152e-01 -3.57043615e-02 -1.57693432e-03 3.00701898e+02] [ 3.57263708e-02 9.99211048e-01 1.73466912e-02 3.53785589e+01] [ 9.56337661e-04 -1.73919475e-02 9.99848291e-01 7.77156135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:300.73, Y:35.39, Z:7.78 [[ 9.99381603e-01 -3.51260327e-02 -1.60416721e-03 3.00734621e+02] [ 3.51261692e-02 9.99382884e-01 5.70004788e-05 3.53858758e+01] [ 1.60117505e-03 -1.13313479e-04 9.99998712e-01 7.77680994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.414391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:300.77, Y:35.39, Z:7.78 [[ 9.99523498e-01 -3.08653364e-02 3.29204123e-04 3.00768889e+02] [ 3.08663002e-02 9.99364619e-01 -1.78221683e-02 3.53919153e+01] [ 2.21092268e-04 1.78238373e-02 9.99841118e-01 7.77869479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:300.80, Y:35.39, Z:7.77 [[ 9.99655576e-01 -2.62087122e-02 1.35346990e-03 3.00801813e+02] [ 2.62087767e-02 9.99656491e-01 -2.99021525e-05 3.53868151e+01] [-1.35222127e-03 6.53646437e-05 9.99999084e-01 7.77309429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.474391418 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:300.84, Y:35.39, Z:7.77 [[ 9.99732793e-01 -2.30518299e-02 1.71910801e-03 3.00835368e+02] [ 2.30519299e-02 9.99734268e-01 -3.84020394e-05 3.53884006e+01] [-1.71776595e-03 7.80205356e-05 9.99998522e-01 7.77370387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504391418 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:300.87, Y:35.39, Z:7.77 [[ 9.99803738e-01 -1.96491539e-02 2.52918338e-03 3.00868139e+02] [ 1.96493613e-02 9.99806931e-01 -5.71956352e-05 3.53898544e+01] [-2.52757123e-03 1.06881248e-04 9.99996800e-01 7.77398541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.534391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:300.90, Y:35.39, Z:7.77 [[ 9.99866806e-01 -1.60249479e-02 3.09367400e-03 3.00900318e+02] [ 1.60252431e-02 9.99871585e-01 -7.06286660e-05 3.53909786e+01] [-3.09214490e-03 1.20196137e-04 9.99995212e-01 7.77435802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:300.93, Y:35.40, Z:7.78 [[ 9.99969440e-01 -7.63425389e-03 1.68416712e-03 3.00932110e+02] [ 7.64756409e-03 9.99938406e-01 -8.04357301e-03 3.53971134e+01] [-1.62265670e-03 8.05620697e-03 9.99966232e-01 7.77792414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.594391418 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:300.96, Y:35.39, Z:7.78 [[ 9.99987866e-01 -4.55626186e-03 1.87302055e-03 3.00963527e+02] [ 4.55886789e-03 9.99988643e-01 -1.38944323e-03 3.53949404e+01] [-1.86666861e-03 1.39796523e-03 9.99997281e-01 7.77529492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624391418 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:301.00, Y:35.39, Z:7.77 [[ 9.99990031e-01 1.87410186e-03 4.05279977e-03 3.00995652e+02] [-1.91104084e-03 9.99956496e-01 9.12985137e-03 3.53924466e+01] [-4.03551318e-03 -9.13750542e-03 9.99950109e-01 7.77134191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.654391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:301.03, Y:35.40, Z:7.78 [[ 9.99976465e-01 6.64213718e-03 1.71774926e-03 3.01026837e+02] [-6.63731638e-03 9.99974061e-01 -2.79710071e-03 3.53990358e+01] [-1.73628343e-03 2.78563364e-03 9.99994613e-01 7.77563952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.684391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:301.06, Y:35.40, Z:7.77 [[ 9.99951370e-01 9.53488583e-03 2.51846689e-03 3.01055236e+02] [-9.54144015e-03 9.99951090e-01 2.60343682e-03 3.53976898e+01] [-2.49352024e-03 -2.62734001e-03 9.99993440e-01 7.77335739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.714391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:301.08, Y:35.40, Z:7.78 [[ 9.99836740e-01 1.79541838e-02 -2.03509284e-03 3.01083321e+02] [-1.79686133e-02 9.99811837e-01 -7.30891646e-03 3.54036774e+01] [ 1.90348428e-03 7.34429100e-03 9.99971219e-01 7.77752854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.744391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:301.11, Y:35.40, Z:7.77 [[ 9.99789971e-01 2.04794563e-02 -7.78301453e-04 3.01112279e+02] [-2.04732183e-02 9.99763608e-01 7.31955164e-03 3.53972486e+01] [ 9.28017906e-04 -7.30207998e-03 9.99972909e-01 7.77182413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.774391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:301.14, Y:35.40, Z:7.77 [[ 9.99709181e-01 2.40620691e-02 -1.60330510e-03 3.01139706e+02] [-2.40620436e-02 9.99710467e-01 3.51900878e-05 3.54008256e+01] [ 1.60368763e-03 3.39894329e-06 9.99998714e-01 7.77452906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.804391418 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:301.17, Y:35.40, Z:7.77 [[ 9.99570154e-01 2.92017006e-02 -2.60164318e-03 3.01168156e+02] [-2.92016496e-02 9.99573539e-01 5.75786946e-05 3.54009844e+01] [ 2.60221508e-03 1.84183280e-05 9.99996614e-01 7.77435633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.834391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:301.19, Y:35.40, Z:7.77 [[ 9.99574844e-01 2.85253063e-02 -6.03634853e-03 3.01192451e+02] [-2.84025506e-02 9.99405789e-01 1.95285473e-02 3.53950109e+01] [ 6.58981946e-03 -1.93487969e-02 9.99791077e-01 7.77352873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.864391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:301.22, Y:35.41, Z:7.78 [[ 9.99475443e-01 3.22400166e-02 -3.06914990e-03 3.01224516e+02] [-3.22939465e-02 9.99287445e-01 -1.95372064e-02 3.54081090e+01] [ 2.43708310e-03 1.96260730e-02 9.99804420e-01 7.78107694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.894391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:301.25, Y:35.40, Z:7.78 [[ 9.99410488e-01 3.41383930e-02 -3.63968630e-03 3.01250087e+02] [-3.41615120e-02 9.99395245e-01 -6.49112320e-03 3.53996887e+01] [ 3.41588867e-03 6.61163379e-03 9.99972309e-01 7.77638184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.924391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:301.28, Y:35.39, Z:7.77 [[ 9.99480707e-01 3.21999173e-02 -1.21700840e-03 3.01279729e+02] [-3.21911476e-02 9.99459642e-01 6.64487822e-03 3.53918149e+01] [ 1.43031531e-03 -6.60225069e-03 9.99977182e-01 7.77192517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.954391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:301.30, Y:35.38, Z:7.77 [[ 9.99606194e-01 2.69138749e-02 -7.94351258e-03 3.01301222e+02] [-2.65711112e-02 9.98826519e-01 4.04914925e-02 3.53797215e+01] [ 9.02397398e-03 -4.02644787e-02 9.99148307e-01 7.77264267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:301.34, Y:35.41, Z:7.79 [[ 9.99571037e-01 2.91212717e-02 -3.11330212e-03 3.01335060e+02] [-2.92329167e-02 9.98534778e-01 -4.55382634e-02 3.54096479e+01] [ 1.78260830e-03 4.56097401e-02 9.98957744e-01 7.79092284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.014391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:301.36, Y:35.38, Z:7.78 [[ 9.99649566e-01 2.51641186e-02 -8.21663720e-03 3.01355828e+02] [-2.50421256e-02 9.99579384e-01 1.46269339e-02 3.53830780e+01] [ 8.58125504e-03 -1.44160460e-02 9.99859260e-01 7.77873164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:301.39, Y:35.38, Z:7.78 [[ 9.99837826e-01 1.79969413e-02 -6.57070863e-04 3.01391711e+02] [-1.80018511e-02 9.99802294e-01 -8.44429802e-03 3.53835087e+01] [ 5.04969420e-04 8.45475707e-03 9.99964130e-01 7.77617733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.074391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:301.42, Y:35.38, Z:7.77 [[ 9.99916646e-01 1.28537582e-02 -1.21764110e-03 3.01419274e+02] [-1.28537353e-02 9.99917387e-01 2.66793003e-05 3.53759065e+01] [ 1.21788344e-03 -1.10258401e-05 9.99999258e-01 7.77279213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:301.44, Y:35.36, Z:7.77 [[ 9.99973582e-01 4.62067684e-03 -5.61112270e-03 3.01444423e+02] [-4.45322180e-03 9.99554923e-01 2.94978624e-02 3.53621254e+01] [ 5.74492541e-03 -2.94720956e-02 9.99549094e-01 7.77060247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.134391418 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:301.48, Y:35.38, Z:7.78 [[ 9.99987641e-01 3.04834453e-03 -3.92755012e-03 3.01476373e+02] [-3.17226095e-03 9.99484738e-01 -3.19404970e-02 3.53829668e+01] [ 3.82816076e-03 3.19525615e-02 9.99482055e-01 7.78249004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:301.51, Y:35.36, Z:7.77 [[ 9.99990068e-01 -3.45408434e-03 -2.81676291e-03 3.01505643e+02] [ 3.46136606e-03 9.99990670e-01 2.58437480e-03 3.53634355e+01] [ 2.80780998e-03 -2.59409898e-03 9.99992693e-01 7.76969658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.194391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:301.54, Y:35.36, Z:7.77 [[ 9.99916076e-01 -1.22937040e-02 -4.08734940e-03 3.01535149e+02] [ 1.22941744e-02 9.99924420e-01 8.99827533e-05 3.53586544e+01] [ 4.08593426e-03 -1.40225788e-04 9.99991643e-01 7.76998375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:301.57, Y:35.36, Z:7.77 [[ 9.99855687e-01 -1.62104907e-02 -5.08184028e-03 3.01567189e+02] [ 1.62112753e-02 9.99868582e-01 1.13243732e-04 3.53554937e+01] [ 5.07933670e-03 -1.95610502e-04 9.99987081e-01 7.77007411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.254391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:301.60, Y:35.35, Z:7.77 [[ 9.99730904e-01 -2.25148914e-02 -5.58563652e-03 3.01599028e+02] [ 2.25159397e-02 9.99746476e-01 1.24862715e-04 3.53509527e+01] [ 5.58140915e-03 -2.50594970e-04 9.99984392e-01 7.77018581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:301.63, Y:35.35, Z:7.77 [[ 9.99671792e-01 -2.49667321e-02 -5.74196993e-03 3.01630753e+02] [ 2.49678829e-02 9.99688246e-01 1.28804946e-04 3.53484669e+01] [ 5.73696401e-03 -2.72127504e-04 9.99983506e-01 7.77016297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.314391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:301.66, Y:35.35, Z:7.77 [[ 9.99613440e-01 -2.71374687e-02 -6.04395452e-03 3.01662508e+02] [ 2.71387860e-02 9.99631666e-01 1.36035026e-04 3.53461597e+01] [ 6.03803668e-03 -3.00008028e-04 9.99981726e-01 7.77051282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:301.69, Y:35.34, Z:7.77 [[ 9.99510414e-01 -3.07127743e-02 -5.97135486e-03 3.01694037e+02] [ 3.07141248e-02 9.99528201e-01 1.34571536e-04 3.53429146e+01] [ 5.96440451e-03 -3.17910590e-04 9.99982162e-01 7.77071344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.374391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:301.73, Y:35.34, Z:7.77 [[ 9.99467762e-01 -3.20748449e-02 -5.94951504e-03 3.01726272e+02] [ 3.20762135e-02 9.99485417e-01 1.34738831e-04 3.53409366e+01] [ 5.94213179e-03 -3.25505032e-04 9.99982292e-01 7.77062209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:301.76, Y:35.34, Z:7.77 [[ 9.99427556e-01 -3.32754127e-02 -6.10790357e-03 3.01759138e+02] [ 3.32768842e-02 9.99446161e-01 1.39418798e-04 3.53389866e+01] [ 6.09988156e-03 -3.42590989e-04 9.99981337e-01 7.77074209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.434391418 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:301.79, Y:35.34, Z:7.77 [[ 9.99360140e-01 -3.52226513e-02 -6.21891811e-03 3.01792170e+02] [ 3.52242190e-02 9.99379424e-01 1.42699965e-04 3.53359738e+01] [ 6.21003253e-03 -3.61665191e-04 9.99980652e-01 7.77067642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:301.82, Y:35.33, Z:7.77 [[ 9.99319559e-01 -3.62067577e-02 -7.03492354e-03 3.01824314e+02] [ 3.62087906e-02 9.99344234e-01 1.61774534e-04 3.53340643e+01] [ 7.02445294e-03 -4.16390529e-04 9.99975242e-01 7.77067270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.494391418 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:301.86, Y:35.33, Z:7.77 [[ 9.99293109e-01 -3.69021304e-02 -7.17740962e-03 3.01856535e+02] [ 3.69042666e-02 9.99318792e-01 1.65371774e-04 3.53320585e+01] [ 7.16641774e-03 -4.30131912e-04 9.99974228e-01 7.77035069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:301.89, Y:35.33, Z:7.77 [[ 9.99218311e-01 -3.86093741e-02 -8.49015223e-03 3.01889706e+02] [ 3.86124360e-02 9.99254242e-01 1.96956784e-04 3.53290958e+01] [ 8.47621625e-03 -5.24628285e-04 9.99963939e-01 7.77025981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.554391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:301.92, Y:35.33, Z:7.77 [[ 9.99193031e-01 -3.90814230e-02 -9.26985036e-03 3.01922034e+02] [ 3.90850958e-02 9.99235863e-01 2.15312201e-04 3.53274762e+01] [ 9.25435222e-03 -5.77451440e-04 9.99957011e-01 7.76997511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.584391418 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:301.95, Y:35.33, Z:7.77 [[ 9.99165081e-01 -3.95765177e-02 -1.01410203e-02 3.01953210e+02] [ 3.95809422e-02 9.99216340e-01 2.35893235e-04 3.53263552e+01] [ 1.01237374e-02 -6.37087422e-04 9.99948551e-01 7.76972894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.614391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:301.99, Y:35.33, Z:7.77 [[ 9.99155218e-01 -3.96655779e-02 -1.07467438e-02 3.01985886e+02] [ 3.96705628e-02 9.99212782e-01 2.50988417e-04 3.53253069e+01] [ 1.07283281e-02 -6.77105759e-04 9.99942221e-01 7.76952097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.644391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:302.02, Y:35.33, Z:7.77 [[ 9.99145583e-01 -3.91729239e-02 -1.31752401e-02 3.02018420e+02] [ 3.91803856e-02 9.99232106e-01 3.08606356e-04 3.53252186e+01] [ 1.31530339e-02 -8.24553666e-04 9.99913155e-01 7.76968579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.674391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:302.05, Y:35.33, Z:7.77 [[ 9.99168113e-01 -3.82217068e-02 -1.42190777e-02 3.02049858e+02] [ 3.82303104e-02 9.99268899e-01 3.33653420e-04 3.53251816e+01] [ 1.41959293e-02 -8.76975611e-04 9.99898848e-01 7.76944762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.704391418 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:302.08, Y:35.33, Z:7.77 [[ 9.99192643e-01 -3.71700376e-02 -1.52463118e-02 3.02082383e+02] [ 3.71798281e-02 9.99308527e-01 3.59117586e-04 3.53253863e+01] [ 1.52224210e-02 -9.25682901e-04 9.99883704e-01 7.76927529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.734391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:302.11, Y:35.33, Z:7.77 [[ 9.99329283e-01 -3.31917242e-02 -1.54691462e-02 3.02114473e+02] [ 3.32013476e-02 9.99448616e-01 3.65634744e-04 3.53268207e+01] [ 1.54484807e-02 -8.78986007e-04 9.99880279e-01 7.76949895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.764391418 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:302.15, Y:35.33, Z:7.77 [[ 9.99417583e-01 -3.04856298e-02 -1.53336348e-02 3.02146677e+02] [ 3.04947876e-02 9.99534860e-01 3.63728022e-04 3.53275769e+01] [ 1.53154141e-02 -8.31112119e-04 9.99882367e-01 7.76968410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.794391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:302.18, Y:35.33, Z:7.77 [[ 9.99619258e-01 -2.41595626e-02 -1.33286920e-02 3.02177085e+02] [ 2.41659180e-02 9.99707912e-01 3.15945724e-04 3.53303237e+01] [ 1.33171658e-02 -6.37925509e-04 9.99911119e-01 7.77078334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.824391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:302.21, Y:35.33, Z:7.77 [[ 9.99715286e-01 -2.04122601e-02 -1.23566590e-02 3.02207234e+02] [ 2.04174398e-02 9.99791499e-01 2.93159940e-04 3.53313705e+01] [ 1.23480986e-02 -5.45367814e-04 9.99923611e-01 7.77127310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.854391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:302.24, Y:35.33, Z:7.77 [[ 9.99795809e-01 -1.68379256e-02 -1.11724773e-02 3.02238652e+02] [ 1.68419443e-02 9.99858129e-01 2.65705882e-04 3.53323319e+01] [ 1.11664184e-02 -4.53817868e-04 9.99937551e-01 7.77161188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:302.27, Y:35.33, Z:7.77 [[ 9.99866249e-01 -1.29027995e-02 -1.00499675e-02 3.02268751e+02] [ 1.29058494e-02 9.99916688e-01 2.38671941e-04 3.53333430e+01] [ 1.00460507e-02 -3.68343385e-04 9.99949469e-01 7.77182640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.914391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:302.30, Y:35.34, Z:7.77 [[ 9.99949523e-01 -5.48733198e-03 -8.41664041e-03 3.02298832e+02] [ 5.48920261e-03 9.99984914e-01 1.99168317e-04 3.53351155e+01] [ 8.41542054e-03 -2.45358908e-04 9.99964560e-01 7.77175033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:302.33, Y:35.34, Z:7.77 [[ 9.99963939e-01 -2.44709915e-03 -8.13222927e-03 3.02326858e+02] [ 2.44872666e-03 9.99996984e-01 1.90180223e-04 3.53352556e+01] [ 8.13173935e-03 -2.10086972e-04 9.99966915e-01 7.77149469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.974391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:302.35, Y:35.34, Z:7.77 [[ 9.99973517e-01 3.14691025e-04 -7.27087262e-03 3.02354276e+02] [-3.13491637e-04 9.99999937e-01 1.66097113e-04 3.53354673e+01] [ 7.27092444e-03 -1.63813356e-04 9.99973553e-01 7.77098021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:302.38, Y:35.34, Z:7.77 [[ 9.99962320e-01 5.04516791e-03 -7.06433375e-03 3.02381826e+02] [-5.04417164e-03 9.99987265e-01 1.58838350e-04 3.53356552e+01] [ 7.06504516e-03 -1.23198653e-04 9.99975035e-01 7.77065352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.034391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:302.41, Y:35.34, Z:7.77 [[ 9.99949543e-01 7.46607822e-03 -6.72079801e-03 3.02408877e+02] [-7.46522662e-03 9.99972123e-01 1.51789218e-04 3.53353279e+01] [ 6.72174392e-03 -1.01609279e-04 9.99977404e-01 7.77013354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:302.44, Y:35.34, Z:7.77 [[ 9.99927100e-01 9.52928144e-03 -7.41532487e-03 3.02436352e+02] [-9.52830549e-03 9.99954591e-01 1.66931158e-04 3.53350653e+01] [ 7.41657888e-03 -9.62635082e-05 9.99972492e-01 7.76984441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.094391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:302.46, Y:35.33, Z:7.77 [[ 9.99853375e-01 1.50788256e-02 -8.11530878e-03 3.02464311e+02] [-1.50778749e-02 9.99886306e-01 1.78323221e-04 3.53345143e+01] [ 8.11707503e-03 -5.59354634e-05 9.99967054e-01 7.76874714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:302.49, Y:35.33, Z:7.77 [[ 9.99798537e-01 1.81993992e-02 -8.46566677e-03 3.02490803e+02] [-1.81984706e-02 9.99834377e-01 1.86722974e-04 3.53339550e+01] [ 8.46766290e-03 -3.26231690e-05 9.99964148e-01 7.76858688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.154391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:302.52, Y:35.33, Z:7.77 [[ 9.99736614e-01 2.14393596e-02 -8.18877034e-03 3.02518966e+02] [-2.14386060e-02 9.99770151e-01 1.79809699e-04 3.53337000e+01] [ 8.19074316e-03 -4.20651865e-06 9.99966455e-01 7.76822273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.184391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:302.55, Y:35.33, Z:7.77 [[ 9.99572792e-01 2.84591440e-02 -6.65655107e-03 3.02546561e+02] [-2.84588084e-02 9.99594956e-01 1.45147606e-04 3.53332068e+01] [ 6.65798565e-03 4.43519132e-05 9.99977834e-01 7.76775151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.214391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:302.57, Y:35.33, Z:7.77 [[ 9.99484531e-01 3.15518905e-02 -5.92880263e-03 3.02573958e+02] [-3.15516924e-02 9.99502113e-01 1.26964703e-04 3.53325260e+01] [ 5.92985673e-03 6.01645007e-05 9.99982416e-01 7.76770970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.244391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:302.60, Y:35.33, Z:7.77 [[ 9.99389340e-01 3.46279561e-02 -4.67448528e-03 3.02602247e+02] [-3.46278669e-02 9.99400271e-01 1.00059688e-04 3.53315863e+01] [ 4.67514672e-03 6.18688683e-05 9.99989070e-01 7.76743697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.274391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:302.63, Y:35.33, Z:7.77 [[ 9.99396050e-01 3.44337702e-02 -4.67452080e-03 3.02630670e+02] [-3.44336865e-02 9.99406980e-01 9.84062625e-05 3.53310975e+01] [ 4.67513721e-03 6.26141538e-05 9.99989070e-01 7.76716360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.304391418 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:302.66, Y:35.33, Z:7.77 [[ 9.99313346e-01 3.68802674e-02 -3.56132047e-03 3.02657941e+02] [-3.68802390e-02 9.99319690e-01 7.36617984e-05 3.53303355e+01] [ 3.56161433e-03 5.77311318e-05 9.99993656e-01 7.76684785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.334391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:302.69, Y:35.33, Z:7.77 [[ 9.99182780e-01 4.03745186e-02 -1.91607979e-03 3.02686348e+02] [-4.03745173e-02 9.99184616e-01 3.93757652e-05 3.53283128e+01] [ 1.91610722e-03 3.80172101e-05 9.99998164e-01 7.76630028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.364391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:302.71, Y:35.33, Z:7.77 [[ 9.99174775e-01 4.05757595e-02 -1.83771932e-03 3.02712989e+02] [-4.05757595e-02 9.99176464e-01 3.73003278e-05 3.53264525e+01] [ 1.83771938e-03 3.72973104e-05 9.99998311e-01 7.76584536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.394391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:302.74, Y:35.32, Z:7.77 [[ 9.99210866e-01 3.96774859e-02 -1.82800877e-03 3.02740509e+02] [-3.96774845e-02 9.99212538e-01 3.70292398e-05 3.53240810e+01] [ 1.82803851e-03 3.55307711e-05 9.99998329e-01 7.76515826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.424391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:302.77, Y:35.32, Z:7.76 [[ 9.99394751e-01 3.47636926e-02 -1.27173374e-03 3.02768798e+02] [-3.47636886e-02 9.99395560e-01 2.52357166e-05 3.53186730e+01] [ 1.27184234e-03 1.89897129e-05 9.99999191e-01 7.76375005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.454391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:302.80, Y:35.32, Z:7.76 [[ 9.99526546e-01 3.07599513e-02 -7.14123839e-04 3.02796494e+02] [-3.07599494e-02 9.99526801e-01 1.35636606e-05 3.53153496e+01] [ 7.14203133e-04 8.40917434e-06 9.99999745e-01 7.76284348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484391418 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:302.82, Y:35.31, Z:7.76 [[ 9.99648918e-01 2.64905651e-02 -5.38913704e-04 3.02824767e+02] [-2.64905636e-02 9.99649063e-01 9.87569876e-06 3.53115891e+01] [ 5.38986192e-04 4.40389618e-06 9.99999855e-01 7.76217498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.514391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:302.85, Y:35.31, Z:7.76 [[ 9.99768289e-01 2.15259864e-02 3.41435368e-05 3.02852097e+02] [-2.15259863e-02 9.99768289e-01 -1.67091235e-06 3.53078769e+01] [-3.41715936e-05 9.35551877e-07 9.99999999e-01 7.76158037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:302.88, Y:35.30, Z:7.76 [[ 9.99941302e-01 1.08142589e-02 6.66207152e-04 3.02880909e+02] [-1.08142518e-02 9.99941524e-01 -1.43301224e-05 3.53009383e+01] [-6.66323164e-04 7.12474942e-06 9.99999778e-01 7.76036494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.574391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:302.91, Y:35.30, Z:7.76 [[ 9.99983804e-01 5.49890391e-03 1.46768597e-03 3.02908906e+02] [-5.49886473e-03 9.99984881e-01 -3.07290125e-05 3.52970154e+01] [-1.46783276e-03 2.26579082e-05 9.99998922e-01 7.75921453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:302.94, Y:35.29, Z:7.76 [[ 9.99998071e-01 4.93120611e-04 1.90153277e-03 3.02938605e+02] [-4.93047815e-04 9.99999878e-01 -3.87514060e-05 3.52928916e+01] [-1.90155164e-03 3.78137846e-05 9.99998191e-01 7.75828467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.634391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:302.97, Y:35.29, Z:7.76 [[ 9.99961475e-01 -8.27798507e-03 2.91950326e-03 3.02968969e+02] [ 8.27819051e-03 9.99965734e-01 -5.82906958e-05 3.52859801e+01] [-2.91892069e-03 8.24566544e-05 9.99995737e-01 7.75694211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:303.00, Y:35.28, Z:7.76 [[ 9.99925368e-01 -1.18513145e-02 2.96721908e-03 3.03001482e+02] [ 1.18515426e-02 9.99929766e-01 -5.93267456e-05 3.52823729e+01] [-2.96630758e-03 9.44884414e-05 9.99995596e-01 7.75618413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.694391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:303.03, Y:35.28, Z:7.76 [[ 9.99878690e-01 -1.53670116e-02 2.54177963e-03 3.03033407e+02] [ 1.53671911e-02 9.99881916e-01 -5.11145148e-05 3.52792884e+01] [-2.54069401e-03 9.01683275e-05 9.99996768e-01 7.75543971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:303.07, Y:35.27, Z:7.75 [[ 9.99770360e-01 -2.13782823e-02 1.48227727e-03 3.03066824e+02] [ 2.13783493e-02 9.99771457e-01 -2.93953891e-05 3.52738417e+01] [-1.48131008e-03 6.10772800e-05 9.99998901e-01 7.75388302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.754391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:303.10, Y:35.27, Z:7.75 [[ 9.99705544e-01 -2.42255373e-02 1.39582649e-03 3.03098937e+02] [ 2.42255999e-02 9.99706517e-01 -2.79522776e-05 3.52710879e+01] [-1.39473967e-03 6.17587808e-05 9.99999025e-01 7.75303289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:303.13, Y:35.27, Z:7.75 [[ 9.99643514e-01 -2.66550331e-02 1.53424784e-03 3.03131298e+02] [ 2.66551120e-02 9.99644689e-01 -3.09826070e-05 3.52684661e+01] [-1.53287686e-03 7.18671102e-05 9.99998823e-01 7.75225204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.814391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:303.16, Y:35.26, Z:7.75 [[ 9.99536129e-01 -3.03882045e-02 2.02067485e-03 3.03164108e+02] [ 3.03883496e-02 9.99538167e-01 -4.11613237e-05 3.52647151e+01] [-2.01849082e-03 1.02547204e-04 9.99997958e-01 7.75112730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844391418 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:303.20, Y:35.26, Z:7.75 [[ 9.99504768e-01 -3.13769273e-02 2.38890041e-03 3.03197174e+02] [ 3.13771342e-02 9.99507615e-01 -4.91620553e-05 3.52630166e+01] [-2.38618160e-03 1.24094558e-04 9.99997145e-01 7.75056794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.874391418 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:303.23, Y:35.26, Z:7.75 [[ 9.99480399e-01 -3.21130178e-02 2.77232933e-03 3.03229822e+02] [ 3.21133007e-02 9.99484233e-01 -5.75683635e-05 3.52618977e+01] [-2.76905076e-03 1.46567096e-04 9.99996155e-01 7.75026849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:303.26, Y:35.26, Z:7.75 [[ 9.99479519e-01 -3.21117068e-02 3.08696096e-03 3.03261783e+02] [ 3.21120594e-02 9.99484273e-01 -6.47238676e-05 3.52615321e+01] [-3.08329054e-03 1.63818854e-04 9.99995233e-01 7.75040105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.934391418 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:303.29, Y:35.26, Z:7.75 [[ 9.99490373e-01 -3.17165478e-02 3.61311937e-03 3.03294452e+02] [ 3.17170298e-02 9.99496886e-01 -7.61547773e-05 3.52610054e+01] [-3.60888619e-03 1.90713382e-04 9.99993470e-01 7.75018510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964391418 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:303.33, Y:35.26, Z:7.75 [[ 9.99515014e-01 -3.08731714e-02 4.07237837e-03 3.03326925e+02] [ 3.08737796e-02 9.99523288e-01 -8.65562703e-05 3.52603262e+01] [-4.06776475e-03 2.12244004e-04 9.99991704e-01 7.74968459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.994391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:303.36, Y:35.26, Z:7.75 [[ 9.99533836e-01 -3.02341994e-02 4.24307388e-03 3.03360180e+02] [ 3.02348554e-02 9.99542818e-01 -9.05260343e-05 3.52597090e+01] [-4.23839704e-03 2.18772559e-04 9.99990994e-01 7.74935607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:303.39, Y:35.26, Z:7.75 [[ 9.99566750e-01 -2.91037759e-02 4.39120049e-03 3.03393643e+02] [ 2.91044698e-02 9.99576371e-01 -9.41957097e-05 3.52589988e+01] [-4.38659879e-03 2.21958461e-04 9.99990354e-01 7.74870656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.054391418 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:303.43, Y:35.26, Z:7.75 [[ 9.99572115e-01 -2.89455440e-02 4.21222212e-03 3.03425230e+02] [ 2.89461835e-02 9.99580967e-01 -9.09343431e-05 3.52586170e+01] [-4.20782492e-03 2.12823188e-04 9.99991124e-01 7.74818532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.084391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:303.46, Y:35.26, Z:7.75 [[ 9.99580710e-01 -2.86425022e-02 4.24393670e-03 3.03458169e+02] [ 2.86431500e-02 9.99589697e-01 -9.19339865e-05 3.52582885e+01] [-4.23956218e-03 2.13455155e-04 9.99990990e-01 7.74778623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.114391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:303.49, Y:35.26, Z:7.75 [[ 9.99583229e-01 -2.87029818e-02 3.08337813e-03 3.03490346e+02] [ 2.87033226e-02 9.99587973e-01 -6.63320426e-05 3.52587515e+01] [-3.08020377e-03 1.54807595e-04 9.99995244e-01 7.74733996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.144391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:303.52, Y:35.26, Z:7.75 [[ 9.99587071e-01 -2.85550290e-02 3.20915612e-03 3.03523769e+02] [ 2.85554015e-02 9.99592209e-01 -7.02798366e-05 3.52584575e+01] [-3.20584061e-03 1.61889557e-04 9.99994848e-01 7.74664060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.174391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:303.56, Y:35.26, Z:7.75 [[ 9.99593466e-01 -2.83433027e-02 3.09189163e-03 3.03556459e+02] [ 2.83436484e-02 9.99598236e-01 -6.80452239e-05 3.52580418e+01] [-3.08872079e-03 1.55653050e-04 9.99995218e-01 7.74628029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.204391418 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:303.59, Y:35.26, Z:7.75 [[ 9.99598314e-01 -2.80884955e-02 3.77448148e-03 3.03588990e+02] [ 2.80890121e-02 9.99605422e-01 -8.39034980e-05 3.52579419e+01] [-3.77063543e-03 1.89891251e-04 9.99992873e-01 7.74554914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.234391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:303.62, Y:35.26, Z:7.75 [[ 9.99649683e-01 -2.60881626e-02 4.46304295e-03 3.03622410e+02] [ 2.60888672e-02 9.99659623e-01 -9.97382875e-05 3.52590255e+01] [-4.45892184e-03 2.16139082e-04 9.99990036e-01 7.74529706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.264391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:303.66, Y:35.26, Z:7.75 [[ 9.99686939e-01 -2.46051506e-02 4.53990753e-03 3.03655339e+02] [ 2.46058670e-02 9.99697225e-01 -1.02019271e-04 3.52595598e+01] [-4.53602276e-03 2.13695694e-04 9.99989689e-01 7.74537405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.294391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:303.69, Y:35.26, Z:7.75 [[ 9.99735478e-01 -2.24687341e-02 4.91227170e-03 3.03687693e+02] [ 2.24695510e-02 9.99747522e-01 -1.11151498e-04 3.52603481e+01] [-4.90853403e-03 2.21498635e-04 9.99987929e-01 7.74544506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.324391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:303.72, Y:35.26, Z:7.75 [[ 9.99828095e-01 -1.75420647e-02 6.00467207e-03 3.03721001e+02] [ 1.75432009e-02 9.99846097e-01 -1.36592889e-04 3.52627744e+01] [-6.00135181e-03 2.41910576e-04 9.99981962e-01 7.74546905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.354391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:303.75, Y:35.26, Z:7.75 [[ 9.99866158e-01 -1.49237312e-02 6.70435326e-03 3.03753777e+02] [ 1.49250950e-02 9.99888603e-01 -1.53420935e-04 3.52633845e+01] [-6.70131681e-03 2.53463510e-04 9.99977514e-01 7.74520319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:303.79, Y:35.26, Z:7.74 [[ 9.99903142e-01 -1.20718918e-02 6.92643273e-03 3.03785486e+02] [ 1.20732834e-02 9.99927103e-01 -1.59140319e-04 3.52637829e+01] [-6.92400668e-03 2.42749691e-04 9.99975999e-01 7.74483481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.414391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:303.82, Y:35.26, Z:7.74 [[ 9.99925989e-01 -9.57707591e-03 7.50305350e-03 3.03818999e+02] [ 9.57865181e-03 9.99954109e-01 -1.74126276e-04 3.52643751e+01] [-7.50104155e-03 2.45982525e-04 9.99971837e-01 7.74473603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:303.85, Y:35.27, Z:7.74 [[ 9.99950372e-01 -5.31014196e-03 8.42945946e-03 3.03851380e+02] [ 5.31198906e-03 9.99985872e-01 -1.96749517e-04 3.52663452e+01] [-8.42829561e-03 2.41516950e-04 9.99964452e-01 7.74460450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.474391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:303.88, Y:35.27, Z:7.74 [[ 9.99955402e-01 -3.59068263e-03 8.73500231e-03 3.03883968e+02] [ 3.59260787e-03 9.99993526e-01 -2.04724449e-04 3.52667101e+01] [-8.73421065e-03 2.36096757e-04 9.99961828e-01 7.74468692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:303.92, Y:35.27, Z:7.74 [[ 9.99952937e-01 -2.24346101e-03 9.43875441e-03 3.03916067e+02] [ 2.24565993e-03 9.99997454e-01 -2.22375024e-04 3.52670330e+01] [-9.43823148e-03 2.43560791e-04 9.99955429e-01 7.74454136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.534391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:303.95, Y:35.27, Z:7.74 [[ 9.99951414e-01 -1.25393997e-03 9.77738059e-03 3.03948102e+02] [ 1.25626164e-03 9.99999184e-01 -2.31315485e-04 3.52671157e+01] [-9.77708256e-03 2.43587195e-04 9.99952174e-01 7.74423988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564391418 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:303.98, Y:35.27, Z:7.74 [[ 9.99953241e-01 -9.58277790e-04 9.62280866e-03 3.03981414e+02] [ 9.60529684e-04 9.99999512e-01 -2.29397435e-04 3.52678366e+01] [-9.62258414e-03 2.38629701e-04 9.99953673e-01 7.74426541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.594391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:304.01, Y:35.27, Z:7.74 [[ 9.99953205e-01 -1.17571251e-03 9.60241811e-03 3.04014523e+02] [ 1.17797505e-03 9.99999280e-01 -2.29969160e-04 3.52674268e+01] [-9.60214082e-03 2.41269808e-04 9.99953869e-01 7.74385252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:304.05, Y:35.27, Z:7.74 [[ 9.99955574e-01 -2.28076677e-03 9.14590827e-03 3.04047276e+02] [ 2.28287407e-03 9.99997370e-01 -2.19976656e-04 3.52678461e+01] [-9.14538250e-03 2.40845840e-04 9.99958151e-01 7.74361439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.654391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:304.08, Y:35.27, Z:7.74 [[ 9.99951541e-01 -2.99255435e-03 9.37870295e-03 3.04080190e+02] [ 2.99483084e-03 9.99995489e-01 -2.28695648e-04 3.52671919e+01] [-9.37797626e-03 2.56772195e-04 9.99955993e-01 7.74312810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.684391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:304.11, Y:35.27, Z:7.74 [[ 9.99948806e-01 -3.76275049e-03 9.39294153e-03 3.04113033e+02] [ 3.76507858e-03 9.99992886e-01 -2.30184266e-04 3.52662509e+01] [-9.39200858e-03 2.65537645e-04 9.99955859e-01 7.74272228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.714391418 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:304.15, Y:35.27, Z:7.74 [[ 9.99944084e-01 -4.73465954e-03 9.45577073e-03 3.04146061e+02] [ 4.73707317e-03 9.99988753e-01 -2.32873559e-04 3.52653131e+01] [-9.45456180e-03 2.77653216e-04 9.99955266e-01 7.74229500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.744391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:304.18, Y:35.26, Z:7.74 [[ 9.99929148e-01 -6.80269548e-03 9.76844006e-03 3.04178439e+02] [ 6.80538185e-03 9.99976814e-01 -2.41790630e-04 3.52639630e+01] [-9.76656874e-03 3.08251464e-04 9.99952258e-01 7.74163831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.774391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:304.21, Y:35.26, Z:7.74 [[ 9.99922182e-01 -7.68263487e-03 9.82893649e-03 3.04210084e+02] [ 7.68540680e-03 9.99970437e-01 -2.44277430e-04 3.52628394e+01] [-9.82676923e-03 3.19797796e-04 9.99951665e-01 7.74111493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.804391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:304.24, Y:35.26, Z:7.74 [[ 9.99916411e-01 -8.61930968e-03 9.63739751e-03 3.04243382e+02] [ 8.62202703e-03 9.99962801e-01 -2.40445987e-04 3.52618221e+01] [-9.63496653e-03 3.23519790e-04 9.99953530e-01 7.74084322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.834391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:304.28, Y:35.26, Z:7.74 [[ 9.99911248e-01 -9.70239254e-03 9.13018351e-03 3.04275266e+02] [ 9.70488621e-03 9.99952880e-01 -2.28857328e-04 3.52609132e+01] [-9.12753283e-03 3.17444409e-04 9.99958293e-01 7.74060007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.864391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:304.31, Y:35.26, Z:7.74 [[ 9.99887267e-01 -1.20540981e-02 8.95277997e-03 3.04307359e+02] [ 1.20565979e-02 9.99927291e-01 -2.25299800e-04 3.52597948e+01] [-8.94941324e-03 3.33214470e-04 9.99959898e-01 7.74039460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.894391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:304.34, Y:35.26, Z:7.74 [[ 9.99875379e-01 -1.31873143e-02 8.67877142e-03 3.04340021e+02] [ 1.31897131e-02 9.99912988e-01 -2.19224351e-04 3.52585396e+01] [-8.67512528e-03 3.33667536e-04 9.99962315e-01 7.74006025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.924391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:304.37, Y:35.26, Z:7.74 [[ 9.99863300e-01 -1.40857603e-02 8.65872338e-03 3.04373415e+02] [ 1.40881905e-02 9.99900732e-01 -2.19731488e-04 3.52572139e+01] [-8.65476877e-03 3.41687196e-04 9.99962488e-01 7.73966131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.954391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:304.41, Y:35.26, Z:7.74 [[ 9.99858542e-01 -1.48890732e-02 7.82378505e-03 3.04405941e+02] [ 1.48910882e-02 9.99889102e-01 -1.99351203e-04 3.52561518e+01] [-7.81994925e-03 3.15827677e-04 9.99969374e-01 7.73917255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:304.44, Y:35.26, Z:7.74 [[ 9.99865631e-01 -1.46472435e-02 7.36056190e-03 3.04438796e+02] [ 1.46490262e-02 9.99892680e-01 -1.88338114e-04 3.52553506e+01] [-7.35701332e-03 2.96137871e-04 9.99972893e-01 7.73896154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.014391418 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:304.47, Y:35.25, Z:7.74 [[ 9.99877345e-01 -1.39983006e-02 7.02445735e-03 3.04470893e+02] [ 1.39999123e-02 9.99901980e-01 -1.80318241e-04 3.52548997e+01] [-7.02124467e-03 2.78637911e-04 9.99975312e-01 7.73842420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:304.50, Y:35.25, Z:7.74 [[ 9.99899449e-01 -1.26680106e-02 6.37290197e-03 3.04503013e+02] [ 1.26693190e-02 9.99919727e-01 -1.64978195e-04 3.52543275e+01] [-6.37030046e-03 2.45701935e-04 9.99979679e-01 7.73790140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.074391418 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:304.54, Y:35.25, Z:7.74 [[ 9.99948186e-01 -8.69477402e-03 5.29400607e-03 3.04535989e+02] [ 8.69562252e-03 9.99962183e-01 -1.37278279e-04 3.52541254e+01] [-5.29261226e-03 1.83305845e-04 9.99985977e-01 7.73755369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:304.57, Y:35.25, Z:7.74 [[ 9.99970158e-01 -5.93771386e-03 4.94223717e-03 3.04568446e+02] [ 5.93842326e-03 9.99982359e-01 -1.28875282e-04 3.52536308e+01] [-4.94138476e-03 1.58220532e-04 9.99987779e-01 7.73720209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.134391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:304.60, Y:35.25, Z:7.74 [[ 9.99989087e-01 -2.04209356e-03 4.20181497e-03 3.04599120e+02] [ 2.04943045e-03 9.99996382e-01 -1.74256201e-03 3.52541952e+01] [-4.19824129e-03 1.75115432e-03 9.99989654e-01 7.73732433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:304.63, Y:35.26, Z:7.74 [[ 9.99963594e-01 5.60923964e-03 6.43018626e-03 3.04633378e+02] [-5.56070060e-03 9.99956099e-01 -7.54180687e-03 3.52568299e+01] [-6.47220777e-03 7.50577596e-03 9.99950886e-01 7.73667803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.194391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:304.67, Y:35.25, Z:7.73 [[ 9.99964861e-01 5.36660904e-03 6.44020633e-03 3.04665132e+02] [-5.36585091e-03 9.99985595e-01 -1.34990465e-04 3.52525567e+01] [-6.44083800e-03 1.00428535e-04 9.99979253e-01 7.73430165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224391418 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:304.69, Y:35.25, Z:7.74 [[ 9.99970634e-01 6.70293127e-03 3.71520867e-03 3.04692305e+02] [-6.73661421e-03 9.99935637e-01 9.12910671e-03 3.52512940e+01] [-3.65377777e-03 -9.15386655e-03 9.99951427e-01 7.73531142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.254391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:304.72, Y:35.26, Z:7.74 [[ 9.99948411e-01 9.68262011e-03 3.06970352e-03 3.04722620e+02] [-9.68242172e-03 9.99953121e-01 -7.94844436e-05 3.52561462e+01] [-3.07032923e-03 4.97581791e-05 9.99995285e-01 7.73826321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284391418 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:304.75, Y:35.26, Z:7.74 [[ 9.99877447e-01 1.56072156e-02 1.22683754e-03 3.04751836e+02] [-1.56017669e-02 9.99868901e-01 -4.33192398e-03 3.52586275e+01] [-1.29428597e-03 4.31225226e-03 9.99989865e-01 7.73993723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.314391418 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:304.78, Y:35.25, Z:7.74 [[ 9.99843662e-01 1.76030480e-02 1.66868291e-03 3.04780023e+02] [-1.76083747e-02 9.99839733e-01 3.23306831e-03 3.52538936e+01] [-1.61150362e-03 -3.26194565e-03 9.99993381e-01 7.73704285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:304.81, Y:35.26, Z:7.74 [[ 9.99835823e-01 1.78559988e-02 3.08059325e-03 3.04809169e+02] [-1.78430182e-02 9.99832017e-01 -4.19093268e-03 3.52571343e+01] [-3.15490905e-03 4.13527755e-03 9.99986473e-01 7.73754356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.374391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:304.84, Y:35.25, Z:7.74 [[ 9.99886637e-01 1.49238562e-02 1.99809336e-03 3.04836663e+02] [-1.49337879e-02 9.99875724e-01 5.05153833e-03 3.52524694e+01] [-1.92245662e-03 -5.08080477e-03 9.99985245e-01 7.73604381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:304.87, Y:35.26, Z:7.74 [[ 9.99857312e-01 1.60891705e-02 5.14722950e-03 3.04868241e+02] [-1.60428751e-02 9.99831582e-01 -8.91252350e-03 3.52562343e+01] [-5.28975772e-03 8.82867543e-03 9.99947035e-01 7.73625780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.434391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:304.90, Y:35.25, Z:7.73 [[ 9.99942639e-01 1.05903852e-02 1.60108364e-03 3.04895514e+02] [-1.06041839e-02 9.99904427e-01 8.87059721e-03 3.52496644e+01] [-1.50698758e-03 -8.88706657e-03 9.99959374e-01 7.73476252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:304.92, Y:35.26, Z:7.74 [[ 9.99972590e-01 6.98693404e-03 -2.45001407e-03 3.04922155e+02] [-7.01270992e-03 9.99918431e-01 -1.06748676e-02 3.52573947e+01] [ 2.37522963e-03 1.06917562e-02 9.99940021e-01 7.74100614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.494391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:304.95, Y:35.25, Z:7.73 [[ 9.99998514e-01 1.70601516e-03 2.48507866e-04 3.04953682e+02] [-1.70856138e-03 9.99941998e-01 1.06339654e-02 3.52464144e+01] [-2.30351746e-04 -1.06343742e-02 9.99943427e-01 7.73382251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:304.98, Y:35.25, Z:7.74 [[ 9.99999530e-01 -5.44402476e-04 -8.02596179e-04 3.04983462e+02] [ 5.44419248e-04 9.99999852e-01 2.06787836e-05 3.52501737e+01] [ 8.02584802e-04 -2.11157227e-05 9.99999678e-01 7.73825703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.554391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:305.01, Y:35.25, Z:7.74 [[ 9.99970608e-01 -7.65590139e-03 -4.13898926e-04 3.05013416e+02] [ 7.65590668e-03 9.99970693e-01 1.11942504e-05 3.52487445e+01] [ 4.13801093e-04 -1.43626930e-05 9.99999914e-01 7.73694228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.584391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:305.04, Y:35.25, Z:7.74 [[ 9.99949085e-01 -1.00909833e-02 -8.89659091e-06 3.05044393e+02] [ 1.00909834e-02 9.99949085e-01 7.32358036e-07 3.52478102e+01] [ 8.88874758e-06 -8.22096092e-07 1.00000000e+00 7.73685821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.614391418 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:305.08, Y:35.25, Z:7.74 [[ 9.99925589e-01 -1.21980799e-02 -1.49868612e-04 3.05076445e+02] [ 1.21980807e-02 9.99925601e-01 4.67870648e-06 3.52470766e+01] [ 1.49800391e-04 -6.50646775e-06 9.99999989e-01 7.73692123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.644391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:305.11, Y:35.25, Z:7.74 [[ 9.99908953e-01 -1.34922633e-02 2.09477104e-04 3.05108735e+02] [ 1.34922646e-02 9.99908975e-01 -4.92548145e-06 3.52463800e+01] [-2.09391580e-04 7.75135353e-06 9.99999978e-01 7.73673238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.674391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:305.14, Y:35.25, Z:7.74 [[ 9.99893433e-01 -1.45958635e-02 2.88066605e-04 3.05141426e+02] [ 1.45958661e-02 9.99893475e-01 -7.04812077e-06 3.52457900e+01] [-2.87933045e-04 1.12519513e-05 9.99999958e-01 7.73666940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.704391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:305.17, Y:35.25, Z:7.74 [[ 9.99892323e-01 -1.46731246e-02 2.04496455e-04 3.05172516e+02] [ 1.46731260e-02 9.99892344e-01 -4.99185976e-06 3.52452612e+01] [-2.04401194e-04 7.99192450e-06 9.99999979e-01 7.73630094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.734391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:305.20, Y:35.24, Z:7.74 [[ 9.99899989e-01 -1.41424566e-02 5.46388472e-05 3.05204921e+02] [ 1.41424566e-02 9.99899990e-01 -7.95139614e-07 3.52447309e+01] [-5.46221377e-05 1.56778762e-06 9.99999999e-01 7.73613165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.764391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:305.24, Y:35.24, Z:7.74 [[ 9.99927535e-01 -1.20340336e-02 -3.26998478e-04 3.05236994e+02] [ 1.20340374e-02 9.99927588e-01 9.54550525e-06 3.52448063e+01] [ 3.26859929e-04 -1.34799254e-05 9.99999946e-01 7.73616657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.794391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:305.27, Y:35.24, Z:7.74 [[ 9.99942125e-01 -1.07516375e-02 -3.87130396e-04 3.05267906e+02] [ 1.07516426e-02 9.99942199e-01 1.10208659e-05 3.52449882e+01] [ 3.86989527e-04 -1.51825157e-05 9.99999925e-01 7.73640210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.824391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:305.30, Y:35.25, Z:7.74 [[ 9.99957758e-01 -9.16356175e-03 -7.14554601e-04 3.05298660e+02] [ 9.16357834e-03 9.99958013e-01 1.99411386e-05 3.52454486e+01] [ 7.14341867e-04 -2.64881733e-05 9.99999745e-01 7.73659405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.854391418 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:305.33, Y:35.25, Z:7.74 [[ 9.99972789e-01 -7.28445661e-03 -1.16558983e-03 3.05330436e+02] [ 7.28449941e-03 9.99973467e-01 3.24772917e-05 3.52457840e+01] [ 1.16532232e-03 -4.09671464e-05 9.99999320e-01 7.73666900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:305.36, Y:35.25, Z:7.74 [[ 9.99992211e-01 -3.43283497e-03 -1.94774112e-03 3.05361911e+02] [ 3.43294619e-03 9.99994106e-01 5.37618949e-05 3.52474301e+01] [ 1.94754509e-03 -6.04479666e-05 9.99998102e-01 7.73669344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.914391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:305.39, Y:35.25, Z:7.74 [[ 9.99996356e-01 -1.58639679e-03 -2.18445519e-03 3.05392120e+02] [ 1.58653105e-03 9.99998740e-01 5.97304705e-05 3.52477069e+01] [ 2.18435768e-03 -6.31959588e-05 9.99997612e-01 7.73665467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944391418 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:305.42, Y:35.25, Z:7.74 [[ 9.99997149e-01 1.38008514e-04 -2.38392457e-03 3.05421728e+02] [-1.37854013e-04 9.99999988e-01 6.49734920e-05 3.52479210e+01] [ 2.38393351e-03 -6.46446732e-05 9.99997156e-01 7.73625517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.974391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:305.45, Y:35.25, Z:7.74 [[ 9.99995747e-01 1.74730716e-03 -2.33496414e-03 3.05451415e+02] [-1.74716392e-03 9.99998472e-01 6.33856648e-05 3.52480862e+01] [ 2.33507133e-03 -5.93058302e-05 9.99997272e-01 7.73583238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:305.48, Y:35.25, Z:7.74 [[ 9.99984694e-01 4.34451874e-03 -3.42581162e-03 3.05480450e+02] [-4.34423521e-03 9.99990560e-01 9.02008309e-05 3.52492774e+01] [ 3.42617115e-03 -7.53169189e-05 9.99994128e-01 7.73566142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.034391418 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:305.51, Y:35.25, Z:7.74 [[ 9.99976399e-01 5.53224082e-03 -4.07379402e-03 3.05507867e+02] [-5.53184346e-03 9.99984693e-01 1.08803349e-04 3.52497825e+01] [ 4.07433359e-03 -8.62651906e-05 9.99991696e-01 7.73549455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:305.54, Y:35.25, Z:7.74 [[ 9.99969150e-01 6.51467872e-03 -4.38832151e-03 3.05536753e+02] [-6.51422758e-03 9.99978775e-01 1.17091491e-04 3.52502851e+01] [ 4.38899119e-03 -8.85013536e-05 9.99990364e-01 7.73506372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.094391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:305.56, Y:35.25, Z:7.73 [[ 9.99946703e-01 8.85616572e-03 -5.30661195e-03 3.05564849e+02] [-8.85554333e-03 9.99960779e-01 1.40771189e-04 3.52516890e+01] [ 5.30765051e-03 -9.37707539e-05 9.99985910e-01 7.73496906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:305.59, Y:35.25, Z:7.73 [[ 9.99936997e-01 9.74798327e-03 -5.56593961e-03 3.05593992e+02] [-9.74731280e-03 9.99952483e-01 1.47574427e-04 3.52520333e+01] [ 5.56711369e-03 -9.33121745e-05 9.99984499e-01 7.73493068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.154391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:305.62, Y:35.25, Z:7.74 [[ 9.99921550e-01 1.11512366e-02 -5.70465110e-03 3.05621523e+02] [-1.11505591e-02 9.99937819e-01 1.50548087e-04 3.52522040e+01] [ 5.70597518e-03 -8.69262269e-05 9.99983717e-01 7.73507161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.184391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:305.65, Y:35.25, Z:7.74 [[ 9.99888711e-01 1.38232123e-02 -5.61114092e-03 3.05649368e+02] [-1.38226040e-02 9.99904452e-01 1.47170738e-04 3.52530445e+01] [ 5.61263916e-03 -6.95937802e-05 9.99984247e-01 7.73533688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.214391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:305.68, Y:35.25, Z:7.74 [[ 9.99865825e-01 1.53705874e-02 -5.66363531e-03 3.05676319e+02] [-1.53699980e-02 9.99881864e-01 1.47594579e-04 3.52531373e+01] [ 5.66523484e-03 -6.05247124e-05 9.99983951e-01 7.73535509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.244391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:305.70, Y:35.25, Z:7.74 [[ 9.99845607e-01 1.67637365e-02 -5.26689686e-03 3.05704405e+02] [-1.67632489e-02 9.99859478e-01 1.36712652e-04 3.52534069e+01] [ 5.26844856e-03 -4.84012413e-05 9.99986120e-01 7.73517596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.274391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:305.73, Y:35.25, Z:7.74 [[ 9.99784493e-01 2.01835098e-02 -4.85728184e-03 3.05732403e+02] [-2.01831387e-02 9.99796292e-01 1.25395446e-04 3.52540153e+01] [ 4.85882329e-03 -2.73332294e-05 9.99988195e-01 7.73520433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.304391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:305.76, Y:35.25, Z:7.74 [[ 9.99745577e-01 2.21207204e-02 -4.41076806e-03 3.05759129e+02] [-2.21204372e-02 9.99755307e-01 1.12991211e-04 3.52538774e+01] [ 4.41218822e-03 -1.53943458e-05 9.99990266e-01 7.73504189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.334391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:305.79, Y:35.25, Z:7.73 [[ 9.99661589e-01 2.57100584e-02 -3.96235364e-03 3.05786553e+02] [-2.57098602e-02 9.99669442e-01 1.00955300e-04 3.52536879e+01] [ 3.96363942e-03 9.50422202e-07 9.99992145e-01 7.73464991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.364391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:305.81, Y:35.25, Z:7.73 [[ 9.99614639e-01 2.75001617e-02 -3.78344001e-03 3.05814120e+02] [-2.74999954e-02 9.99621799e-01 9.59974326e-05 3.52528819e+01] [ 3.78464906e-03 8.08414389e-06 9.99992838e-01 7.73448250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.394391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:305.84, Y:35.25, Z:7.73 [[ 9.99573780e-01 2.89532721e-02 -3.73720136e-03 3.05841555e+02] [-2.89531225e-02 9.99580766e-01 9.41452780e-05 3.52521866e+01] [ 3.73836041e-03 1.40984974e-05 9.99993012e-01 7.73423313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.424391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:305.87, Y:35.25, Z:7.73 [[ 9.99539222e-01 3.00857179e-02 -4.02420840e-03 3.05869952e+02] [-3.00855544e-02 9.99547322e-01 1.01162559e-04 3.52515942e+01] [ 4.02543028e-03 1.99545956e-05 9.99991898e-01 7.73433231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.454391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:305.90, Y:35.25, Z:7.73 [[ 9.99504135e-01 3.12188509e-02 -4.10691194e-03 3.05897930e+02] [-3.12186921e-02 9.99512573e-01 1.02790080e-04 3.52507593e+01] [ 4.10811911e-03 2.54733089e-05 9.99991561e-01 7.73421613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:305.92, Y:35.25, Z:7.73 [[ 9.99451411e-01 3.27576372e-02 -4.88003233e-03 3.05924934e+02] [-3.27574343e-02 9.99463324e-01 1.21514007e-04 3.52492215e+01] [ 4.88139384e-03 3.84099924e-05 9.99988085e-01 7.73412215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.514391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:305.95, Y:35.25, Z:7.73 [[ 9.99436428e-01 3.31387314e-02 -5.35262695e-03 3.05953180e+02] [-3.31384949e-02 9.99450760e-01 1.32897758e-04 3.52476921e+01] [ 5.35409113e-03 4.45551397e-05 9.99985666e-01 7.73404423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:305.98, Y:35.25, Z:7.73 [[ 9.99434955e-01 3.31528854e-02 -5.53689128e-03 3.05980103e+02] [-3.31526428e-02 9.99450291e-01 1.35610207e-04 3.52462411e+01] [ 5.53834347e-03 4.80289978e-05 9.99984662e-01 7.73398768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.574391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:306.01, Y:35.24, Z:7.73 [[ 9.99450946e-01 3.27240358e-02 -5.19074414e-03 3.06007564e+02] [-3.27238165e-02 9.99464424e-01 1.27193261e-04 3.52429559e+01] [ 5.19212638e-03 4.27375338e-05 9.99986520e-01 7.73350490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:306.03, Y:35.24, Z:7.73 [[ 9.99495497e-01 3.11241697e-02 -6.32744527e-03 3.06031865e+02] [-3.10432158e-02 9.99439712e-01 1.25132293e-02 3.52373489e+01] [ 6.71336395e-03 -1.23104921e-02 9.99901686e-01 7.73317724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.634391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:306.06, Y:35.24, Z:7.74 [[ 9.99516036e-01 3.06351998e-02 -5.40176809e-03 3.06062914e+02] [-3.06992139e-02 9.99454270e-01 -1.21951400e-02 3.52440833e+01] [ 5.02521963e-03 1.23550680e-02 9.99911046e-01 7.73685696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664391418 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:306.09, Y:35.23, Z:7.73 [[ 9.99618407e-01 2.72738626e-02 -4.37904855e-03 3.06089942e+02] [-2.72736676e-02 9.99627999e-01 1.04258876e-04 3.52341476e+01] [ 4.38026309e-03 1.52136234e-05 9.99990406e-01 7.73257263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.694391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:306.12, Y:35.23, Z:7.73 [[ 9.99664078e-01 2.56239405e-02 -3.89155111e-03 3.06117716e+02] [-2.56237755e-02 9.99671653e-01 9.22430734e-05 3.52315949e+01] [ 3.89263696e-03 7.50414522e-06 9.99992424e-01 7.73190939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:306.15, Y:35.23, Z:7.73 [[ 9.99740502e-01 2.24346661e-02 -3.95148176e-03 3.06145474e+02] [-2.24344729e-02 9.99748311e-01 9.32220879e-05 3.52270895e+01] [ 3.95257862e-03 -4.54848649e-06 9.99992189e-01 7.73161341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.754391418 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:306.17, Y:35.22, Z:7.73 [[ 9.99799731e-01 1.96058507e-02 -4.01366239e-03 3.06173561e+02] [-1.96056305e-02 9.99807787e-01 9.42046466e-05 3.52227227e+01] [ 4.01473788e-03 -1.54953983e-05 9.99991941e-01 7.73130549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784391418 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:306.20, Y:35.22, Z:7.73 [[ 9.99801676e-01 1.95063725e-02 -4.01366786e-03 3.06202020e+02] [-1.95061524e-02 9.99809733e-01 9.39714508e-05 3.52221594e+01] [ 4.01473723e-03 -1.56615969e-05 9.99991941e-01 7.73106760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.814391418 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:306.23, Y:35.22, Z:7.73 [[ 9.99827912e-01 1.82229791e-02 -3.47398116e-03 3.06229999e+02] [-1.82228089e-02 9.99833948e-01 8.06398822e-05 3.52191440e+01] [ 3.47487379e-03 -1.73203103e-05 9.99993962e-01 7.73045691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:306.26, Y:35.22, Z:7.73 [[ 9.99859927e-01 1.65242112e-02 -2.66037742e-03 3.06256950e+02] [-1.65241074e-02 9.99863466e-01 6.09944035e-05 3.52164075e+01] [ 2.66102207e-03 -1.70254978e-05 9.99996459e-01 7.72982078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.874391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:306.29, Y:35.21, Z:7.73 [[ 9.99888397e-01 1.47647445e-02 -2.27946916e-03 3.06285319e+02] [-1.47646634e-02 9.99890995e-01 5.23993017e-05 3.52134187e+01] [ 2.27999435e-03 -1.87378589e-05 9.99997401e-01 7.72954532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904391418 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:306.31, Y:35.21, Z:7.73 [[ 9.99936799e-01 1.11522408e-02 -1.42328152e-03 3.06312906e+02] [-1.11522063e-02 9.99937812e-01 3.21637893e-05 3.52080908e+01] [ 1.42355171e-03 -1.62890273e-05 9.99998987e-01 7.72857552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.934391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:306.34, Y:35.21, Z:7.73 [[ 9.99953236e-01 9.58944930e-03 -1.25199938e-03 3.06341886e+02] [-9.58942146e-03 9.99954020e-01 2.82370109e-05 3.52051242e+01] [ 1.25221259e-03 -1.62297407e-05 9.99999216e-01 7.72831008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:306.37, Y:35.20, Z:7.73 [[ 9.99969174e-01 7.76959531e-03 -1.13329134e-03 3.06370921e+02] [-7.76957151e-03 9.99969816e-01 2.54010599e-05 3.52002249e+01] [ 1.13345449e-03 -1.65950888e-05 9.99999358e-01 7.72754515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.994391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:306.40, Y:35.20, Z:7.73 [[ 9.99969579e-01 7.73786095e-03 -9.83488313e-04 3.06399141e+02] [-7.73784336e-03 9.99970062e-01 2.16887862e-05 3.51979570e+01] [ 9.83626694e-04 -1.40780479e-05 9.99999516e-01 7.72708755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:306.43, Y:35.20, Z:7.73 [[ 9.99964043e-01 8.44375186e-03 -7.85150175e-04 3.06426817e+02] [-8.44374105e-03 9.99964351e-01 1.70737891e-05 3.51956685e+01] [ 7.85266352e-04 -1.04435704e-05 9.99999692e-01 7.72665913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.054391418 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:306.46, Y:35.19, Z:7.73 [[ 9.99949945e-01 9.98331015e-03 -6.63488971e-04 3.06455130e+02] [-9.98330279e-03 9.99950165e-01 1.44130579e-05 3.51935902e+01] [ 6.63599796e-04 -7.78852517e-06 9.99999780e-01 7.72649902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.084391418 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:306.48, Y:35.19, Z:7.73 [[ 9.99950545e-01 9.92309792e-03 -6.63486031e-04 3.06484437e+02] [-9.92309046e-03 9.99950765e-01 1.45416352e-05 3.51929973e+01] [ 6.63597662e-04 -7.95708414e-06 9.99999780e-01 7.72625416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.114391418 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:306.51, Y:35.19, Z:7.73 [[ 9.99890715e-01 1.47279998e-02 -1.28206535e-03 3.06511028e+02] [-1.47279763e-02 9.99891537e-01 2.77285900e-05 3.51898118e+01] [ 1.28233468e-03 -8.84333159e-06 9.99999178e-01 7.72649887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.144391418 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:306.54, Y:35.19, Z:7.73 [[ 9.99843845e-01 1.76387198e-02 -1.07782892e-03 3.06540200e+02] [-1.76387047e-02 9.99844426e-01 2.35255689e-05 3.51881665e+01] [ 1.07807620e-03 -4.51038915e-06 9.99999419e-01 7.72597989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.174391418 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:306.57, Y:35.19, Z:7.73 [[ 9.99790091e-01 2.04649090e-02 -9.80291714e-04 3.06568177e+02] [-2.04648983e-02 9.99790572e-01 2.08663726e-05 3.51866041e+01] [ 9.80513441e-04 -8.00422321e-07 9.99999519e-01 7.72589602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.204391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:306.60, Y:35.18, Z:7.73 [[ 9.99673828e-01 2.55369535e-02 3.19563033e-04 3.06595748e+02] [-2.55369522e-02 9.99673879e-01 -8.12195577e-06 3.51833295e+01] [-3.19666227e-04 -4.13592838e-08 9.99999949e-01 7.72543080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.234391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:306.62, Y:35.18, Z:7.73 [[ 9.99623309e-01 2.74444294e-02 2.07651294e-04 3.06624030e+02] [-2.74444288e-02 9.99623331e-01 -5.60638221e-06 3.51810838e+01] [-2.07726942e-04 -9.46008161e-08 9.99999978e-01 7.72507302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.264391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:306.65, Y:35.18, Z:7.72 [[ 9.99595528e-01 2.84386557e-02 1.52934861e-04 3.06652075e+02] [-2.84386554e-02 9.99595540e-01 -4.37704779e-06 3.51787658e+01] [-1.52997482e-04 2.60155985e-08 9.99999988e-01 7.72434291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.294391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:306.68, Y:35.17, Z:7.72 [[ 9.99572146e-01 2.92490165e-02 -1.42221022e-04 3.06678656e+02] [-2.92490165e-02 9.99572156e-01 1.92757578e-06 3.51743483e+01] [ 1.42216553e-04 2.23307396e-06 9.99999990e-01 7.72334229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.324391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:306.71, Y:35.17, Z:7.72 [[ 9.99584329e-01 2.88264402e-02 -4.53984396e-04 3.06706300e+02] [-2.88264392e-02 9.99584432e-01 8.84732508e-06 3.51720679e+01] [ 4.54050771e-04 4.24310606e-06 9.99999897e-01 7.72304503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.354391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:306.73, Y:35.17, Z:7.72 [[ 9.99611212e-01 2.78723240e-02 -7.46751066e-04 3.06733196e+02] [-2.78723209e-02 9.99611491e-01 1.46415640e-05 3.51696219e+01] [ 7.46869041e-04 6.17781381e-06 9.99999721e-01 7.72284915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.384391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:306.76, Y:35.16, Z:7.72 [[ 9.99697049e-01 2.46082249e-02 -4.96001308e-04 3.06760798e+02] [-2.46082232e-02 9.99697172e-01 9.60851022e-06 3.51643577e+01] [ 4.96087553e-04 2.60011156e-06 9.99999877e-01 7.72221149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.414391418 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:306.79, Y:35.16, Z:7.72 [[ 9.99747476e-01 2.24709001e-02 -2.09436280e-04 3.06788615e+02] [-2.24708999e-02 9.99747497e-01 3.62502258e-06 3.51614247e+01] [ 2.09464854e-04 1.08211450e-06 9.99999978e-01 7.72228471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:306.82, Y:35.16, Z:7.72 [[ 9.99804868e-01 1.97540648e-02 -5.93331327e-05 3.06817750e+02] [-1.97540648e-02 9.99804869e-01 5.83050390e-07 3.51585830e+01] [ 5.93330724e-05 5.89133935e-07 9.99999998e-01 7.72245910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.474391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:306.85, Y:35.15, Z:7.72 [[ 9.99898894e-01 1.41998544e-02 7.52636203e-04 3.06845873e+02] [-1.41998458e-02 9.99899177e-01 -1.67406202e-05 3.51535088e+01] [-7.52798034e-04 6.05160964e-06 9.99999717e-01 7.72296996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:306.87, Y:35.15, Z:7.72 [[ 9.99938756e-01 1.10284178e-02 9.26204667e-04 3.06873834e+02] [-1.10284037e-02 9.99939185e-01 -2.03329737e-05 3.51507345e+01] [-9.26372580e-04 1.01171695e-05 9.99999571e-01 7.72282429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.534391418 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:306.90, Y:35.15, Z:7.72 [[ 9.99969302e-01 7.72822701e-03 1.29199044e-03 3.06901528e+02] [-7.72819750e-03 9.99970137e-01 -2.78297477e-05 3.51482991e+01] [-1.29216694e-03 1.78441361e-05 9.99999165e-01 7.72214424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:306.93, Y:35.15, Z:7.72 [[ 9.99988808e-01 4.56485155e-03 1.24361267e-03 3.06930457e+02] [-4.56482235e-03 9.99989581e-01 -2.63125386e-05 3.51456777e+01] [-1.24371982e-03 2.06353732e-05 9.99999226e-01 7.72206996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.594391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:306.96, Y:35.14, Z:7.72 [[ 9.99997500e-01 -1.71342770e-03 1.43690877e-03 3.06959641e+02] [ 1.71347243e-03 9.99998532e-01 -2.98961231e-05 3.51408491e+01] [-1.43685544e-03 3.23581519e-05 9.99998967e-01 7.72153843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:306.99, Y:35.14, Z:7.72 [[ 9.99986500e-01 -4.92974639e-03 1.64252425e-03 3.06990452e+02] [ 4.92980900e-03 9.99987848e-01 -3.40671701e-05 3.51380717e+01] [-1.64233634e-03 4.21640410e-05 9.99998650e-01 7.72097462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.654391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:307.02, Y:35.14, Z:7.72 [[ 9.99970177e-01 -7.56582944e-03 1.55034346e-03 3.07021972e+02] [ 7.56588610e-03 9.99971378e-01 -3.06882801e-05 3.51353112e+01] [-1.55006691e-03 4.24170870e-05 9.99998798e-01 7.72056564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.684391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:307.05, Y:35.13, Z:7.72 [[ 9.99931504e-01 -1.16159168e-02 1.43441563e-03 3.07053835e+02] [ 1.16159696e-02 9.99932532e-01 -2.84786990e-05 3.51307590e+01] [-1.43398805e-03 4.51388767e-05 9.99998971e-01 7.72054089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.714391418 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:307.09, Y:35.13, Z:7.72 [[ 9.99915159e-01 -1.29286392e-02 1.58888275e-03 3.07085895e+02] [ 1.29287089e-02 9.99916420e-01 -3.36037991e-05 3.51286462e+01] [-1.58831550e-03 5.41431507e-05 9.99998737e-01 7.72015653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.744391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:307.12, Y:35.13, Z:7.72 [[ 9.99906078e-01 -1.36422781e-02 1.31249041e-03 3.07116896e+02] [ 1.36423264e-02 9.99906939e-01 -2.78947456e-05 3.51269040e+01] [-1.31198772e-03 4.57975483e-05 9.99999138e-01 7.71999244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.774391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:307.15, Y:35.12, Z:7.72 [[ 9.99913397e-01 -1.31055875e-02 1.20075669e-03 3.07148733e+02] [ 1.31056274e-02 9.99914117e-01 -2.53899379e-05 3.51245753e+01] [-1.20032081e-03 4.11244088e-05 9.99999279e-01 7.71989725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.804391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:307.18, Y:35.12, Z:7.72 [[ 9.99925030e-01 -1.21825697e-02 1.23231192e-03 3.07180141e+02] [ 1.21826114e-02 9.99925789e-01 -2.63263128e-05 3.51232460e+01] [-1.23189975e-03 4.13371163e-05 9.99999240e-01 7.71938933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.834391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:307.21, Y:35.12, Z:7.72 [[ 9.99944141e-01 -1.04725853e-02 1.42827770e-03 3.07212058e+02] [ 1.04726396e-02 9.99945160e-01 -3.05421456e-05 3.51217233e+01] [-1.42787951e-03 4.54982771e-05 9.99998980e-01 7.71909853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.864391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:307.24, Y:35.12, Z:7.72 [[ 9.99978079e-01 -6.37056932e-03 1.80462176e-03 3.07244220e+02] [ 6.37064991e-03 9.99979706e-01 -3.89128717e-05 3.51203576e+01] [-1.80433724e-03 5.04086322e-05 9.99998371e-01 7.71874812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.894391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:307.28, Y:35.12, Z:7.72 [[ 9.99990036e-01 -4.00137038e-03 1.97899146e-03 3.07276110e+02] [ 4.00146313e-03 9.99991993e-01 -4.29094832e-05 3.51195997e+01] [-1.97880391e-03 5.08279170e-05 9.99998041e-01 7.71842235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.924391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:307.31, Y:35.12, Z:7.72 [[ 9.99996981e-01 -1.26432202e-03 2.10702019e-03 3.07308371e+02] [ 1.26442154e-03 9.99999200e-01 -4.58982070e-05 3.51186451e+01] [-2.10696047e-03 4.85622302e-05 9.99997779e-01 7.71810522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.954391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:307.34, Y:35.12, Z:7.72 [[ 9.99992668e-01 3.62612455e-03 1.23105641e-03 3.07339748e+02] [-3.62609432e-03 9.99993425e-01 -2.67835259e-05 3.51179452e+01] [-1.23114544e-03 2.23194028e-05 9.99999242e-01 7.71778755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:307.37, Y:35.12, Z:7.72 [[ 9.99983228e-01 5.75209978e-03 6.75860814e-04 3.07370686e+02] [-5.75209097e-03 9.99983456e-01 -1.49784033e-05 3.51172870e+01] [-6.75935790e-04 1.10905392e-05 9.99999771e-01 7.71746330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.014391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:307.40, Y:35.12, Z:7.72 [[ 9.99972528e-01 7.41081427e-03 1.51934820e-04 3.07399883e+02] [-7.41081382e-03 9.99972540e-01 -3.52658358e-06 3.51167888e+01] [-1.51956783e-04 2.40052604e-06 9.99999988e-01 7.71706646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044391418 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:307.43, Y:35.12, Z:7.72 [[ 9.99947775e-01 1.02160754e-02 -2.80541610e-04 3.07428409e+02] [-1.02160742e-02 9.99947815e-01 5.83998060e-06 3.51158699e+01] [ 2.80586632e-04 -2.97364169e-06 9.99999961e-01 7.71700598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.074391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:307.46, Y:35.11, Z:7.72 [[ 9.99937571e-01 1.11682397e-02 -3.53986106e-04 3.07457147e+02] [-1.11682379e-02 9.99937633e-01 7.12973892e-06 3.51149914e+01] [ 3.54043655e-04 -3.17589277e-06 9.99999937e-01 7.71737359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:307.49, Y:35.11, Z:7.72 [[ 9.99932253e-01 1.16384482e-02 1.87040013e-04 3.07486222e+02] [-1.16384476e-02 9.99932271e-01 -4.78649011e-06 3.51140969e+01] [-1.87083053e-04 2.60931046e-06 9.99999982e-01 7.71752361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.134391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:307.51, Y:35.11, Z:7.72 [[ 9.99927830e-01 1.20068486e-02 4.12881323e-04 3.07514507e+02] [-1.20068456e-02 9.99927915e-01 -9.86117301e-06 3.51129970e+01] [-4.12969963e-04 4.90305905e-06 9.99999915e-01 7.71797568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:307.54, Y:35.11, Z:7.72 [[ 9.99928926e-01 1.18287883e-02 1.49107578e-03 3.07543176e+02] [-1.18287521e-02 9.99930037e-01 -3.31170320e-05 3.51110479e+01] [-1.49136320e-03 1.54771124e-05 9.99998888e-01 7.71801349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.194391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:307.57, Y:35.11, Z:7.72 [[ 9.99926767e-01 1.20450466e-02 1.17368982e-03 3.07570953e+02] [-1.20450242e-02 9.99927456e-01 -2.61522504e-05 3.51093192e+01] [-1.17391969e-03 1.20132129e-05 9.99999311e-01 7.71757822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:307.60, Y:35.11, Z:7.72 [[ 9.99937051e-01 1.11358037e-02 1.37409379e-03 3.07599812e+02] [-1.11357724e-02 9.99937995e-01 -3.03805994e-05 3.51085150e+01] [-1.37434690e-03 1.50770912e-05 9.99999055e-01 7.71724588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.254391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:307.63, Y:35.11, Z:7.72 [[ 9.99947912e-01 1.01411252e-02 1.15344964e-03 3.07628143e+02] [-1.01411025e-02 9.99948577e-01 -2.55226168e-05 3.51073331e+01] [-1.15364916e-03 1.38240363e-05 9.99999334e-01 7.71693436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:307.66, Y:35.11, Z:7.72 [[ 9.99967195e-01 8.08270479e-03 5.28494736e-04 3.07656568e+02] [-8.08269965e-03 9.99967334e-01 -1.18684557e-05 3.51053196e+01] [-5.28573402e-04 7.59640216e-06 9.99999860e-01 7.71654787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.314391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:307.69, Y:35.10, Z:7.72 [[ 9.99975911e-01 6.94099503e-03 2.69627813e-05 3.07685660e+02] [-6.94099500e-03 9.99975911e-01 -1.27932197e-06 3.51037311e+01] [-2.69710117e-05 1.09214263e-06 1.00000000e+00 7.71642306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:307.71, Y:35.10, Z:7.72 [[ 9.99981241e-01 6.12493341e-03 5.70087385e-05 3.07714784e+02] [-6.12493332e-03 9.99981242e-01 -1.75311126e-06 3.51019791e+01] [-5.70184070e-05 1.40390366e-06 9.99999998e-01 7.71590217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.374391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:307.74, Y:35.10, Z:7.72 [[ 9.99987771e-01 4.93161887e-03 -3.71411290e-04 3.07743800e+02] [-4.93161649e-03 9.99987839e-01 7.33947933e-06 3.50998820e+01] [ 3.71442968e-04 -5.50773153e-06 9.99999931e-01 7.71650820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:307.77, Y:35.10, Z:7.72 [[ 9.99985184e-01 5.43141224e-03 -3.63957604e-04 3.07772630e+02] [-5.43140997e-03 9.99985250e-01 7.22396874e-06 3.50988748e+01] [ 3.63991472e-04 -5.24705874e-06 9.99999934e-01 7.71704079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.434391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:307.80, Y:35.10, Z:7.72 [[ 9.99979952e-01 6.33162462e-03 -8.33282880e-05 3.07802744e+02] [-6.33162453e-03 9.99979955e-01 1.43745116e-06 3.50979964e+01] [ 8.33357189e-05 -9.09818903e-07 9.99999997e-01 7.71702617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:307.83, Y:35.10, Z:7.72 [[ 9.99951958e-01 9.79158949e-03 -4.55439312e-04 3.07831698e+02] [-9.79158725e-03 9.99952061e-01 7.15476442e-06 3.50972806e+01] [ 4.55487535e-04 -2.69494693e-06 9.99999896e-01 7.71792486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.494391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:307.86, Y:35.10, Z:7.72 [[ 9.99924652e-01 1.22417223e-02 -9.11572706e-04 3.07860543e+02] [-1.22417108e-02 9.99925067e-01 1.82003361e-05 3.50966125e+01] [ 9.11727203e-04 -7.03975525e-06 9.99999584e-01 7.71786616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.524391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:307.89, Y:35.10, Z:7.72 [[ 9.99885266e-01 1.50927131e-02 -1.29008899e-03 3.07889308e+02] [-1.50926922e-02 9.99886099e-01 2.59538976e-05 3.50957039e+01] [ 1.29033376e-03 -6.48000371e-06 9.99999167e-01 7.71747683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.554391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:307.92, Y:35.09, Z:7.72 [[ 9.99840325e-01 1.77658579e-02 -1.92316607e-03 3.07918157e+02] [-1.77658159e-02 9.99842175e-01 3.88745980e-05 3.50949290e+01] [ 1.92355319e-03 -4.70177625e-06 9.99998150e-01 7.71727566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.584391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:307.95, Y:35.09, Z:7.72 [[ 9.99729510e-01 2.30936917e-02 -2.75461107e-03 3.07946419e+02] [-2.30936264e-02 9.99733305e-01 5.55313481e-05 3.50936285e+01] [ 2.75515885e-03 8.09763143e-06 9.99996205e-01 7.71696253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.614391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:307.98, Y:35.09, Z:7.72 [[ 9.99675214e-01 2.52508301e-02 -3.44411045e-03 3.07975046e+02] [-2.52507406e-02 9.99681147e-01 6.94705867e-05 3.50928400e+01] [ 3.44476648e-03 1.75183161e-05 9.99994067e-01 7.71699057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.644391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:308.00, Y:35.09, Z:7.72 [[ 9.99630561e-01 2.68611101e-02 -4.15003688e-03 3.08003378e+02] [-2.68609972e-02 9.99639175e-01 8.29397116e-05 3.50921957e+01] [ 4.15076729e-03 2.85650588e-05 9.99991385e-01 7.71710895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.674391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:308.03, Y:35.09, Z:7.72 [[ 9.99572412e-01 2.87655438e-02 -5.24749914e-03 3.08030505e+02] [-2.87653960e-02 9.99586185e-01 1.03650325e-04 3.50908525e+01] [ 5.24830920e-03 4.73403856e-05 9.99986226e-01 7.71775705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.704391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:308.06, Y:35.09, Z:7.72 [[ 9.99575559e-01 2.86099373e-02 -5.49306522e-03 3.08058368e+02] [-2.86097739e-02 9.99590651e-01 1.08342455e-04 3.50895964e+01] [ 5.49391631e-03 4.88588841e-05 9.99984907e-01 7.71794967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.734391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:308.09, Y:35.09, Z:7.72 [[ 9.99592917e-01 2.79471274e-02 -5.74091450e-03 3.08085749e+02] [-2.79469402e-02 9.99609402e-01 1.12844767e-04 3.50881552e+01] [ 5.74182579e-03 4.76421647e-05 9.99983514e-01 7.71829189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.764391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:308.11, Y:35.09, Z:7.72 [[ 9.99662093e-01 2.53873580e-02 -5.58412463e-03 3.08113826e+02] [-2.53871464e-02 9.99677689e-01 1.08783206e-04 3.50850577e+01] [ 5.58508653e-03 3.30185427e-05 9.99984403e-01 7.71927467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.794391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:308.14, Y:35.08, Z:7.72 [[ 9.99720603e-01 2.30454379e-02 -5.25584267e-03 3.08141799e+02] [-2.30452205e-02 9.99734418e-01 1.01927379e-04 3.50833390e+01] [ 5.25679578e-03 1.92231523e-05 9.99986183e-01 7.71921015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.824391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:308.17, Y:35.08, Z:7.72 [[ 9.99779230e-01 2.03782656e-02 -5.12025457e-03 3.08169378e+02] [-2.03780288e-02 9.99792342e-01 9.84100420e-05 3.50815683e+01] [ 5.12119673e-03 5.95237928e-06 9.99986887e-01 7.71927974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.854391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:308.20, Y:35.08, Z:7.72 [[ 9.99889322e-01 1.40436688e-02 -4.91109707e-03 3.08197720e+02] [-1.40433779e-02 9.99901383e-01 9.37099806e-05 3.50778056e+01] [ 4.91192878e-03 -2.47312170e-05 9.99987936e-01 7.71942907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.884391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:308.23, Y:35.08, Z:7.72 [[ 9.99933957e-01 1.04394300e-02 -4.80619082e-03 3.08225161e+02] [-1.04391115e-02 9.99945507e-01 9.13592277e-05 3.50753646e+01] [ 4.80688266e-03 -4.11808323e-05 9.99988446e-01 7.71886690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.914391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:308.25, Y:35.07, Z:7.72 [[ 9.99964927e-01 6.70231221e-03 -5.02231590e-03 3.08253540e+02] [-6.70191823e-03 9.99977537e-01 9.52699605e-05 3.50730702e+01] [ 5.02284162e-03 -6.16074686e-05 9.99987384e-01 7.71888739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:308.28, Y:35.07, Z:7.72 [[ 9.99986528e-01 -6.93434701e-04 -5.14423492e-03 3.08282071e+02] [ 6.93943692e-04 9.99999755e-01 9.71596935e-05 3.50697885e+01] [ 5.14416628e-03 -1.00728194e-04 9.99986764e-01 7.71851828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.974391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:308.31, Y:35.07, Z:7.72 [[ 9.99977926e-01 -4.29276175e-03 -5.07151876e-03 3.08310239e+02] [ 4.29329912e-03 9.99990779e-01 9.50762887e-05 3.50679696e+01] [ 5.07106386e-03 -1.16847737e-04 9.99987135e-01 7.71833284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:308.34, Y:35.07, Z:7.72 [[ 9.99956070e-01 -7.87828294e-03 -5.07849056e-03 3.08339092e+02] [ 7.87886680e-03 9.99968957e-01 9.49704488e-05 3.50663234e+01] [ 5.07758470e-03 -1.34979027e-04 9.99987100e-01 7.71819871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.034391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:308.37, Y:35.07, Z:7.72 [[ 9.99955309e-01 -7.97430015e-03 -5.07850170e-03 3.08369231e+02] [ 7.97488223e-03 9.99968196e-01 9.43756743e-05 3.50658183e+01] [ 5.07758761e-03 -1.34871910e-04 9.99987100e-01 7.71794698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:308.40, Y:35.06, Z:7.72 [[ 9.99924661e-01 -1.12420541e-02 -4.92825628e-03 3.08398372e+02] [ 1.12426430e-02 9.99936795e-01 9.18077343e-05 3.50639325e+01] [ 4.92691268e-03 -1.47207444e-04 9.99987852e-01 7.71774572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.094391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:308.43, Y:35.06, Z:7.72 [[ 9.99851068e-01 -1.66384737e-02 -4.58283526e-03 3.08428094e+02] [ 1.66390398e-02 9.99861558e-01 8.54284155e-05 3.50611800e+01] [ 4.58077940e-03 -1.61669671e-04 9.99989495e-01 7.71738594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:308.46, Y:35.06, Z:7.72 [[ 9.99817348e-01 -1.86172290e-02 -4.32070196e-03 3.08459681e+02] [ 1.86177538e-02 9.99826671e-01 8.12546093e-05 3.50599721e+01] [ 4.31844033e-03 -1.61681533e-04 9.99990662e-01 7.71711385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.154391418 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:308.49, Y:35.06, Z:7.72 [[ 9.99792342e-01 -1.98757887e-02 -4.49730321e-03 3.08490530e+02] [ 1.98763708e-02 9.99802442e-01 8.47576025e-05 3.50591756e+01] [ 4.49473011e-03 -1.74130068e-04 9.99989883e-01 7.71712683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.184391418 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:308.52, Y:35.06, Z:7.72 [[ 9.99798414e-01 -1.96697133e-02 -4.02923822e-03 3.08521947e+02] [ 1.96701796e-02 9.99806520e-01 7.61472939e-05 3.50588655e+01] [ 4.02696085e-03 -1.55387783e-04 9.99991880e-01 7.71661149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.214391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:308.55, Y:35.06, Z:7.72 [[ 9.99817113e-01 -1.87049622e-02 -3.98316327e-03 3.08552199e+02] [ 1.87054124e-02 9.99825036e-01 7.58000091e-05 3.50590372e+01] [ 3.98104852e-03 -1.50292858e-04 9.99992064e-01 7.71632013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.244391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:308.58, Y:35.06, Z:7.72 [[ 9.99847995e-01 -1.70080870e-02 -3.83558257e-03 3.08583444e+02] [ 1.70084918e-02 9.99855342e-01 7.29348595e-05 3.50590515e+01] [ 3.83378724e-03 -1.38161248e-04 9.99992641e-01 7.71606161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.274391418 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:308.62, Y:35.06, Z:7.72 [[ 9.99918808e-01 -1.21250673e-02 -3.91927663e-03 3.08615169e+02] [ 1.21254531e-02 9.99926481e-01 7.46845379e-05 3.50598538e+01] [ 3.91808293e-03 -1.22201479e-04 9.99992317e-01 7.71596042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.304391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:308.65, Y:35.06, Z:7.72 [[ 9.99949284e-01 -9.28915491e-03 -3.89112369e-03 3.08645592e+02] [ 9.28951235e-03 9.99956849e-01 7.37964522e-05 3.50601504e+01] [ 3.89027027e-03 -1.09939351e-04 9.99992427e-01 7.71566397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.334391418 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:308.67, Y:35.07, Z:7.71 [[ 9.99987133e-01 -4.49545121e-03 -2.35069010e-03 3.08674244e+02] [ 4.46897219e-03 9.99927841e-01 -1.11508230e-02 3.50693980e+01] [ 2.40064846e-03 1.11401744e-02 9.99935065e-01 7.71402157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.364391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:308.70, Y:35.06, Z:7.71 [[ 9.99994115e-01 -4.45312584e-04 -3.40176218e-03 3.08704764e+02] [ 4.83207219e-04 9.99937753e-01 1.11470199e-02 3.50574984e+01] [ 3.39658653e-03 -1.11485981e-02 9.99932084e-01 7.71326328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.394391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:308.73, Y:35.06, Z:7.72 [[ 9.99982526e-01 4.59928807e-03 -3.71406614e-03 3.08732348e+02] [-4.59907537e-03 9.99989422e-01 6.58065568e-05 3.50649481e+01] [ 3.71432951e-03 -4.87241368e-05 9.99993101e-01 7.71503544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.424391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:308.76, Y:35.07, Z:7.71 [[ 9.99968483e-01 6.84233050e-03 -4.02681957e-03 3.08759846e+02] [-6.84209283e-03 9.99976590e-01 7.27963304e-05 3.50651370e+01] [ 4.02722340e-03 -4.52421627e-05 9.99991890e-01 7.71499573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.454391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:308.79, Y:35.06, Z:7.71 [[ 9.99968904e-01 6.78054079e-03 -4.02681772e-03 3.08789160e+02] [-6.78030221e-03 9.99977011e-01 7.28962164e-05 3.50646883e+01] [ 4.02721942e-03 -4.55909085e-05 9.99991890e-01 7.71475067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:308.82, Y:35.07, Z:7.71 [[ 9.99949280e-01 9.39353550e-03 -3.63312617e-03 3.08818136e+02] [-9.39336041e-03 9.99955879e-01 6.52528561e-05 3.50658350e+01] [ 3.63357883e-03 -3.11222829e-05 9.99993398e-01 7.71396591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.514391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:308.85, Y:35.07, Z:7.71 [[ 9.99942411e-01 1.02326483e-02 -3.23551868e-03 3.08847211e+02] [-1.02325149e-02 9.99947645e-01 5.77660216e-05 3.50659755e+01] [ 3.23594039e-03 -2.46552016e-05 9.99994764e-01 7.71370242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:308.88, Y:35.07, Z:7.71 [[ 9.99933855e-01 1.09450128e-02 -3.53432528e-03 3.08876114e+02] [-1.09448591e-02 9.99940101e-01 6.28224068e-05 3.50660710e+01] [ 3.53480117e-03 -2.41355592e-05 9.99993752e-01 7.71379120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.574391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:308.90, Y:35.07, Z:7.71 [[ 9.99945268e-01 1.02515339e-02 -2.08996073e-03 3.08903636e+02] [-1.02514801e-02 9.99947452e-01 3.64546060e-05 3.50673797e+01] [ 2.09022463e-03 -1.50274198e-05 9.99997815e-01 7.71347330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:308.93, Y:35.07, Z:7.71 [[ 9.99953501e-01 9.43373783e-03 -2.00006507e-03 3.08932741e+02] [-9.43368685e-03 9.99955501e-01 3.49214844e-05 3.50674802e+01] [ 2.00030551e-03 -1.60518730e-05 9.99997999e-01 7.71353116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.634391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:308.96, Y:35.07, Z:7.71 [[ 9.99965315e-01 8.18919977e-03 -1.51879600e-03 3.08961833e+02] [-8.18916936e-03 9.99966468e-01 2.62438723e-05 3.50675997e+01] [ 1.51895999e-03 -1.38052843e-05 9.99998846e-01 7.71349837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664391418 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:308.99, Y:35.07, Z:7.71 [[ 9.99988651e-01 4.73028885e-03 -5.67594446e-04 3.08990346e+02] [-4.73028432e-03 9.99988812e-01 9.33003239e-06 3.50672139e+01] [ 5.67632229e-04 -6.64504339e-06 9.99999839e-01 7.71323860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.694391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:309.02, Y:35.07, Z:7.71 [[ 9.99996343e-01 2.70364021e-03 6.91787107e-05 3.09020277e+02] [-2.70364011e-03 9.99996345e-01 -1.57217878e-06 3.50666950e+01] [-6.91827086e-05 1.38513870e-06 9.99999998e-01 7.71286756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724391418 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:309.05, Y:35.07, Z:7.71 [[ 9.99999932e-01 3.64967177e-04 4.90684055e-05 3.09050051e+02] [-3.64967117e-04 9.99999933e-01 -1.21888533e-06 3.50661629e+01] [-4.90688472e-05 1.20097690e-06 9.99999999e-01 7.71267163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.754391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:309.08, Y:35.07, Z:7.71 [[ 9.99983233e-01 -5.65754404e-03 1.23515128e-03 3.09079333e+02] [ 5.65757531e-03 9.99983996e-01 -2.18235500e-05 3.50658095e+01] [-1.23500805e-03 2.88111454e-05 9.99999237e-01 7.71178877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:309.11, Y:35.07, Z:7.71 [[ 9.99960139e-01 -8.79960411e-03 1.51267613e-03 3.09111558e+02] [ 8.79965341e-03 9.99961282e-01 -2.59389164e-05 3.50653240e+01] [-1.51238931e-03 3.92489082e-05 9.99998856e-01 7.71123290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.814391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:309.14, Y:35.06, Z:7.71 [[ 9.99930932e-01 -1.16288792e-02 1.70335127e-03 3.09143993e+02] [ 1.16289462e-02 9.99932381e-01 -2.94453010e-05 3.50647774e+01] [-1.70289368e-03 4.92514475e-05 9.99998549e-01 7.71063514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844391418 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:309.18, Y:35.06, Z:7.71 [[ 9.99854015e-01 -1.69468098e-02 2.18038672e-03 3.09176414e+02] [ 1.69469327e-02 9.99856390e-01 -3.79406223e-05 3.50642706e+01] [-2.17943062e-03 7.48859506e-05 9.99997622e-01 7.71000737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.874391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:309.21, Y:35.06, Z:7.71 [[ 9.99805059e-01 -1.96255556e-02 2.16360654e-03 3.09208674e+02] [ 1.96256837e-02 9.99807397e-01 -3.79933873e-05 3.50639892e+01] [-2.16244418e-03 8.04482385e-05 9.99997659e-01 7.70973752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:309.24, Y:35.06, Z:7.71 [[ 9.99754175e-01 -2.19899572e-02 2.83401247e-03 3.09241011e+02] [ 2.19901877e-02 9.99758185e-01 -5.01900132e-05 3.50635466e+01] [-2.83222348e-03 1.12498141e-04 9.99995983e-01 7.70932602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.934391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:309.27, Y:35.06, Z:7.71 [[ 9.99705585e-01 -2.41108360e-02 2.72215466e-03 3.09271948e+02] [ 2.41110574e-02 9.99709285e-01 -4.85386675e-05 3.50635539e+01] [-2.72019298e-03 1.14158404e-04 9.99996294e-01 7.70935454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:309.30, Y:35.06, Z:7.71 [[ 9.99655929e-01 -2.60760881e-02 2.83925992e-03 3.09304144e+02] [ 2.60763372e-02 9.99659953e-01 -5.07271741e-05 3.50639053e+01] [-2.83697167e-03 1.24747219e-04 9.99995968e-01 7.70919012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.994391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:309.34, Y:35.07, Z:7.71 [[ 9.99584288e-01 -2.86956126e-02 2.79534317e-03 3.09336223e+02] [ 2.86958645e-02 9.99588188e-01 -5.00504522e-05 3.50663532e+01] [-2.79275579e-03 1.30244435e-04 9.99996092e-01 7.70919566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.024391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:309.37, Y:35.07, Z:7.71 [[ 9.99565462e-01 -2.93115077e-02 3.11796754e-03 3.09368758e+02] [ 2.93118242e-02 9.99570315e-01 -5.58550455e-05 3.50675213e+01] [-3.11499060e-03 1.47224091e-04 9.99995138e-01 7.70890234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.054391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:309.40, Y:35.07, Z:7.71 [[ 9.99553928e-01 -2.96059305e-02 3.92869073e-03 3.09402313e+02] [ 2.96064406e-02 9.99561631e-01 -7.17297104e-05 3.50707164e+01] [-3.92484489e-03 1.88012262e-04 9.99992280e-01 7.70823021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.084391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:309.44, Y:35.07, Z:7.71 [[ 9.99563424e-01 -2.92832085e-02 3.93140298e-03 3.09435484e+02] [ 2.92837186e-02 9.99571137e-01 -7.22428970e-05 3.50719106e+01] [-3.92760145e-03 1.87337456e-04 9.99992269e-01 7.70789226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.114391418 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:309.47, Y:35.07, Z:7.71 [[ 9.99575118e-01 -2.88760098e-02 3.96971104e-03 3.09467309e+02] [ 2.88765291e-02 9.99582983e-01 -7.35436040e-05 3.50735321e+01] [-3.96593196e-03 1.88143833e-04 9.99992118e-01 7.70773556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.144391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:309.50, Y:35.08, Z:7.71 [[ 9.99609612e-01 -2.77332581e-02 3.38980140e-03 3.09500213e+02] [ 2.77336306e-02 9.99615347e-01 -6.29218402e-05 3.50785587e+01] [-3.38675247e-03 1.56908776e-04 9.99994253e-01 7.70750052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.174391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:309.53, Y:35.08, Z:7.71 [[ 9.99623196e-01 -2.72549450e-02 3.26085241e-03 3.09532904e+02] [ 2.72552883e-02 9.99628504e-01 -6.08925758e-05 3.50810728e+01] [-3.25798139e-03 1.49745104e-04 9.99994682e-01 7.70738260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.204391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:309.57, Y:35.08, Z:7.71 [[ 9.99640227e-01 -2.66627986e-02 2.91737575e-03 3.09565058e+02] [ 2.66630720e-02 9.99644476e-01 -5.48442493e-05 3.50832009e+01] [-2.91487625e-03 1.32610717e-04 9.99995743e-01 7.70725402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.234391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:309.60, Y:35.09, Z:7.71 [[ 9.99665302e-01 -2.56341718e-02 3.48906930e-03 3.09596979e+02] [ 2.56345569e-02 9.99671379e-01 -6.56775991e-05 3.50884988e+01] [-3.48623912e-03 1.55096362e-04 9.99993911e-01 7.70778949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.264391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:309.63, Y:35.09, Z:7.71 [[ 9.99674766e-01 -2.53201991e-02 3.04119629e-03 3.09630374e+02] [ 2.53204925e-02 9.99679383e-01 -5.79980547e-05 3.50908131e+01] [-3.03875271e-03 1.34983780e-04 9.99995374e-01 7.70843448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.294391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:309.66, Y:35.09, Z:7.71 [[ 9.99686180e-01 -2.48573934e-02 3.10668306e-03 3.09662832e+02] [ 2.48576989e-02 9.99690998e-01 -5.97531893e-05 3.50929830e+01] [-3.10423778e-03 1.36959430e-04 9.99995172e-01 7.70851614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.324391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:309.70, Y:35.10, Z:7.71 [[ 9.99715481e-01 -2.38179892e-02 1.28886139e-03 3.09695324e+02] [ 2.38180405e-02 9.99716310e-01 -2.44446631e-05 3.50980196e+01] [-1.28791353e-03 5.51358608e-05 9.99999169e-01 7.70977133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.354391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:309.73, Y:35.10, Z:7.71 [[ 9.99731710e-01 -2.31599076e-02 3.56253781e-04 3.09727881e+02] [ 2.31599113e-02 9.99731773e-01 -6.36294297e-06 3.51004580e+01] [-3.56010859e-04 1.46120418e-05 9.99999937e-01 7.70994498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.384391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:309.76, Y:35.10, Z:7.71 [[ 9.99754592e-01 -2.21299768e-02 -1.00967172e-03 3.09760088e+02] [ 2.21300089e-02 9.99755101e-01 2.05816995e-05 3.51028375e+01] [ 1.00896898e-03 -4.29206928e-05 9.99999490e-01 7.70987308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.414391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:309.79, Y:35.11, Z:7.71 [[ 9.99759348e-01 -2.18513486e-02 -1.94022367e-03 3.09792798e+02] [ 2.18514657e-02 9.99761227e-01 3.91600279e-05 3.51055845e+01] [ 1.93890470e-03 -8.15473349e-05 9.99998117e-01 7.71077225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:309.83, Y:35.11, Z:7.71 [[ 9.99792056e-01 -2.01468979e-02 -3.15403470e-03 3.09825379e+02] [ 2.01471983e-02 9.99797023e-01 6.35024466e-05 3.51109390e+01] [ 3.15211512e-03 -1.27034204e-04 9.99995024e-01 7.71126434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.474391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:309.86, Y:35.11, Z:7.71 [[ 9.99819768e-01 -1.86468922e-02 -3.56732477e-03 3.09856716e+02] [ 1.86472668e-02 9.99826122e-01 7.17748139e-05 3.51132309e+01] [ 3.56536611e-03 -1.38282735e-04 9.99993635e-01 7.71134714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504391418 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:309.89, Y:35.12, Z:7.71 [[ 9.99846571e-01 -1.70409150e-02 -4.05482724e-03 3.09889140e+02] [ 1.70413875e-02 9.99854782e-01 8.20156602e-05 3.51158134e+01] [ 4.05284079e-03 -1.51102959e-04 9.99991776e-01 7.71196126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.534391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:309.92, Y:35.12, Z:7.71 [[ 9.99890206e-01 -1.33094158e-02 -6.51431667e-03 3.09920835e+02] [ 1.33813486e-02 9.99848563e-01 1.11261370e-02 3.51176738e+01] [ 6.36524778e-03 -1.12120857e-02 9.99916883e-01 7.71371763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:309.95, Y:35.13, Z:7.72 [[ 9.99941836e-01 -1.00816784e-02 -3.83196178e-03 3.09952162e+02] [ 1.00390034e-02 9.99889133e-01 -1.09972624e-02 3.51302625e+01] [ 3.94240781e-03 1.09581537e-02 9.99932186e-01 7.71667153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.594391418 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:309.98, Y:35.13, Z:7.71 [[ 9.99969209e-01 -7.20757325e-03 -3.10365960e-03 3.09983640e+02] [ 7.20780357e-03 9.99974021e-01 6.30275969e-05 3.51278519e+01] [ 3.10312470e-03 -8.53962249e-05 9.99995182e-01 7.71371301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624391418 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:310.01, Y:35.13, Z:7.71 [[ 9.99994741e-01 -1.39781266e-03 -2.92645345e-03 3.10014956e+02] [ 1.39799298e-03 9.99999021e-01 5.95718920e-05 3.51332481e+01] [ 2.92636731e-03 -6.36627401e-05 9.99995716e-01 7.71388985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.654391418 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:310.04, Y:35.14, Z:7.71 [[ 9.99994873e-01 1.22614101e-03 -2.95828623e-03 3.10044010e+02] [-1.22596994e-03 9.99999247e-01 5.96415269e-05 3.51354104e+01] [ 2.95835714e-03 -5.60144511e-05 9.99995622e-01 7.71371898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.684391418 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:310.07, Y:35.14, Z:7.71 [[ 9.99974008e-01 6.60474872e-03 -2.89164345e-03 3.10072908e+02] [-6.60460923e-03 9.99978188e-01 5.77860621e-05 3.51403153e+01] [ 2.89196204e-03 -3.86863851e-05 9.99995818e-01 7.71375981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.714391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:310.10, Y:35.14, Z:7.71 [[ 9.99957451e-01 8.60707618e-03 -3.31881956e-03 3.10100684e+02] [-8.60690539e-03 9.99962958e-01 6.57409684e-05 3.51426276e+01] [ 3.31926246e-03 -3.71734052e-05 9.99994491e-01 7.71370016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.744391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:310.13, Y:35.14, Z:7.71 [[ 9.99935890e-01 1.07408499e-02 -3.58478071e-03 3.10128633e+02] [-1.07406653e-02 9.99942315e-01 7.07346485e-05 3.51447436e+01] [ 3.58533367e-03 -3.22271837e-05 9.99993572e-01 7.71361781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.774391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:310.16, Y:35.15, Z:7.71 [[ 9.99915901e-01 1.23978605e-02 -3.80587535e-03 3.10156579e+02] [-1.23976669e-02 9.99923143e-01 7.44747184e-05 3.51467594e+01] [ 3.80650617e-03 -2.72844804e-05 9.99992755e-01 7.71332886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.804391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:310.18, Y:35.15, Z:7.71 [[ 9.99885738e-01 1.45943089e-02 -3.93918144e-03 3.10183991e+02] [-1.45941228e-02 9.99893497e-01 7.59901526e-05 3.51510791e+01] [ 3.93987092e-03 -1.84925721e-05 9.99992239e-01 7.71323897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.834391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:310.21, Y:35.15, Z:7.71 [[ 9.99876011e-01 1.51769616e-02 -4.19792470e-03 3.10212283e+02] [-1.51767552e-02 9.99884823e-01 8.10194216e-05 3.51528030e+01] [ 4.19867082e-03 -1.72985006e-05 9.99991185e-01 7.71331250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.864391418 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:310.24, Y:35.15, Z:7.71 [[ 9.99866980e-01 1.56444101e-02 -4.61245028e-03 3.10240432e+02] [-1.56441679e-02 9.99877619e-01 8.85754858e-05 3.51539241e+01] [ 4.61327151e-03 -1.64057568e-05 9.99989359e-01 7.71324102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.894391418 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:310.27, Y:35.15, Z:7.71 [[ 9.99868541e-01 1.55443161e-02 -4.61245591e-03 3.10268892e+02] [-1.55440743e-02 9.99879180e-01 8.82822790e-05 3.51534825e+01] [ 4.61327092e-03 -1.65743162e-05 9.99989359e-01 7.71300122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.924391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:310.30, Y:35.16, Z:7.71 [[ 9.99872233e-01 1.54425950e-02 -4.12834772e-03 3.10296987e+02] [-1.54424034e-02 9.99880756e-01 7.82754441e-05 3.51555857e+01] [ 4.12906421e-03 -1.45138322e-05 9.99991475e-01 7.71244964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.954391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:310.32, Y:35.16, Z:7.71 [[ 9.99880385e-01 1.49772864e-02 -3.85961397e-03 3.10323617e+02] [-1.49771199e-02 9.99887834e-01 7.20316018e-05 3.51563392e+01] [ 3.86025989e-03 -1.42170844e-05 9.99992549e-01 7.71220922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:310.35, Y:35.16, Z:7.71 [[ 9.99894370e-01 1.41166161e-02 -3.45973892e-03 3.10351205e+02] [-1.41164776e-02 9.99900356e-01 6.44503338e-05 3.51570382e+01] [ 3.46030400e-03 -1.56041989e-05 9.99994013e-01 7.71227254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.014391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:310.38, Y:35.16, Z:7.71 [[ 9.99904221e-01 1.34967185e-02 -3.06386116e-03 3.10378562e+02] [-1.34966077e-02 9.99908915e-01 5.68368799e-05 3.51572552e+01] [ 3.06434920e-03 -1.54797040e-05 9.99995305e-01 7.71188138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044391418 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:310.41, Y:35.16, Z:7.71 [[ 9.99925262e-01 1.19928900e-02 -2.37498832e-03 3.10406456e+02] [-1.19928202e-02 9.99928083e-01 4.36521313e-05 3.51574959e+01] [ 2.37534103e-03 -1.51660611e-05 9.99997179e-01 7.71174245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.074391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:310.44, Y:35.16, Z:7.71 [[ 9.99935771e-01 1.11565315e-02 -1.99644509e-03 3.10435460e+02] [-1.11564807e-02 9.99937764e-01 3.65813205e-05 3.51573064e+01] [ 1.99672896e-03 -1.43056698e-05 9.99998006e-01 7.71143472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104391418 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:310.46, Y:35.16, Z:7.71 [[ 9.99947468e-01 1.00924066e-02 -1.79000992e-03 3.10464743e+02] [-1.00923644e-02 9.99949070e-01 3.25965710e-05 3.51569547e+01] [ 1.79024774e-03 -1.45294262e-05 9.99998397e-01 7.71105201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.134391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:310.49, Y:35.16, Z:7.71 [[ 9.99964637e-01 8.26146789e-03 -1.57259122e-03 3.10493668e+02] [-8.26143338e-03 9.99965873e-01 2.84413015e-05 3.51562105e+01] [ 1.57277252e-03 -1.54484381e-05 9.99998763e-01 7.71066976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:310.52, Y:35.16, Z:7.71 [[ 9.99971101e-01 7.39985051e-03 -1.74345613e-03 3.10521860e+02] [-7.39980721e-03 9.99972621e-01 3.12828756e-05 3.51555079e+01] [ 1.74363989e-03 -1.83807323e-05 9.99998480e-01 7.71054130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.194391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:310.55, Y:35.15, Z:7.71 [[ 9.99978783e-01 6.38070475e-03 -1.31157357e-03 3.10550674e+02] [-6.38067962e-03 9.99979643e-01 2.33425549e-05 3.51549804e+01] [ 1.31169581e-03 -1.49733289e-05 9.99999140e-01 7.70986139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224391418 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:310.58, Y:35.15, Z:7.71 [[ 9.99986020e-01 5.13492486e-03 -1.26215905e-03 3.10578688e+02] [-5.13490099e-03 9.99986816e-01 2.21470417e-05 3.51538689e+01] [ 1.26225613e-03 -1.56656703e-05 9.99999203e-01 7.70962314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.254391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:310.61, Y:35.15, Z:7.71 [[ 9.99988127e-01 4.72109716e-03 -1.20695626e-03 3.10607049e+02] [-4.72107499e-03 9.99988855e-01 2.12166301e-05 3.51531140e+01] [ 1.20704297e-03 -1.55182472e-05 9.99999271e-01 7.70938756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:310.63, Y:35.15, Z:7.71 [[ 9.99989504e-01 4.51370678e-03 -7.86702976e-04 3.10634967e+02] [-4.51369766e-03 9.99989813e-01 1.33571361e-05 3.51524272e+01] [ 7.86755252e-04 -9.80605656e-06 9.99999690e-01 7.70885473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.314391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:310.66, Y:35.15, Z:7.71 [[ 9.99987843e-01 4.87703859e-03 -7.27054486e-04 3.10663745e+02] [-4.87703088e-03 9.99988107e-01 1.23762118e-05 3.51515444e+01] [ 7.27106198e-04 -8.83019420e-06 9.99999736e-01 7.70847517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:310.69, Y:35.15, Z:7.71 [[ 9.99969747e-01 7.57039589e-03 -1.78710674e-03 3.10692147e+02] [-7.57766357e-03 9.99962902e-01 -4.09560776e-03 3.51521082e+01] [ 1.75603507e-03 4.10902595e-03 9.99990016e-01 7.70972103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.374391418 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:310.72, Y:35.15, Z:7.71 [[ 9.99961091e-01 8.81465164e-03 -3.43258727e-04 3.10719689e+02] [-8.81315761e-03 9.99952615e-01 4.13464424e-03 3.51477499e+01] [ 3.79687910e-04 -4.13145818e-03 9.99991393e-01 7.70655759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404391418 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:310.75, Y:35.15, Z:7.71 [[ 9.99907353e-01 1.36113045e-02 -1.34030445e-04 3.10747778e+02] [-1.36113044e-02 9.99907362e-01 1.31678265e-06 3.51489276e+01] [ 1.34035952e-04 5.07668544e-07 9.99999991e-01 7.70767360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.434391418 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:310.78, Y:35.15, Z:7.71 [[ 9.99862631e-01 1.65745387e-02 -5.76491981e-05 3.10775240e+02] [-1.65745388e-02 9.99862633e-01 9.00007678e-08 3.51481281e+01] [ 5.76427706e-05 8.65520470e-07 9.99999998e-01 7.70751025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:310.80, Y:35.15, Z:7.71 [[ 9.99812775e-01 1.93487431e-02 2.00338246e-04 3.10802745e+02] [-1.93487426e-02 9.99812796e-01 -4.26180601e-06 3.51474193e+01] [-2.00383202e-04 3.84714947e-07 9.99999980e-01 7.70721934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.494391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:310.83, Y:35.15, Z:7.71 [[ 9.99752700e-01 2.22382372e-02 1.92269450e-05 3.10830747e+02] [-2.22382372e-02 9.99752700e-01 -1.28970069e-06 3.51462305e+01] [-1.92508710e-05 8.61808389e-07 1.00000000e+00 7.70701523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.524391418 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:310.86, Y:35.14, Z:7.71 [[ 9.99626769e-01 2.73173369e-02 -2.94575279e-04 3.10859107e+02] [-2.73173369e-02 9.99626812e-01 4.01356846e-06 3.51437330e+01] [ 2.94574987e-04 4.03494167e-06 9.99999957e-01 7.70702686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.554391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:310.89, Y:35.15, Z:7.71 [[ 9.99555406e-01 2.97340622e-02 -2.20800323e-03 3.10886730e+02] [-2.97478392e-02 9.99536343e-01 -6.49351510e-03 3.51451321e+01] [ 2.01390089e-03 6.55631145e-03 9.99976479e-01 7.70909454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.584391418 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:310.92, Y:35.14, Z:7.70 [[ 9.99549332e-01 3.00187664e-02 -8.36069829e-05 3.10916449e+02] [-3.00176179e-02 9.99528903e-01 6.39645167e-03 3.51375033e+01] [ 2.75581185e-04 -6.39105931e-03 9.99979539e-01 7.70450764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.614391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:310.94, Y:35.14, Z:7.71 [[ 9.99552779e-01 2.99029589e-02 2.36233909e-04 3.10943416e+02] [-2.99029585e-02 9.99552807e-01 -5.40624934e-06 3.51362380e+01] [-2.36289930e-04 -1.66026122e-06 9.99999972e-01 7.70581911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.644391418 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:310.97, Y:35.13, Z:7.71 [[ 9.99587337e-01 2.87247849e-02 2.04513711e-04 3.10971566e+02] [-2.87247846e-02 9.99587358e-01 -4.37207627e-06 3.51334427e+01] [-2.04554907e-04 -1.50434020e-06 9.99999979e-01 7.70522105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.674391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:311.00, Y:35.13, Z:7.70 [[ 9.99638395e-01 2.68899504e-02 1.01458701e-04 3.10999761e+02] [-2.68899503e-02 9.99638400e-01 -2.63833017e-06 3.51302686e+01] [-1.01492959e-04 -9.08432980e-08 9.99999995e-01 7.70483250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.704391418 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:311.03, Y:35.13, Z:7.71 [[ 9.99764664e-01 2.16209668e-02 -1.77489143e-03 3.11027526e+02] [-2.16304279e-02 9.99750925e-01 -5.49664565e-03 3.51265458e+01] [ 1.65560655e-03 5.53374376e-03 9.99983318e-01 7.70522015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.734391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:311.05, Y:35.12, Z:7.70 [[ 9.99846544e-01 1.75182034e-02 -3.94761230e-05 3.11054668e+02] [-1.75177231e-02 9.99831496e-01 5.48716126e-03 3.51180184e+01] [ 1.35594678e-04 -5.48562769e-03 9.99984945e-01 7.70139737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.764391418 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:311.08, Y:35.12, Z:7.70 [[ 9.99906877e-01 1.36419635e-02 -3.65823550e-04 3.11082377e+02] [-1.36418848e-02 9.99906922e-01 2.16588525e-04 3.51173164e+01] [ 3.68744193e-04 -2.11577833e-04 9.99999910e-01 7.70267383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.794391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:311.11, Y:35.11, Z:7.70 [[ 9.99988888e-01 4.70642211e-03 2.70905193e-04 3.11111478e+02] [-4.70636521e-03 9.99988903e-01 -2.10298050e-04 3.51114702e+01] [-2.71891938e-04 2.09020734e-04 9.99999941e-01 7.70272093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.824391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:311.14, Y:35.11, Z:7.70 [[ 9.99999973e-01 -1.93980461e-04 1.25733960e-04 3.11141082e+02] [ 1.93980755e-04 9.99999981e-01 -2.32536639e-06 3.51081388e+01] [-1.25733507e-04 2.34975630e-06 9.99999992e-01 7.70257263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.854391418 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:311.17, Y:35.11, Z:7.70 [[ 9.99991416e-01 -4.12709347e-03 -3.67313227e-04 3.11169877e+02] [ 4.12666758e-03 9.99990821e-01 -1.15277951e-03 3.51051839e+01] [ 3.72067484e-04 1.15125383e-03 9.99999268e-01 7.70242657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.884391418 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:311.20, Y:35.10, Z:7.70 [[ 9.99880469e-01 -1.54611287e-02 3.21595211e-05 3.11200540e+02] [ 1.54610810e-02 9.99879798e-01 1.15931181e-03 3.50981282e+01] [-5.00799247e-05 -1.15867602e-03 9.99999327e-01 7.70126662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.914391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:311.23, Y:35.10, Z:7.70 [[ 9.99801863e-01 -1.99006394e-02 -4.46264742e-04 3.11230258e+02] [ 1.98997525e-02 9.99800154e-01 -1.91077480e-03 3.50966408e+01] [ 4.84201198e-04 1.90151565e-03 9.99998075e-01 7.70182211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:311.26, Y:35.09, Z:7.70 [[ 9.99700625e-01 -2.44656280e-02 -3.06692790e-04 3.11262624e+02] [ 2.44655405e-02 9.99700633e-01 -2.86031449e-04 3.50928440e+01] [ 3.13598915e-04 2.78442413e-04 9.99999912e-01 7.70105678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.974391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:311.29, Y:35.09, Z:7.70 [[ 9.99426088e-01 -3.38017843e-02 -2.22112218e-03 3.11294811e+02] [ 3.37903620e-02 9.99416469e-01 -4.99326388e-03 3.50904234e+01] [ 2.38860732e-03 4.91534567e-03 9.99985067e-01 7.70274141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004391418 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:311.33, Y:35.08, Z:7.70 [[ 9.99258890e-01 -3.84914651e-02 -2.78720110e-04 3.11328604e+02] [ 3.84924742e-02 9.99232282e-01 7.29224503e-03 3.50827728e+01] [-2.18306434e-06 -7.29756930e-03 9.99973372e-01 7.69891305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.034391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:311.36, Y:35.09, Z:7.70 [[ 9.99198986e-01 -3.99914607e-02 -1.43843738e-03 3.11359042e+02] [ 3.99837817e-02 9.99187714e-01 -5.02081860e-03 3.50863891e+01] [ 1.63805883e-03 4.95928269e-03 9.99986361e-01 7.70165564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064391418 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:311.39, Y:35.08, Z:7.70 [[ 9.99027370e-01 -4.40763128e-02 -1.26225659e-03 3.11392551e+02] [ 4.40784520e-02 9.99026592e-01 1.72027057e-03 3.50808408e+01] [ 1.18520472e-03 -1.77423570e-03 9.99997724e-01 7.69908210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.094391418 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:311.42, Y:35.08, Z:7.70 [[ 9.99022826e-01 -4.41969735e-02 1.40964435e-04 3.11424577e+02] [ 4.41948549e-02 9.98997619e-01 7.11142811e-03 3.50770004e+01] [-4.55126735e-04 -7.09824911e-03 9.99974704e-01 7.69706828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:311.46, Y:35.08, Z:7.70 [[ 9.99019218e-01 -4.42709976e-02 -8.25710237e-04 3.11455797e+02] [ 4.42659347e-02 9.99005300e-01 -5.37940195e-03 3.50820618e+01] [ 1.06304039e-03 5.33757510e-03 9.99985190e-01 7.70005668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.154391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:311.49, Y:35.08, Z:7.70 [[ 9.98990781e-01 -4.49028179e-02 1.07541960e-03 3.11488543e+02] [ 4.48955456e-02 9.98973471e-01 6.03270405e-03 3.50764908e+01] [-1.34520106e-03 -5.97833418e-03 9.99981225e-01 7.69652753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.184391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:311.52, Y:35.08, Z:7.70 [[ 9.99052997e-01 -4.35098485e-02 4.55189950e-05 3.11521611e+02] [ 4.35096410e-02 9.99043729e-01 -4.30556561e-03 3.50816413e+01] [ 1.41859041e-04 4.30346874e-03 9.99990730e-01 7.69873671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.214391418 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:311.55, Y:35.08, Z:7.70 [[ 9.99117460e-01 -4.19971881e-02 -7.32518142e-04 3.11554941e+02] [ 4.19972092e-02 9.99117728e-01 1.34077914e-05 3.50795513e+01] [ 7.31308772e-04 -4.41596762e-05 9.99999732e-01 7.69714948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.244391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:311.59, Y:35.08, Z:7.70 [[ 9.99193373e-01 -4.01398807e-02 -1.18064979e-03 3.11587859e+02] [ 4.01399338e-02 9.99194068e-01 2.12913841e-05 3.50796886e+01] [ 1.17884363e-03 -6.86654143e-05 9.99999303e-01 7.69668996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.274391418 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:311.62, Y:35.08, Z:7.70 [[ 9.99347068e-01 -3.60690697e-02 -2.11196863e-03 3.11621272e+02] [ 3.60692296e-02 9.99349293e-01 3.76438862e-05 3.50811331e+01] [ 2.10923657e-03 -1.13796389e-04 9.99997769e-01 7.69566198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.304391418 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:311.65, Y:35.08, Z:7.70 [[ 9.99431784e-01 -3.36318605e-02 -2.23776400e-03 3.11653463e+02] [ 3.36320335e-02 9.99434282e-01 3.97323870e-05 3.50817861e+01] [ 2.23516179e-03 -1.14970364e-04 9.99997495e-01 7.69554490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.334391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:311.69, Y:35.08, Z:7.70 [[ 9.99513946e-01 -3.10973304e-02 -2.19734792e-03 3.11685390e+02] [ 3.10974940e-02 9.99516355e-01 4.03367749e-05 3.50828816e+01] [ 2.19503082e-03 -1.08649183e-04 9.99997585e-01 7.69536506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.364391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:311.72, Y:35.09, Z:7.70 [[ 9.99671185e-01 -2.55331258e-02 -2.36261133e-03 3.11717895e+02] [ 2.55332976e-02 9.99673971e-01 4.25714644e-05 3.50865340e+01] [ 2.36075406e-03 -1.02882724e-04 9.99997208e-01 7.69589870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.394391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:311.75, Y:35.09, Z:7.70 [[ 9.99775349e-01 -2.09625645e-02 -3.13394824e-03 3.11748985e+02] [ 2.09471722e-02 9.99768742e-01 -4.86615956e-03 3.50901432e+01] [ 3.23523067e-03 4.79941902e-03 9.99983249e-01 7.69696319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.424391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:311.78, Y:35.09, Z:7.69 [[ 9.99831018e-01 -1.83308435e-02 -1.38429003e-03 3.11781706e+02] [ 1.83374610e-02 9.99819703e-01 4.92947301e-03 3.50870946e+01] [ 1.29367905e-03 -4.95402439e-03 9.99986892e-01 7.69393465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.454391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:311.81, Y:35.09, Z:7.70 [[ 9.99952596e-01 -9.68158668e-03 -1.03560166e-03 3.11811586e+02] [ 9.68104826e-03 9.99953000e-01 -5.23665201e-04 3.50934506e+01] [ 1.04062290e-03 5.13614668e-04 9.99999327e-01 7.69527370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:311.84, Y:35.10, Z:7.70 [[ 9.99982977e-01 -5.13943534e-03 -2.76243157e-03 3.11842888e+02] [ 5.11921113e-03 9.99960404e-01 -7.27904102e-03 3.50978491e+01] [ 2.79973235e-03 7.26477564e-03 9.99969692e-01 7.69739771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.514391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:311.87, Y:35.10, Z:7.69 [[ 9.99999228e-01 4.74701555e-04 -1.14804725e-03 3.11873639e+02] [-4.64424244e-04 9.99959968e-01 8.93575243e-03 3.50964450e+01] [ 1.15224311e-03 -8.93521235e-03 9.99959416e-01 7.69387183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:311.90, Y:35.10, Z:7.69 [[ 9.99970556e-01 7.66944692e-03 2.59804614e-04 3.11904437e+02] [-7.66908025e-03 9.99969634e-01 -1.38408673e-03 3.50995175e+01] [-2.70411904e-04 1.38205351e-03 9.99999008e-01 7.69477982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.574391418 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:311.93, Y:35.10, Z:7.69 [[ 9.99934667e-01 1.14145619e-02 6.08179476e-04 3.11933159e+02] [-1.14145562e-02 9.99934852e-01 -1.28320681e-05 3.51002498e+01] [-6.08286327e-04 5.88913099e-06 9.99999815e-01 7.69399297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:311.96, Y:35.10, Z:7.69 [[ 9.99884142e-01 1.51915349e-02 9.58724952e-04 3.11962003e+02] [-1.51915248e-02 9.99884602e-01 -1.78474163e-05 3.51011785e+01] [-9.58885447e-04 3.28085471e-06 9.99999540e-01 7.69340707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.634391418 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:311.99, Y:35.10, Z:7.69 [[ 9.99774192e-01 2.12203565e-02 1.12314375e-03 3.11989031e+02] [-2.12203462e-02 9.99774823e-01 -2.10409434e-05 3.51027251e+01] [-1.12333734e-03 -2.79730714e-06 9.99999369e-01 7.69256740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:312.02, Y:35.10, Z:7.69 [[ 9.99727195e-01 2.33111107e-02 1.45845976e-03 3.12017411e+02] [-2.33110967e-02 9.99728259e-01 -2.65642046e-05 3.51031640e+01] [-1.45868267e-03 -7.44133868e-06 9.99998936e-01 7.69205723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.694391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:312.04, Y:35.11, Z:7.69 [[ 9.99764502e-01 2.16948841e-02 5.21504707e-04 3.12040764e+02] [-2.16971790e-02 9.99752609e-01 4.89423902e-03 3.51063764e+01] [-4.15195744e-04 -4.90440161e-03 9.99987887e-01 7.69226140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:312.08, Y:35.11, Z:7.69 [[ 9.99679515e-01 2.52557040e-02 1.73697179e-03 3.12075886e+02] [-2.52469451e-02 9.99669275e-01 -4.89214321e-03 3.51051052e+01] [-1.85995185e-03 4.84672212e-03 9.99986525e-01 7.69231772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.754391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:312.10, Y:35.10, Z:7.69 [[ 9.99701387e-01 2.43357295e-02 2.21583693e-03 3.12104132e+02] [-2.43357013e-02 9.99703842e-01 -3.96911703e-05 3.51023190e+01] [-2.21614660e-03 -1.42446277e-05 9.99997544e-01 7.69040235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:312.13, Y:35.11, Z:7.69 [[ 9.99767050e-01 2.13703332e-02 3.02550002e-03 3.12128699e+02] [-2.13397114e-02 9.99724098e-01 -9.81548643e-03 3.51101382e+01] [-3.23442550e-03 9.74863662e-03 9.99947250e-01 7.69069554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.814391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:312.16, Y:35.09, Z:7.69 [[ 9.99842161e-01 1.75235623e-02 2.92878446e-03 3.12161137e+02] [-1.75512021e-02 9.99798968e-01 9.69423611e-03 3.50949824e+01] [-2.75831813e-03 -9.74410967e-03 9.99948721e-01 7.68632782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:312.19, Y:35.10, Z:7.69 [[ 9.99842543e-01 1.75292891e-02 2.75922481e-03 3.12190545e+02] [-1.75292225e-02 9.99846350e-01 -4.83261457e-05 3.50991060e+01] [-2.75964798e-03 -4.85292068e-08 9.99996192e-01 7.68896494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.874391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:312.22, Y:35.10, Z:7.69 [[ 9.99896548e-01 1.39902026e-02 3.34186304e-03 3.12219471e+02] [-1.39900859e-02 9.99902132e-01 -5.83164245e-05 3.50976054e+01] [-3.34235184e-03 1.15574407e-05 9.99994414e-01 7.68830697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904391418 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:312.25, Y:35.10, Z:7.69 [[ 9.99937054e-01 1.05396869e-02 3.84745144e-03 3.12248068e+02] [-1.05395080e-02 9.99944456e-01 -6.67633155e-05 3.50958507e+01] [-3.84794140e-03 2.62088678e-05 9.99992596e-01 7.68794563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.934391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:312.28, Y:35.09, Z:7.69 [[ 9.99980938e-01 4.06683982e-03 4.64580653e-03 3.12276791e+02] [-4.06651148e-03 9.99991729e-01 -8.01185022e-05 3.50926984e+01] [-4.64609393e-03 6.12247494e-05 9.99989205e-01 7.68760696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964391418 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:312.31, Y:35.09, Z:7.69 [[ 9.99987973e-01 1.50844491e-03 4.66679828e-03 3.12307624e+02] [-1.50808781e-03 9.99998860e-01 -8.00370978e-05 3.50909961e+01] [-4.66691369e-03 7.29981935e-05 9.99989107e-01 7.68737700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.994391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:312.34, Y:35.09, Z:7.69 [[ 9.99989146e-01 -3.89283879e-04 4.64282156e-03 3.12340113e+02] [ 3.89656635e-04 9.99999921e-01 -7.93822094e-05 3.50891607e+01] [-4.64279029e-03 8.11904540e-05 9.99989219e-01 7.68707086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.024391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:312.37, Y:35.09, Z:7.69 [[ 9.99987876e-01 -2.21146430e-03 4.39970930e-03 3.12372595e+02] [ 2.21182134e-03 9.99997551e-01 -7.62885606e-05 3.50863700e+01] [-4.39952981e-03 8.60190066e-05 9.99990318e-01 7.68623580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.054391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:312.40, Y:35.08, Z:7.69 [[ 9.99985980e-01 -2.41096982e-03 4.71448023e-03 3.12404033e+02] [ 2.41139046e-03 9.99997089e-01 -8.35405169e-05 3.50847115e+01] [-4.71426510e-03 9.49077984e-05 9.99988883e-01 7.68579703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.084391418 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:312.44, Y:35.08, Z:7.69 [[ 9.99985780e-01 -2.47020762e-03 4.72637896e-03 3.12436365e+02] [ 2.47063220e-03 9.99996944e-01 -8.39944385e-05 3.50829847e+01] [-4.72615703e-03 9.56703881e-05 9.99988827e-01 7.68538725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.114391418 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:312.47, Y:35.08, Z:7.69 [[ 9.99984058e-01 -6.83933961e-04 5.60503128e-03 3.12466327e+02] [ 6.89612941e-04 9.99999251e-01 -1.01132324e-03 3.50816609e+01] [-5.60433541e-03 1.01517242e-03 9.99983780e-01 7.68502905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.144391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:312.50, Y:35.08, Z:7.68 [[ 9.99979899e-01 -1.49317693e-03 6.16207221e-03 3.12498559e+02] [ 1.48803288e-03 9.99998541e-01 8.39293060e-04 3.50790100e+01] [-6.16331643e-03 -8.30106823e-04 9.99980662e-01 7.68408361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.174391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:312.53, Y:35.08, Z:7.68 [[ 9.99980919e-01 -1.38375423e-03 6.02058743e-03 3.12531180e+02] [ 1.38443171e-03 9.99999036e-01 -1.08361520e-04 3.50784257e+01] [-6.02043168e-03 1.16694545e-04 9.99981870e-01 7.68380240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.204391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:312.56, Y:35.08, Z:7.68 [[ 9.99983916e-01 -9.91730353e-04 5.58421167e-03 3.12563072e+02] [ 9.92309334e-04 9.99999503e-01 -1.00912030e-04 3.50771238e+01] [-5.58410881e-03 1.06451672e-04 9.99984403e-01 7.68338726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.234391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:312.59, Y:35.08, Z:7.68 [[ 9.99987133e-01 -8.79896746e-04 4.99602324e-03 3.12594456e+02] [ 8.80360628e-04 9.99999608e-01 -9.06518705e-05 3.50760339e+01] [-4.99594151e-03 9.50490062e-05 9.99987516e-01 7.68279006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.264391418 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:312.63, Y:35.08, Z:7.68 [[ 9.99989880e-01 -7.29641237e-04 4.43931991e-03 3.12626459e+02] [ 7.30006816e-04 9.99999730e-01 -8.07304024e-05 3.50752436e+01] [-4.43925981e-03 8.39703192e-05 9.99990143e-01 7.68296107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.294391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:312.66, Y:35.07, Z:7.68 [[ 9.99992505e-01 -1.54269269e-03 3.55105203e-03 3.12659099e+02] [ 1.54293033e-03 9.99998808e-01 -6.41842989e-05 3.50742201e+01] [-3.55094878e-03 6.96628437e-05 9.99993693e-01 7.68273452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.324391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:312.69, Y:35.07, Z:7.68 [[ 9.99992597e-01 -2.49028785e-03 2.93333446e-03 3.12691043e+02] [ 2.49045552e-03 9.99996897e-01 -5.35094968e-05 3.50730883e+01] [-2.93319211e-03 6.08144397e-05 9.99995696e-01 7.68265856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.354391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:312.72, Y:35.07, Z:7.68 [[ 9.99988295e-01 -4.11634168e-03 2.54258777e-03 3.12723119e+02] [ 4.11647407e-03 9.99991526e-01 -4.68363863e-05 3.50719394e+01] [-2.54237344e-03 5.73023348e-05 9.99996767e-01 7.68271803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.384391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:312.76, Y:35.07, Z:7.68 [[ 9.99961392e-01 -8.49675616e-03 2.24060155e-03 3.12755337e+02] [ 8.49687071e-03 9.99963900e-01 -4.16134977e-05 3.50703657e+01] [-2.24016708e-03 6.06499927e-05 9.99997489e-01 7.68257069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.414391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:312.79, Y:35.07, Z:7.68 [[ 9.99935205e-01 -1.12218838e-02 1.91192950e-03 3.12787354e+02] [ 1.12219734e-02 9.99937031e-01 -3.61786152e-05 3.50694180e+01] [-1.91140312e-03 5.76318931e-05 9.99998172e-01 7.68268582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:312.82, Y:35.08, Z:7.68 [[ 9.99906921e-01 -1.33301774e-02 2.90795690e-03 3.12816587e+02] [ 1.33693380e-02 9.99814136e-01 -1.38907805e-02 3.50760950e+01] [-2.72224985e-03 1.39283650e-02 9.99899290e-01 7.68241518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.474391418 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:312.85, Y:35.06, Z:7.68 [[ 9.99798047e-01 -2.00486189e-02 1.38475372e-03 3.12850542e+02] [ 2.00275280e-02 9.99703393e-01 1.38573123e-02 3.50606340e+01] [-1.66216297e-03 -1.38267806e-02 9.99903024e-01 7.67861004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:312.88, Y:35.07, Z:7.68 [[ 9.99745347e-01 -2.25452424e-02 9.76696086e-04 3.12882741e+02] [ 2.25452715e-02 9.99745823e-01 -1.87710776e-05 3.50659932e+01] [-9.76024634e-04 4.07861759e-05 9.99999523e-01 7.68246208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.534391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:312.92, Y:35.07, Z:7.68 [[ 9.99683071e-01 -2.51567666e-02 9.45698204e-04 3.12915349e+02] [ 2.51567952e-02 9.99683518e-01 -1.83551216e-05 3.50650364e+01] [-9.44937152e-04 4.21400404e-05 9.99999553e-01 7.68269804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564391418 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:312.95, Y:35.06, Z:7.68 [[ 9.99616650e-01 -2.76839965e-02 3.87420813e-04 3.12948187e+02] [ 2.76840013e-02 9.99616725e-01 -6.98800744e-06 3.50644978e+01] [-3.87078868e-04 1.77106869e-05 9.99999925e-01 7.68306259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.594391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:312.98, Y:35.06, Z:7.68 [[ 9.99474303e-01 -3.24204485e-02 -1.80882165e-04 3.12980745e+02] [ 3.24204498e-02 9.99474319e-01 4.45009094e-06 3.50642827e+01] [ 1.80642804e-04 -1.03120327e-05 9.99999984e-01 7.68346607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:313.01, Y:35.06, Z:7.68 [[ 9.99410200e-01 -3.43351843e-02 -5.89399914e-04 3.13013255e+02] [ 3.43351977e-02 9.99410373e-01 1.26238799e-05 3.50637060e+01] [ 5.88618945e-04 -3.28535969e-05 9.99999826e-01 7.68398759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.654391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:313.05, Y:35.06, Z:7.68 [[ 9.99345960e-01 -3.61565809e-02 -5.94399690e-04 3.13046474e+02] [ 3.61565949e-02 9.99346136e-01 1.28947101e-05 3.50633163e+01] [ 5.93544805e-04 -3.43777453e-05 9.99999823e-01 7.68422440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.684391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:313.08, Y:35.06, Z:7.69 [[ 9.99250129e-01 -3.87190178e-02 -1.33935802e-04 3.13079893e+02] [ 3.87190186e-02 9.99250138e-01 3.51216350e-06 3.50636443e+01] [ 1.33699381e-04 -8.69539262e-06 9.99999991e-01 7.68535268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.714391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:313.11, Y:35.06, Z:7.69 [[ 9.99211330e-01 -3.97058682e-02 4.03174261e-04 3.13113420e+02] [ 3.97058745e-02 9.99211411e-01 -7.53724624e-06 3.50637864e+01] [-4.02557049e-04 2.35396884e-05 9.99999919e-01 7.68584921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.744391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:313.15, Y:35.07, Z:7.69 [[ 9.99156290e-01 -4.10618699e-02 7.93961394e-04 3.13145281e+02] [ 4.10618954e-02 9.99156605e-01 -1.58267410e-05 3.50653483e+01] [-7.92641895e-04 4.84149475e-05 9.99999685e-01 7.68687565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.774391418 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:313.18, Y:35.07, Z:7.69 [[ 9.99138864e-01 -4.14866861e-02 6.21150000e-04 3.13178145e+02] [ 4.14867016e-02 9.99139056e-01 -1.22026517e-05 3.50657256e+01] [-6.20108978e-04 3.79616083e-05 9.99999807e-01 7.68716992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.804391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:313.21, Y:35.07, Z:7.69 [[ 9.99116973e-01 -4.20142356e-02 2.80066936e-04 3.13211429e+02] [ 4.20142387e-02 9.99117012e-01 -5.11917327e-06 3.50660516e+01] [-2.79604562e-04 1.68814520e-05 9.99999961e-01 7.68689240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.834391418 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:313.24, Y:35.07, Z:7.69 [[ 9.99125914e-01 -4.17989086e-02 -5.08693004e-04 3.13244160e+02] [ 4.17989198e-02 9.99126043e-01 1.14918564e-05 3.50657814e+01] [ 5.07768081e-04 -3.27446296e-05 9.99999871e-01 7.68606362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.864391418 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:313.28, Y:35.07, Z:7.69 [[ 9.99096381e-01 -4.24687860e-02 -1.68050721e-03 3.13276644e+02] [ 4.24689068e-02 9.99097788e-01 3.62619653e-05 3.50680630e+01] [ 1.67745103e-03 -1.07598502e-04 9.99998587e-01 7.68672427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.894391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:313.31, Y:35.07, Z:7.69 [[ 9.99105459e-01 -4.22247409e-02 -2.31353950e-03 3.13309295e+02] [ 4.22249696e-02 9.99108127e-01 5.00918393e-05 3.50686607e+01] [ 2.30936100e-03 -1.47736165e-04 9.99997323e-01 7.68660660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.924391418 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:313.34, Y:35.07, Z:7.69 [[ 9.99184544e-01 -4.02287369e-02 -3.44892028e-03 3.13342134e+02] [ 4.02292336e-02 9.99190474e-01 7.47164465e-05 3.50709087e+01] [ 3.44312254e-03 -2.13402938e-04 9.99994050e-01 7.68683388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.954391418 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:313.37, Y:35.07, Z:7.69 [[ 9.99234288e-01 -3.89177909e-02 -4.03018339e-03 3.13374827e+02] [ 3.89184598e-02 9.99242386e-01 8.76468445e-05 3.50721743e+01] [ 4.02371905e-03 -2.44428263e-04 9.99991875e-01 7.68699019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984391418 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:313.41, Y:35.07, Z:7.69 [[ 9.99307319e-01 -3.70031716e-02 -3.95580866e-03 3.13407678e+02] [ 3.70038029e-02 9.99315121e-01 8.65037898e-05 3.50732985e+01] [ 3.94989850e-03 -2.32823834e-04 9.99992172e-01 7.68697757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.014391418 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:313.44, Y:35.08, Z:7.69 [[ 9.99508326e-01 -3.11478991e-02 -3.59370420e-03 3.13441004e+02] [ 3.11483841e-02 9.99514768e-01 7.90672972e-05 3.50755458e+01] [ 3.58949764e-03 -1.90966501e-04 9.99993540e-01 7.68553495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044391418 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:313.47, Y:35.08, Z:7.69 [[ 9.99593637e-01 -2.82612314e-02 -3.72337796e-03 3.13473271e+02] [ 2.82617321e-02 9.99600554e-01 8.19226961e-05 3.50769272e+01] [ 3.71957543e-03 -1.87118516e-04 9.99993065e-01 7.68615228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.074391418 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:313.51, Y:35.08, Z:7.69 [[ 9.99786744e-01 -2.04708805e-02 -2.72214194e-03 3.13505760e+02] [ 2.04711204e-02 9.99790443e-01 6.02737992e-05 3.50802479e+01] [ 2.72033764e-03 -1.15986241e-04 9.99996293e-01 7.68584211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:313.54, Y:35.08, Z:7.69 [[ 9.99864647e-01 -1.62470852e-02 -2.59234311e-03 3.13537206e+02] [ 1.62472887e-02 9.99868002e-01 5.74468912e-05 3.50819988e+01] [ 2.59106758e-03 -9.95576624e-05 9.99996638e-01 7.68680391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.134391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:313.57, Y:35.08, Z:7.69 [[ 9.99930750e-01 -1.16378662e-02 -1.74799983e-03 3.13569683e+02] [ 1.16379523e-02 9.99932276e-01 3.91060584e-05 3.50836827e+01] [ 1.74742634e-03 -5.94464889e-05 9.99998471e-01 7.68642189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:313.60, Y:35.09, Z:7.69 [[ 9.99973540e-01 -7.02429896e-03 -1.89154826e-03 3.13602135e+02] [ 7.02439182e-03 9.99975328e-01 4.24512927e-05 3.50851795e+01] [ 1.89120340e-03 -5.57371456e-05 9.99998210e-01 7.68656788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.194391418 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:313.63, Y:35.09, Z:7.69 [[ 9.99998073e-01 9.93784269e-04 -1.69293574e-03 3.13633301e+02] [-9.93721607e-04 9.99999506e-01 3.78547120e-05 3.50893135e+01] [ 1.69297252e-03 -3.61723322e-05 9.99998566e-01 7.68720797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:313.66, Y:35.09, Z:7.69 [[ 9.99987878e-01 4.74254462e-03 -1.32342118e-03 3.13661547e+02] [-4.74251049e-03 9.99988754e-01 2.89285079e-05 3.50910060e+01] [ 1.32354350e-03 -2.26518184e-05 9.99999124e-01 7.68698896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.254391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:313.69, Y:35.09, Z:7.69 [[ 9.99968536e-01 7.90456835e-03 -6.66318523e-04 3.13690298e+02] [-7.90456159e-03 9.99968758e-01 1.27819752e-05 3.50923530e+01] [ 6.66398742e-04 -7.51461723e-06 9.99999778e-01 7.68646158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:313.72, Y:35.10, Z:7.69 [[ 9.99919255e-01 1.27075756e-02 3.83390435e-05 3.13718050e+02] [-1.27075755e-02 9.99919256e-01 -2.90126045e-06 3.50955753e+01] [-3.83728160e-05 2.41382990e-06 9.99999999e-01 7.68702891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.314391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:313.75, Y:35.10, Z:7.69 [[ 9.99902787e-01 1.39310608e-02 -5.84479200e-04 3.13745540e+02] [-1.39310562e-02 9.99902958e-01 1.18957822e-05 3.50973399e+01] [ 5.84588202e-04 -3.75221313e-06 9.99999829e-01 7.68901532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:313.77, Y:35.10, Z:7.69 [[ 9.99856085e-01 1.69171518e-02 1.27220947e-03 3.13773566e+02] [-1.69171300e-02 9.99856895e-01 -2.79157246e-05 3.50993328e+01] [-1.27249966e-03 6.38957420e-06 9.99999190e-01 7.68644870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.374391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:313.80, Y:35.10, Z:7.69 [[ 9.99845711e-01 1.75003664e-02 1.51373554e-03 3.13802483e+02] [-1.75003370e-02 9.99846857e-01 -3.26947486e-05 3.50996795e+01] [-1.51407589e-03 6.19882212e-06 9.99998854e-01 7.68538046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:313.83, Y:35.10, Z:7.69 [[ 9.99853310e-01 1.71115739e-02 7.42722317e-04 3.13830688e+02] [-1.71115665e-02 9.99853586e-01 -1.63749830e-05 3.51004578e+01] [-7.42893774e-04 3.66343864e-06 9.99999724e-01 7.68611971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.434391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:313.86, Y:35.10, Z:7.69 [[ 9.99860324e-01 1.67073180e-02 4.44799100e-04 3.13858057e+02] [-1.67073152e-02 9.99860423e-01 -9.99513087e-06 3.51010742e+01] [-4.44904008e-04 2.56233605e-06 9.99999901e-01 7.68634288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:313.89, Y:35.10, Z:7.69 [[ 9.99864509e-01 1.64594943e-02 2.19346871e-04 3.13885482e+02] [-1.64594935e-02 9.99864533e-01 -5.20799172e-06 3.51020331e+01] [-2.19402878e-04 1.59694769e-06 9.99999976e-01 7.68700671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.494391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:313.91, Y:35.10, Z:7.69 [[ 9.99861267e-01 1.66191225e-02 1.11863446e-03 3.13914338e+02] [-1.66191062e-02 9.99861893e-01 -2.38728280e-05 3.51015166e+01] [-1.11887672e-03 5.27881117e-06 9.99999374e-01 7.68525804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.524391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:313.94, Y:35.10, Z:7.69 [[ 9.99875503e-01 1.56795273e-02 1.76941775e-03 3.13942411e+02] [-1.56794856e-02 9.99877069e-01 -3.74601716e-05 3.51012236e+01] [-1.76978759e-03 9.71194790e-06 9.99998434e-01 7.68515929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.554391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:313.97, Y:35.10, Z:7.69 [[ 9.99903546e-01 1.37832436e-02 1.70884287e-03 3.13971268e+02] [-1.37832025e-02 9.99905007e-01 -3.58455159e-05 3.51013291e+01] [-1.70917460e-03 1.22887312e-05 9.99998539e-01 7.68644784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.584391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:314.00, Y:35.10, Z:7.69 [[ 9.99935211e-01 1.10656789e-02 2.66921380e-03 3.13999558e+02] [-1.10555401e-02 9.99931727e-01 -3.78373937e-03 3.51042660e+01] [-2.71090121e-03 3.75398462e-03 9.99989279e-01 7.68628895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.614391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:314.03, Y:35.10, Z:7.68 [[ 9.99954820e-01 9.08679319e-03 2.79085157e-03 3.14027923e+02] [-9.09712374e-03 9.99951733e-01 3.71145891e-03 3.50959105e+01] [-2.75699160e-03 -3.73667995e-03 9.99989218e-01 7.68312080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.644391418 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:314.06, Y:35.10, Z:7.68 [[ 9.99978330e-01 5.96584796e-03 2.78348086e-03 3.14056549e+02] [-5.96571040e-03 9.99982203e-01 -5.77220198e-05 3.50961995e+01] [-2.78377568e-03 4.11153283e-05 9.99996124e-01 7.68488113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.674391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:314.09, Y:35.09, Z:7.68 [[ 9.99990923e-01 3.23932759e-03 2.76783596e-03 3.14085745e+02] [-3.23918215e-03 9.99994752e-01 -5.70296567e-05 3.50940431e+01] [-2.76800618e-03 4.80636142e-05 9.99996168e-01 7.68420235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.704391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:314.12, Y:35.09, Z:7.68 [[ 9.99990858e-01 3.25934777e-03 2.76784274e-03 3.14116745e+02] [-3.25920332e-03 9.99994687e-01 -5.66992561e-05 3.50934047e+01] [-2.76801284e-03 4.76777755e-05 9.99996168e-01 7.68400317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.734391418 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:314.14, Y:35.09, Z:7.68 [[ 9.99992328e-01 -3.38660641e-03 1.96831988e-03 3.14144947e+02] [ 3.37657750e-03 9.99981415e-01 5.07634674e-03 3.50906867e+01] [-1.98547489e-03 -5.06966161e-03 9.99985178e-01 7.68284318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.764391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:314.18, Y:35.09, Z:7.68 [[ 9.99984272e-01 -4.71531761e-03 3.03677147e-03 3.14178137e+02] [ 4.73060769e-03 9.99976071e-01 -5.04763344e-03 3.50902512e+01] [-3.01289761e-03 5.06191982e-03 9.99982650e-01 7.68389881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.794391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:314.21, Y:35.09, Z:7.68 [[ 9.99969327e-01 -7.35582658e-03 2.69014211e-03 3.14210738e+02] [ 7.35600308e-03 9.99972943e-01 -5.57231408e-05 3.50862700e+01] [-2.68965943e-03 7.55101252e-05 9.99996380e-01 7.68194361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.824391418 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:314.24, Y:35.09, Z:7.68 [[ 9.99925072e-01 -1.22342541e-02 -4.15614712e-04 3.14244719e+02] [ 1.22310025e-02 9.99900080e-01 -7.08744796e-03 3.50870315e+01] [ 5.02282823e-04 7.08183353e-03 9.99974797e-01 7.68494501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.854391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:314.27, Y:35.08, Z:7.68 [[ 9.99917678e-01 -1.27716251e-02 1.23417749e-03 3.14274371e+02] [ 1.27625486e-02 9.99893335e-01 7.10176236e-03 3.50784152e+01] [-1.32474689e-03 -7.08542648e-03 9.99974021e-01 7.67934683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.884391418 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:314.31, Y:35.08, Z:7.68 [[ 9.99907379e-01 -1.35842987e-02 8.36895546e-04 3.14307930e+02] [ 1.35843177e-02 9.99907729e-01 -1.69658400e-05 3.50803398e+01] [-8.36587855e-04 2.83329236e-05 9.99999650e-01 7.68117750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.914391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:314.34, Y:35.08, Z:7.68 [[ 9.99906001e-01 -1.36918958e-02 7.22034221e-04 3.14339498e+02] [ 1.36919102e-02 9.99906261e-01 -1.49795598e-05 3.50790146e+01] [-7.21761440e-04 2.48641795e-05 9.99999739e-01 7.68113461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:314.37, Y:35.08, Z:7.68 [[ 9.99907175e-01 -1.36139935e-02 5.48746064e-04 3.14371870e+02] [ 1.36140017e-02 9.99907325e-01 -1.12055982e-05 3.50778429e+01] [-5.48542656e-04 1.86751878e-05 9.99999849e-01 7.68092003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.974391418 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:314.40, Y:35.08, Z:7.68 [[ 9.99908478e-01 -1.35282585e-02 -1.46384934e-04 3.14400659e+02] [ 1.35289493e-02 9.99884315e-01 6.95158161e-03 3.50759428e+01] [ 5.23252060e-05 -6.95292583e-03 9.99975827e-01 7.68116328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004391418 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:314.43, Y:35.08, Z:7.68 [[ 9.99919469e-01 -1.26903777e-02 -9.98615193e-05 3.14432632e+02] [ 1.26905126e-02 9.99918359e-01 1.49195886e-03 3.50773602e+01] [ 8.09198449e-05 -1.49310601e-03 9.99998882e-01 7.68222648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.034391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:314.46, Y:35.08, Z:7.68 [[ 9.99933813e-01 -1.15014986e-02 2.92354779e-04 3.14464743e+02] [ 1.15019978e-02 9.99932288e-01 -1.76737966e-03 3.50777522e+01] [-2.72007469e-04 1.77062534e-03 9.99998395e-01 7.68268101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064391418 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:314.50, Y:35.07, Z:7.68 [[ 9.99947571e-01 -1.02129578e-02 7.41835121e-04 3.14496940e+02] [ 1.02108485e-02 9.99943966e-01 2.79355667e-03 3.50748461e+01] [-7.70324029e-04 -2.78583544e-03 9.99995823e-01 7.68107118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.094391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:314.53, Y:35.08, Z:7.68 [[ 9.99974018e-01 -7.07641405e-03 1.37395497e-03 3.14530090e+02] [ 7.08973198e-03 9.99925432e-01 -9.94311601e-03 3.50780635e+01] [-1.30349091e-03 9.95259864e-03 9.99949622e-01 7.68131463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:314.56, Y:35.07, Z:7.68 [[ 9.99985743e-01 -5.03114393e-03 1.78942813e-03 3.14561806e+02] [ 5.03122404e-03 9.99987343e-01 -4.02655159e-05 3.50728871e+01] [-1.78920290e-03 4.92679556e-05 9.99998398e-01 7.67809270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.154391418 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:314.59, Y:35.07, Z:7.68 [[ 9.99993276e-01 -3.05681605e-03 2.02597943e-03 3.14594433e+02] [ 3.05691515e-03 9.99995327e-01 -4.58189074e-05 3.50725904e+01] [-2.02582990e-03 5.20118465e-05 9.99997947e-01 7.67791178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.184391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:314.63, Y:35.07, Z:7.68 [[ 9.99996764e-01 1.16283932e-03 2.26291887e-03 3.14626843e+02] [-1.16272595e-03 9.99999323e-01 -5.14160363e-05 3.50728406e+01] [-2.26297712e-03 4.87847154e-05 9.99997438e-01 7.67825994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.214391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:314.66, Y:35.07, Z:7.68 [[ 9.99991565e-01 3.25422278e-03 2.50587243e-03 3.14657089e+02] [-3.25408894e-03 9.99994704e-01 -5.74867786e-05 3.50722281e+01] [-2.50604623e-03 4.93319620e-05 9.99996859e-01 7.67800820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.244391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:314.69, Y:35.08, Z:7.68 [[ 9.99987225e-01 4.83797002e-03 -1.46446384e-03 3.14688566e+02] [-4.85640160e-03 9.99905572e-01 -1.28554717e-02 3.50776088e+01] [ 1.40213117e-03 1.28624195e-02 9.99916293e-01 7.68217459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.274391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:314.72, Y:35.07, Z:7.67 [[ 9.99972162e-01 7.03940989e-03 2.47414626e-03 3.14715614e+02] [-7.07048383e-03 9.99893289e-01 1.27835199e-02 3.50651311e+01] [-2.38389381e-03 -1.28006574e-02 9.99915227e-01 7.67316699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.304391418 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:314.75, Y:35.08, Z:7.68 [[ 9.99930357e-01 1.14344002e-02 -2.92174972e-03 3.14745753e+02] [-1.14728398e-02 9.99843091e-01 -1.34969603e-02 3.50772053e+01] [ 2.76696163e-03 1.35295411e-02 9.99904643e-01 7.68137526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.334391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:314.77, Y:35.07, Z:7.68 [[ 9.99903502e-01 1.37300909e-02 -2.11469931e-03 3.14773909e+02] [-1.37218396e-02 9.99898369e-01 3.86816864e-03 3.50691547e+01] [ 2.16759470e-03 -3.83877780e-03 9.99990283e-01 7.67539450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.364391418 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:314.80, Y:35.07, Z:7.68 [[ 9.99819453e-01 1.85615704e-02 -4.06559143e-03 3.14801120e+02] [-1.85839343e-02 9.99811989e-01 -5.53386409e-03 3.50738448e+01] [ 3.96210984e-03 5.60841965e-03 9.99976423e-01 7.67874172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.394391418 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:314.83, Y:35.06, Z:7.67 [[ 9.99805068e-01 1.97439944e-02 -3.28860563e-05 3.14830694e+02] [-1.97413027e-02 9.99693633e-01 1.49305488e-02 3.50639392e+01] [ 3.27664653e-04 -1.49269892e-02 9.99888533e-01 7.67141188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.424391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:314.86, Y:35.07, Z:7.68 [[ 9.99729158e-01 2.32723870e-02 7.84932376e-05 3.14858810e+02] [-2.32723869e-02 9.99729161e-01 -2.54901505e-06 3.50705923e+01] [-7.85313004e-05 7.21599686e-07 9.99999997e-01 7.67626535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.454391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:314.89, Y:35.07, Z:7.68 [[ 9.99698230e-01 2.45615002e-02 4.26511940e-04 3.14886469e+02] [-2.45614980e-02 9.99698321e-01 -1.02536611e-05 3.50699447e+01] [-4.26635116e-04 -2.25205311e-07 9.99999909e-01 7.67616075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484391418 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:314.91, Y:35.07, Z:7.68 [[ 9.99684304e-01 2.51163769e-02 6.77584929e-04 3.14914582e+02] [-2.51163720e-02 9.99684534e-01 -1.57575161e-05 3.50694175e+01] [-6.77766946e-04 -1.26593361e-06 9.99999770e-01 7.67617093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.514391418 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:314.94, Y:35.07, Z:7.68 [[ 9.99667278e-01 2.57746636e-02 1.00009149e-03 3.14941904e+02] [-2.57746536e-02 9.99667778e-01 -2.28580384e-05 3.50685949e+01] [-1.00034840e-03 -2.92657882e-06 9.99999500e-01 7.67599448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544391418 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:314.97, Y:35.07, Z:7.68 [[ 9.99671376e-01 2.55573268e-02 1.99059372e-03 3.14970058e+02] [-2.55572894e-02 9.99673358e-01 -4.41895327e-05 3.50673889e+01] [-1.99107288e-03 -6.69916890e-06 9.99998018e-01 7.67586217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.574391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:315.00, Y:35.07, Z:7.68 [[ 9.99697874e-01 2.44767071e-02 2.24773793e-03 3.14997966e+02] [-2.44766576e-02 9.99700401e-01 -4.95314764e-05 3.50660112e+01] [-2.24827688e-03 -5.50060017e-06 9.99997473e-01 7.67531256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604391418 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:315.03, Y:35.06, Z:7.67 [[ 9.99793328e-01 2.02434611e-02 1.87170249e-03 3.15025901e+02] [-2.02434198e-02 9.99795080e-01 -4.10616516e-05 3.50626136e+01] [-1.87215017e-03 3.16350615e-06 9.99998248e-01 7.67449756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.634391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:315.05, Y:35.06, Z:7.67 [[ 9.99848956e-01 1.72501535e-02 2.12078349e-03 3.15054490e+02] [-1.72500944e-02 9.99851205e-01 -4.61449693e-05 3.50604670e+01] [-2.12126394e-03 9.55428399e-06 9.99997750e-01 7.67381197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664391418 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:315.08, Y:35.06, Z:7.67 [[ 9.99904915e-01 1.36256570e-02 2.12194393e-03 3.15083308e+02] [-1.36255900e-02 9.99907166e-01 -4.60302059e-05 3.50582254e+01] [-2.12237413e-03 1.71130913e-05 9.99997748e-01 7.67313854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.694391418 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:315.11, Y:35.05, Z:7.67 [[ 9.99987895e-01 4.77000443e-03 1.20734127e-03 3.15110562e+02] [-4.76997598e-03 9.99988623e-01 -2.64358614e-05 3.50541365e+01] [-1.20745363e-03 2.06765525e-05 9.99999271e-01 7.67269633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724391418 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:315.14, Y:35.05, Z:7.67 [[ 9.99999761e-01 -2.72765335e-04 6.35998407e-04 3.15140303e+02] [ 2.72774174e-04 9.99999963e-01 -1.38118833e-05 3.50514399e+01] [-6.35994616e-04 1.39853639e-05 9.99999798e-01 7.67167612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.754391418 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:315.17, Y:35.05, Z:7.67 [[ 9.99982975e-01 -5.82514220e-03 3.43984706e-04 3.15170720e+02] [ 5.82514507e-03 9.99983034e-01 -7.32612959e-06 3.50490783e+01] [-3.43936194e-04 9.32976568e-06 9.99999941e-01 7.67206009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:315.20, Y:35.05, Z:7.67 [[ 9.99940843e-01 -1.08760635e-02 1.47288214e-04 3.15202486e+02] [ 1.08760638e-02 9.99940854e-01 -1.31477768e-06 3.50462482e+01] [-1.47265203e-04 2.91661592e-06 9.99999989e-01 7.67190456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.814391418 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:315.23, Y:35.04, Z:7.67 [[ 9.99784861e-01 -2.07419268e-02 7.17786206e-05 3.15234943e+02] [ 2.07419269e-02 9.99784863e-01 4.15174143e-07 3.50414521e+01] [-7.17717900e-05 1.07374208e-06 9.99999997e-01 7.67086387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:315.27, Y:35.04, Z:7.67 [[ 9.99683411e-01 -2.51602830e-02 1.93789238e-04 3.15268306e+02] [ 2.51602842e-02 9.99683430e-01 -3.46509628e-06 3.50392263e+01] [-1.93640708e-04 8.33979158e-06 9.99999981e-01 7.67044340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.874391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:315.30, Y:35.04, Z:7.67 [[ 9.99590132e-01 -2.86266831e-02 2.83834860e-04 3.15301791e+02] [ 2.86266858e-02 9.99590172e-01 -5.48033527e-06 3.50368707e+01] [-2.83561653e-04 1.36033404e-05 9.99999960e-01 7.67006427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904391418 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:315.34, Y:35.03, Z:7.67 [[ 9.99429390e-01 -3.37753181e-02 3.51123229e-04 3.15335073e+02] [ 3.37753227e-02 9.99429451e-01 -6.99030721e-06 3.50344583e+01] [-3.50686796e-04 1.88456188e-05 9.99999938e-01 7.66938904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.934391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:315.37, Y:35.03, Z:7.67 [[ 9.99391984e-01 -3.48619705e-02 5.53220940e-04 3.15367028e+02] [ 3.48619823e-02 9.99392136e-01 -1.16740934e-05 3.50331039e+01] [-5.52477675e-04 3.09533739e-05 9.99999847e-01 7.66909985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964391418 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:315.40, Y:35.03, Z:7.67 [[ 9.99373720e-01 -3.53794042e-02 6.81872965e-04 3.15400152e+02] [ 3.53794223e-02 9.99373952e-01 -1.44842082e-05 3.50319533e+01] [-6.80933637e-04 3.85994086e-05 9.99999767e-01 7.66879333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.994391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:315.43, Y:35.03, Z:7.67 [[ 9.99411837e-01 -3.42785242e-02 9.81246972e-04 3.15432604e+02] [ 3.42785616e-02 9.99412317e-01 -2.13233495e-05 3.50312374e+01] [-9.79939377e-04 5.49465426e-05 9.99999518e-01 7.66838280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.024391418 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:315.46, Y:35.03, Z:7.67 [[ 9.99449787e-01 -3.31544239e-02 9.52503631e-04 3.15464527e+02] [ 3.31544589e-02 9.99450240e-01 -2.09103393e-05 3.50308421e+01] [-9.51286712e-04 5.24785766e-05 9.99999546e-01 7.66844993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.054391418 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:315.50, Y:35.03, Z:7.67 [[ 9.99580999e-01 -2.89411484e-02 4.86038526e-04 3.15497807e+02] [ 2.89411568e-02 9.99581117e-01 -1.02775333e-05 3.50317494e+01] [-4.85537489e-04 2.43397442e-05 9.99999882e-01 7.66821751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.084391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:315.53, Y:35.03, Z:7.67 [[ 9.99655790e-01 -2.62347820e-02 1.95535593e-04 3.15531185e+02] [ 2.62347832e-02 9.99655809e-01 -3.68018293e-06 3.50321819e+01] [-1.95371742e-04 8.80875006e-06 9.99999981e-01 7.66814107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.114391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:315.56, Y:35.03, Z:7.67 [[ 9.99730181e-01 -2.32269122e-02 2.75907844e-04 3.15563809e+02] [ 2.32269146e-02 9.99730219e-01 -5.55691712e-06 3.50326444e+01] [-2.75704340e-04 1.19639057e-05 9.99999962e-01 7.66793719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.144391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:315.60, Y:35.03, Z:7.67 [[ 9.99795919e-01 -2.01983070e-02 3.84822051e-04 3.15596562e+02] [ 2.01983116e-02 9.99795993e-01 -8.11144678e-06 3.50331248e+01] [-3.84579707e-04 1.58825471e-05 9.99999926e-01 7.66785457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.174391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:315.63, Y:35.04, Z:7.67 [[ 9.99891433e-01 -1.46459171e-02 1.61817236e-03 3.15628510e+02] [ 1.46459961e-02 9.99892741e-01 -3.70040924e-05 3.50351364e+01] [-1.61745684e-03 6.06998212e-05 9.99998690e-01 7.66682463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.204391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:315.66, Y:35.04, Z:7.67 [[ 9.99925426e-01 -1.20494512e-02 1.98843215e-03 3.15660416e+02] [ 1.20495659e-02 9.99927400e-01 -4.57422853e-05 3.50357791e+01] [-1.98773662e-03 6.96986184e-05 9.99998022e-01 7.66654851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.234391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:315.69, Y:35.04, Z:7.67 [[ 9.99950384e-01 -9.66722876e-03 2.40293275e-03 3.15691772e+02] [ 9.66739043e-03 9.99953268e-01 -5.56730095e-05 3.50366053e+01] [-2.40228225e-03 7.89003363e-05 9.99997111e-01 7.66565770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.264391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:315.72, Y:35.04, Z:7.67 [[ 9.99972359e-01 -6.99333583e-03 2.52469191e-03 3.15723939e+02] [ 6.99350601e-03 9.99975543e-01 -5.85819237e-05 3.50373663e+01] [-2.52422048e-03 7.62367525e-05 9.99996811e-01 7.66507517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.294391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:315.76, Y:35.04, Z:7.66 [[ 9.99994063e-01 -2.43055667e-03 2.44245951e-03 3.15756637e+02] [ 2.43070278e-03 9.99997044e-01 -5.68523531e-05 3.50395983e+01] [-2.44231411e-03 6.27889087e-05 9.99997016e-01 7.66386930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.324391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:315.79, Y:35.04, Z:7.66 [[ 9.99997240e-01 -2.99731817e-04 2.33032028e-03 3.15788570e+02] [ 2.99859374e-04 9.99999954e-01 -5.43889827e-05 3.50401045e+01] [-2.33030387e-03 5.50876010e-05 9.99997283e-01 7.66308859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.354391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:315.82, Y:35.04, Z:7.66 [[ 9.99988872e-01 4.08528007e-03 2.35917061e-03 3.15820103e+02] [-4.08516064e-03 9.99991654e-01 -5.54403059e-05 3.50423601e+01] [-2.35937741e-03 4.58020981e-05 9.99997216e-01 7.66250956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.384391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:315.85, Y:35.04, Z:7.66 [[ 9.99977836e-01 6.16487386e-03 2.51451284e-03 3.15849934e+02] [-6.16474407e-03 9.99980996e-01 -5.93619766e-05 3.50431825e+01] [-2.51483101e-03 4.38593327e-05 9.99996837e-01 7.66260911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.414391418 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:315.88, Y:35.04, Z:7.66 [[ 9.99960192e-01 8.39845492e-03 3.01343281e-03 3.15879128e+02] [-8.39827810e-03 9.99964731e-01 -7.13244353e-05 3.50435878e+01] [-3.01392554e-03 4.60139493e-05 9.99995457e-01 7.66223116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444391418 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:315.91, Y:35.05, Z:7.66 [[ 9.99910095e-01 1.26357409e-02 4.48771936e-03 3.15909070e+02] [-1.26353928e-02 9.99920165e-01 -1.05911308e-04 3.50450775e+01] [-4.48869935e-03 4.91976891e-05 9.99989925e-01 7.66218253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.474391418 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:315.94, Y:35.05, Z:7.66 [[ 9.99876144e-01 1.47984134e-02 5.35755494e-03 3.15936919e+02] [-1.47979493e-02 9.99890496e-01 -1.26259330e-04 3.50452455e+01] [-5.35883671e-03 4.69628662e-05 9.99985640e-01 7.66206098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:315.96, Y:35.05, Z:7.66 [[ 9.99803522e-01 1.87405070e-02 6.45839419e-03 3.15964330e+02] [-1.87399197e-02 9.99824381e-01 -1.51432551e-04 3.50453942e+01] [-6.46009789e-03 3.03730087e-05 9.99979133e-01 7.66102766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.534391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:315.99, Y:35.05, Z:7.66 [[ 9.99774984e-01 2.00762739e-02 6.85012025e-03 3.15992816e+02] [-2.00756494e-02 9.99798451e-01 -1.59915233e-04 3.50450596e+01] [-6.85195012e-03 2.23586373e-05 9.99976525e-01 7.66067593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:316.02, Y:35.04, Z:7.66 [[ 9.99746495e-01 2.13638539e-02 7.10849494e-03 3.16021938e+02] [-2.13632181e-02 9.99771767e-01 -1.65369907e-04 3.50443494e+01] [-7.11040549e-03 1.34676573e-05 9.99974721e-01 7.66000755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.594391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:316.05, Y:35.04, Z:7.66 [[ 9.99732330e-01 2.18813608e-02 7.51488931e-03 3.16050773e+02] [-2.18806696e-02 9.99760574e-01 -1.74201337e-04 3.50438728e+01] [-7.51690182e-03 9.72389854e-06 9.99971748e-01 7.65917107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:316.08, Y:35.04, Z:7.66 [[ 9.99747773e-01 2.10571887e-02 7.80923919e-03 3.16079449e+02] [-2.10564220e-02 9.99778273e-01 -1.80388316e-04 3.50422412e+01] [-7.81130614e-03 1.59081810e-05 9.99969491e-01 7.65801477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.654391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:316.11, Y:35.04, Z:7.66 [[ 9.99749015e-01 2.09981646e-02 7.80925288e-03 3.16108754e+02] [-2.09974008e-02 9.99779514e-01 -1.79793825e-04 3.50416405e+01] [-7.81130639e-03 1.57746864e-05 9.99969491e-01 7.65781550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.684391418 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:316.14, Y:35.04, Z:7.66 [[ 9.99780708e-01 1.96430528e-02 7.25855591e-03 3.16136207e+02] [-1.96423602e-02 9.99807056e-01 -1.66696530e-04 3.50398271e+01] [-7.26042985e-03 2.40848052e-05 9.99973642e-01 7.65744956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.714391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:316.16, Y:35.04, Z:7.66 [[ 9.99814177e-01 1.78447093e-02 7.29227466e-03 3.16164477e+02] [-1.78439676e-02 9.99840770e-01 -1.66764842e-04 3.50376367e+01] [-7.29408938e-03 3.66107405e-05 9.99973397e-01 7.65692486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.744391418 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:316.19, Y:35.04, Z:7.66 [[ 9.99845330e-01 1.58769209e-02 7.56561926e-03 3.16193495e+02] [-1.58760708e-02 9.99873952e-01 -1.72408329e-04 3.50352915e+01] [-7.56740294e-03 5.22693556e-05 9.99971365e-01 7.65602367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.774391418 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:316.22, Y:35.03, Z:7.66 [[ 9.99910328e-01 1.14360483e-02 6.96804711e-03 3.16223261e+02] [-1.14352220e-02 9.99934603e-01 -1.58413120e-04 3.50320124e+01] [-6.96940304e-03 7.87177488e-05 9.99975710e-01 7.65565552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.804391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:316.25, Y:35.03, Z:7.66 [[ 9.99936335e-01 9.09617914e-03 6.67726837e-03 3.16252548e+02] [-9.09536989e-03 9.99958625e-01 -1.51551948e-04 3.50303618e+01] [-6.67837064e-03 9.08100741e-05 9.99977695e-01 7.65542634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.834391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:316.28, Y:35.03, Z:7.65 [[ 9.99965109e-01 5.13102784e-03 6.59191626e-03 3.16282983e+02] [-5.13015386e-03 9.99986830e-01 -1.49485322e-04 3.50269038e+01] [-6.59259645e-03 1.15662561e-04 9.99978262e-01 7.65451961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.864391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:316.31, Y:35.02, Z:7.65 [[ 9.99973123e-01 3.41830151e-03 6.48595471e-03 3.16313843e+02] [-3.41741989e-03 9.99994150e-01 -1.47005259e-04 3.50245859e+01] [-6.48641927e-03 1.24836077e-04 9.99978955e-01 7.65419009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.894391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:316.35, Y:35.02, Z:7.65 [[ 9.99977254e-01 1.72782526e-03 6.51964462e-03 3.16345575e+02] [-1.72688777e-03 9.99998498e-01 -1.49420637e-04 3.50222791e+01] [-6.51989299e-03 1.38158544e-04 9.99978736e-01 7.65376870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.924391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:316.38, Y:35.02, Z:7.65 [[ 9.99974227e-01 -1.56255957e-03 7.00739791e-03 3.16377139e+02] [ 1.56373815e-03 9.99998764e-01 -1.62714573e-04 3.50188886e+01] [-7.00713499e-03 1.73668115e-04 9.99975435e-01 7.65328862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.954391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:316.41, Y:35.02, Z:7.65 [[ 9.99982439e-01 -2.24754135e-03 5.48370735e-03 3.16409476e+02] [ 2.27614433e-03 9.99983810e-01 -5.21533972e-03 3.50193889e+01] [-5.47189687e-03 5.22772984e-03 9.99971364e-01 7.65462122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:316.44, Y:35.02, Z:7.65 [[ 9.99983183e-01 -3.02369927e-03 4.94874217e-03 3.16439186e+02] [ 3.03129653e-03 9.99994238e-01 -1.52840946e-03 3.50159052e+01] [-4.94409220e-03 1.54338486e-03 9.99986587e-01 7.65351994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.014391418 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:316.47, Y:35.01, Z:7.65 [[ 9.99941381e-01 -8.50369858e-03 6.70235036e-03 3.16472661e+02] [ 8.46071056e-03 9.99943622e-01 6.41633958e-03 3.50106123e+01] [-6.75653512e-03 -6.35925682e-03 9.99956954e-01 7.65037860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044391418 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:316.51, Y:35.01, Z:7.65 [[ 9.99927203e-01 -1.02815927e-02 6.31486689e-03 3.16505868e+02] [ 1.02827527e-02 9.99947120e-01 -1.51245643e-04 3.50123134e+01] [-6.31297791e-03 2.16168847e-04 9.99980050e-01 7.65203602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.074391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:316.53, Y:35.01, Z:7.65 [[ 9.99930366e-01 -1.01626623e-02 5.99863024e-03 3.16534784e+02] [ 1.01515635e-02 9.99946708e-01 1.87778256e-03 3.50095968e+01] [-6.01739383e-03 -1.81675633e-03 9.99980245e-01 7.65107184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:316.57, Y:35.01, Z:7.65 [[ 9.99850955e-01 -1.63623617e-02 5.50828007e-03 3.16569801e+02] [ 1.63742525e-02 9.99863684e-01 -2.12058402e-03 3.50097796e+01] [-5.47283145e-03 2.21046193e-03 9.99982581e-01 7.65165053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.134391418 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:316.60, Y:35.01, Z:7.65 [[ 9.99814477e-01 -1.86688526e-02 4.74195268e-03 3.16602310e+02] [ 1.86696124e-02 9.99825701e-01 -1.16018259e-04 3.50076753e+01] [-4.73896023e-03 2.04527154e-04 9.99988750e-01 7.65106520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164391418 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:316.63, Y:35.01, Z:7.65 [[ 9.99771266e-01 -2.09160331e-02 4.46482183e-03 3.16634338e+02] [ 2.09167315e-02 9.99781215e-01 -1.09777033e-04 3.50064907e+01] [-4.46154889e-03 2.03141403e-04 9.99990027e-01 7.65064523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.194391418 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:316.67, Y:35.01, Z:7.65 [[ 9.99715643e-01 -2.35129831e-02 3.97158168e-03 3.16667857e+02] [ 2.35135572e-02 9.99723513e-01 -9.79173764e-05 3.50056455e+01] [-3.96818127e-03 1.91275546e-04 9.99992108e-01 7.65034358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:316.70, Y:35.00, Z:7.65 [[ 9.99590451e-01 -2.84484618e-02 3.10074328e-03 3.16700502e+02] [ 2.84488361e-02 9.99595247e-01 -7.66395567e-05 3.50049774e+01] [-3.09730796e-03 1.64820706e-04 9.99995190e-01 7.64939211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.254391418 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:316.73, Y:35.00, Z:7.65 [[ 9.99534080e-01 -3.03877541e-02 2.86484061e-03 3.16733273e+02] [ 3.03880823e-02 9.99538173e-01 -7.10863963e-05 3.50043742e+01] [-2.86135739e-03 1.58110288e-04 9.99995894e-01 7.64878867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284391418 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:316.77, Y:35.00, Z:7.65 [[ 9.99473904e-01 -3.23451731e-02 2.38849407e-03 3.16766485e+02] [ 3.23454071e-02 9.99476749e-01 -5.94141377e-05 3.50041159e+01] [-2.38532253e-03 1.36639693e-04 9.99997146e-01 7.64828060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.314391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:316.80, Y:35.00, Z:7.65 [[ 9.99424038e-01 -3.38829561e-02 1.88088351e-03 3.16799130e+02] [ 3.38831041e-02 9.99425802e-01 -4.68402693e-05 3.50039655e+01] [-1.87821643e-03 1.10543463e-04 9.99998230e-01 7.64800320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:316.83, Y:35.01, Z:7.65 [[ 9.99325741e-01 -3.67055783e-02 8.74149168e-04 3.16832422e+02] [ 3.67056111e-02 9.99326122e-01 -2.14470273e-05 3.50054619e+01] [-8.72772872e-04 5.35187458e-05 9.99999618e-01 7.64797144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.374391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:316.87, Y:35.01, Z:7.65 [[ 9.99287630e-01 -3.77255578e-02 1.00769599e-03 3.16865089e+02] [ 3.77256021e-02 9.99288136e-01 -2.49497080e-05 3.50059653e+01] [-1.00603741e-03 6.29478726e-05 9.99999492e-01 7.64771468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404391418 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:316.90, Y:35.01, Z:7.65 [[ 9.99241841e-01 -3.89317077e-02 2.53972019e-04 3.16896825e+02] [ 3.89317104e-02 9.99241874e-01 -5.84865400e-06 3.50066200e+01] [-2.53551779e-04 1.57317849e-05 9.99999968e-01 7.64828996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.434391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:316.93, Y:35.01, Z:7.65 [[ 9.99144563e-01 -4.13417753e-02 1.00035483e-03 3.16930369e+02] [ 4.13418210e-02 9.99145061e-01 -2.49824499e-05 3.50086223e+01] [-9.98466771e-04 6.63175693e-05 9.99999499e-01 7.64876379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:316.96, Y:35.01, Z:7.65 [[ 9.99097674e-01 -4.24582520e-02 1.06510942e-03 3.16962847e+02] [ 4.24583047e-02 9.99098239e-01 -2.68911860e-05 3.50090513e+01] [-1.06300719e-03 7.20896616e-05 9.99999432e-01 7.64864011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.494391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:316.99, Y:35.01, Z:7.65 [[ 9.99048789e-01 -4.35932469e-02 1.07008321e-03 3.16994848e+02] [ 4.35933002e-02 9.99049360e-01 -2.65923421e-05 3.50092683e+01] [-1.06790670e-03 7.32155059e-05 9.99999427e-01 7.64855036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.524391418 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:317.03, Y:35.01, Z:7.65 [[ 9.98958996e-01 -4.56084416e-02 8.91297009e-04 3.17027618e+02] [ 4.56084798e-02 9.98959392e-01 -2.25175271e-05 3.50110364e+01] [-8.89342529e-04 6.31447879e-05 9.99999603e-01 7.64824913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.554391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:317.06, Y:35.01, Z:7.65 [[ 9.98939203e-01 -4.60481275e-02 1.97923831e-04 3.17059501e+02] [ 4.60481290e-02 9.98939222e-01 -3.23780502e-06 3.50114998e+01] [-1.97564783e-04 1.23483925e-05 9.99999980e-01 7.64843689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.584391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:317.09, Y:35.01, Z:7.65 [[ 9.98908966e-01 -4.66998578e-02 -3.56869410e-05 3.17092508e+02] [ 4.66998579e-02 9.98908966e-01 1.76840356e-06 3.50142283e+01] [ 3.55654210e-05 -3.43304923e-06 9.99999999e-01 7.64876831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.614391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:317.12, Y:35.02, Z:7.65 [[ 9.98940861e-01 -4.60124295e-02 1.14848152e-04 3.17124259e+02] [ 4.60124299e-02 9.98940867e-01 -1.06572638e-06 3.50150418e+01] [-1.14677476e-04 6.34904019e-06 9.99999993e-01 7.64896101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.644391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:317.16, Y:35.02, Z:7.65 [[ 9.98995620e-01 -4.48066698e-02 3.38500242e-04 3.17157709e+02] [ 4.48066751e-02 9.98995677e-01 -8.32547633e-06 3.50157109e+01] [-3.37787242e-04 2.34841848e-05 9.99999943e-01 7.64907639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.674391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:317.19, Y:35.02, Z:7.65 [[ 9.99156179e-01 -4.10578261e-02 1.08856197e-03 3.17191125e+02] [ 4.10578816e-02 9.99156769e-01 -2.87058077e-05 3.50178837e+01] [-1.08646546e-03 7.33756334e-05 9.99999407e-01 7.64901638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.704391418 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:317.22, Y:35.02, Z:7.65 [[ 9.99259664e-01 -3.84426999e-02 1.51071227e-03 3.17223711e+02] [ 3.84428046e-02 9.99260801e-01 -4.03322654e-05 3.50187861e+01] [-1.50804508e-03 9.83784228e-05 9.99998858e-01 7.64908943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.734391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:317.26, Y:35.02, Z:7.65 [[ 9.99372525e-01 -3.53933242e-02 1.36697402e-03 3.17255360e+02] [ 3.53934073e-02 9.99373456e-01 -3.66918239e-05 3.50199078e+01] [-1.36481891e-03 8.50506691e-05 9.99999065e-01 7.64938201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.764391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:317.29, Y:35.02, Z:7.65 [[ 9.99473416e-01 -3.24294578e-02 1.10519931e-03 3.17288418e+02] [ 3.24295103e-02 9.99474025e-01 -2.95234762e-05 3.50211491e+01] [-1.10366057e-03 6.53490020e-05 9.99999389e-01 7.64930941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.794391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:317.32, Y:35.02, Z:7.65 [[ 9.99580865e-01 -2.89329049e-02 9.90469319e-04 3.17320154e+02] [ 2.89329454e-02 9.99581354e-01 -2.66132048e-05 3.50222107e+01] [-9.89284666e-04 5.52592450e-05 9.99999509e-01 7.64894773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.824391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:317.35, Y:35.03, Z:7.65 [[ 9.99767514e-01 -2.15534728e-02 -6.05190326e-04 3.17353752e+02] [ 2.15534874e-02 9.99767696e-01 1.75908510e-05 3.50256378e+01] [ 6.04670594e-04 -3.06307234e-05 9.99999817e-01 7.64920548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.854391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:317.39, Y:35.03, Z:7.65 [[ 9.99850329e-01 -1.72800410e-02 -8.48172841e-04 3.17385463e+02] [ 1.72800684e-02 9.99850688e-01 2.49593994e-05 3.50267144e+01] [ 8.47614899e-04 -3.96121484e-05 9.99999640e-01 7.64920292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.884391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:317.42, Y:35.03, Z:7.65 [[ 9.99951297e-01 -9.70338536e-03 -1.80234303e-03 3.17417767e+02] [ 9.70349287e-03 9.99952919e-01 5.09146436e-05 3.50295428e+01] [ 1.80176413e-03 -6.84011867e-05 9.99998374e-01 7.64882323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.914391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:317.45, Y:35.03, Z:7.65 [[ 9.99980399e-01 -6.05897151e-03 -1.57809858e-03 3.17449555e+02] [ 6.05904970e-03 9.99981643e-01 4.47695336e-05 3.50301847e+01] [ 1.57779835e-03 -5.43304338e-05 9.99998754e-01 7.64850271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:317.48, Y:35.03, Z:7.65 [[ 9.99994411e-01 -2.95193222e-03 -1.56984915e-03 3.17480548e+02] [ 2.95200545e-03 9.99995642e-01 4.43339681e-05 3.50310047e+01] [ 1.56971143e-03 -4.89679236e-05 9.99998767e-01 7.64853689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.974391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:317.51, Y:35.03, Z:7.65 [[ 9.99994764e-01 2.95809761e-03 -1.31197777e-03 3.17510793e+02] [-2.95805184e-03 9.99995624e-01 3.68216881e-05 3.50336123e+01] [ 1.31208095e-03 -3.29405971e-05 9.99999139e-01 7.64895625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:317.54, Y:35.03, Z:7.65 [[ 9.99985011e-01 5.27172109e-03 -1.47910190e-03 3.17539531e+02] [-5.27166890e-03 9.99986104e-01 3.91795859e-05 3.50343649e+01] [ 1.47928789e-03 -3.13816631e-05 9.99998905e-01 7.64901743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.034391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:317.57, Y:35.03, Z:7.65 [[ 9.99969923e-01 7.62540474e-03 -1.41675210e-03 3.17567096e+02] [-7.62536037e-03 9.99970926e-01 3.67164082e-05 3.50349272e+01] [ 1.41699088e-03 -2.59120586e-05 9.99998996e-01 7.64893712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:317.60, Y:35.04, Z:7.65 [[ 9.99920612e-01 1.25307075e-02 -1.32360434e-03 3.17595095e+02] [-1.25306738e-02 9.99921487e-01 3.37399930e-05 3.50358481e+01] [ 1.32392321e-03 -1.71516601e-05 9.99999123e-01 7.64873373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.094391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:317.62, Y:35.04, Z:7.65 [[ 9.99885441e-01 1.50829029e-02 -1.26951773e-03 3.17623168e+02] [-1.50828725e-02 9.99886246e-01 3.34905168e-05 3.50359844e+01] [ 1.26987845e-03 -1.43387061e-05 9.99999194e-01 7.64846150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:317.65, Y:35.04, Z:7.65 [[ 9.99829683e-01 1.84011834e-02 -1.41454550e-03 3.17651060e+02] [-1.84011491e-02 9.99830684e-01 3.72414931e-05 3.50355285e+01] [ 1.41499128e-03 -1.12058876e-05 9.99998999e-01 7.64786375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.154391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:317.68, Y:35.04, Z:7.65 [[ 9.99727335e-01 2.33420436e-02 -6.36920497e-04 3.17678350e+02] [-2.33420380e-02 9.99727537e-01 1.61013422e-05 3.50363359e+01] [ 6.37122798e-04 -1.22992945e-06 9.99999797e-01 7.64851817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.184391418 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:317.71, Y:35.04, Z:7.65 [[ 9.99679759e-01 2.53055763e-02 -9.00597388e-05 3.17705781e+02] [-2.53055763e-02 9.99679763e-01 1.47274861e-06 3.50362134e+01] [ 9.00681669e-05 8.06736617e-07 9.99999996e-01 7.64838271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.214391418 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:317.73, Y:35.04, Z:7.65 [[ 9.99637349e-01 2.69289806e-02 -6.79722025e-06 3.17732512e+02] [-2.69289806e-02 9.99637349e-01 -7.33633565e-07 3.50357048e+01] [ 6.77499908e-06 9.16409731e-07 1.00000000e+00 7.64837850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.244391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:317.76, Y:35.03, Z:7.65 [[ 9.99616175e-01 2.77028422e-02 2.36035785e-04 3.17760041e+02] [-2.77028413e-02 9.99616203e-01 -7.03623568e-06 3.50349082e+01] [-2.36140119e-04 4.94673128e-07 9.99999972e-01 7.64766473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.274391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:317.79, Y:35.03, Z:7.65 [[ 9.99635096e-01 2.70105638e-02 3.23125963e-04 3.17787263e+02] [-2.70105622e-02 9.99635148e-01 -9.41506139e-06 3.50328445e+01] [-3.23262376e-04 6.83811884e-07 9.99999948e-01 7.64664261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.304391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:317.81, Y:35.03, Z:7.65 [[ 9.99679155e-01 2.53287028e-02 2.09309798e-04 3.17814989e+02] [-2.53287021e-02 9.99679177e-01 -6.28596756e-06 3.50309167e+01] [-2.09401862e-04 9.82405236e-07 9.99999978e-01 7.64604753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.334391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:317.84, Y:35.03, Z:7.65 [[ 9.99743427e-01 2.26493839e-02 2.93276395e-04 3.17841712e+02] [-2.26493824e-02 9.99743470e-01 -8.56830174e-06 3.50290949e+01] [-2.93395228e-04 1.92357413e-06 9.99999957e-01 7.64525666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.364391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:317.87, Y:35.03, Z:7.64 [[ 9.99888553e-01 1.49258302e-02 -3.17395106e-04 3.17869180e+02] [-1.49258285e-02 9.99888604e-01 7.54822859e-06 3.50253129e+01] [ 3.17472413e-04 -2.81000243e-06 9.99999950e-01 7.64467677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.394391418 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:317.90, Y:35.02, Z:7.64 [[ 9.99950106e-01 9.98854873e-03 1.20356287e-04 3.17898299e+02] [-9.98854837e-03 9.99950113e-01 -3.63820523e-06 3.50231681e+01] [-1.20386623e-04 2.43583911e-06 9.99999993e-01 7.64400633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.424391418 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:317.93, Y:35.02, Z:7.64 [[ 9.99999396e-01 1.05888469e-04 1.09361004e-03 3.17927291e+02] [-1.05857162e-04 9.99999994e-01 -2.86848268e-05 3.50187140e+01] [-1.09361307e-03 2.85690430e-05 9.99999402e-01 7.64347213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.454391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:317.96, Y:35.02, Z:7.64 [[ 9.99989557e-01 -4.14686545e-03 1.92096941e-03 3.17957668e+02] [ 4.14696806e-03 9.99991400e-01 -4.94361785e-05 3.50158894e+01] [-1.92074788e-03 5.74018610e-05 9.99998154e-01 7.64350864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:317.99, Y:35.01, Z:7.64 [[ 9.99964041e-01 -7.82884572e-03 3.25989116e-03 3.17989407e+02] [ 7.82915754e-03 9.99969348e-01 -8.29045331e-05 3.50130207e+01] [-3.25914219e-03 1.08423753e-04 9.99994683e-01 7.64290723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.514391418 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:318.02, Y:35.01, Z:7.64 [[ 9.99964882e-01 -7.72066368e-03 3.25985231e-03 3.18022102e+02] [ 7.72097979e-03 9.99970189e-01 -8.43990105e-05 3.50120880e+01] [-3.25910351e-03 1.09565300e-04 9.99994683e-01 7.64268351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:318.06, Y:35.01, Z:7.64 [[ 9.99909414e-01 -1.28017784e-02 4.15668295e-03 3.18055279e+02] [ 1.28023366e-02 9.99918041e-01 -1.07710538e-04 3.50078581e+01] [-4.15496338e-03 1.60916036e-04 9.99991355e-01 7.64287540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.574391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:318.09, Y:35.01, Z:7.64 [[ 9.99888774e-01 -1.42739225e-02 4.32383268e-03 3.18087165e+02] [ 1.42745489e-02 9.99898107e-01 -1.14047867e-04 3.50055942e+01] [-4.32176420e-03 1.75755943e-04 9.99990646e-01 7.64291998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:318.12, Y:35.00, Z:7.64 [[ 9.99874800e-01 -1.52732885e-02 4.13658337e-03 3.18120183e+02] [ 1.52738717e-02 9.99883342e-01 -1.09435526e-04 3.50036420e+01] [-4.13442936e-03 1.72603468e-04 9.99991438e-01 7.64289210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.634391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:318.15, Y:35.00, Z:7.64 [[ 9.99861382e-01 -1.63569866e-02 3.10888675e-03 3.18152610e+02] [ 1.63573220e-02 9.99866207e-01 -8.24901526e-05 3.50008650e+01] [-3.10712151e-03 1.33331780e-04 9.99995164e-01 7.64273866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:318.19, Y:35.00, Z:7.64 [[ 9.99861854e-01 -1.64103130e-02 2.64107734e-03 3.18185635e+02] [ 1.64105554e-02 9.99865335e-01 -7.01533642e-05 3.49989939e+01] [-2.63957045e-03 1.13485219e-04 9.99996510e-01 7.64207844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.694391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:318.22, Y:35.00, Z:7.64 [[ 9.99871308e-01 -1.59409123e-02 1.80433977e-03 3.18217821e+02] [ 1.59410240e-02 9.99872933e-01 -4.75466582e-05 3.49971713e+01] [-1.80335256e-03 7.63035629e-05 9.99998371e-01 7.64165826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:318.25, Y:35.00, Z:7.64 [[ 9.99880543e-01 -1.54368551e-02 7.76432732e-04 3.18249595e+02] [ 1.54368757e-02 9.99880844e-01 -2.05412143e-05 3.49956993e+01] [-7.76023124e-04 3.25244561e-05 9.99999698e-01 7.64157668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.754391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:318.28, Y:34.99, Z:7.64 [[ 9.99902824e-01 -1.38855479e-02 -1.23853629e-03 3.18281286e+02] [ 1.38856009e-02 9.99903590e-01 3.42093242e-05 3.49945220e+01] [ 1.23794186e-03 -5.14038204e-05 9.99999232e-01 7.64091128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:318.31, Y:34.99, Z:7.64 [[ 9.99912375e-01 -1.30365910e-02 -2.29997285e-03 3.18313100e+02] [ 1.30367711e-02 9.99915016e-01 6.32963564e-05 3.49940157e+01] [ 2.29895222e-03 -9.32750295e-05 9.99997353e-01 7.64046832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.814391418 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:318.34, Y:34.99, Z:7.64 [[ 9.99913914e-01 -1.24897744e-02 -4.02128437e-03 3.18344416e+02] [ 1.24903223e-02 9.99921987e-01 1.11154105e-04 3.49937398e+01] [ 4.01958237e-03 -1.61371674e-04 9.99991908e-01 7.64097440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844391418 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:318.38, Y:34.99, Z:7.64 [[ 9.99908272e-01 -1.23467178e-02 -5.56830005e-03 3.18375933e+02] [ 1.23477631e-02 9.99923752e-01 1.53386708e-04 3.49937908e+01] [ 5.56598165e-03 -2.22128688e-04 9.99984485e-01 7.64037043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.874391418 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:318.41, Y:34.99, Z:7.64 [[ 9.99903325e-01 -1.24973191e-02 -6.09567525e-03 3.18407723e+02] [ 1.24985750e-02 9.99921876e-01 1.67976014e-04 3.49930954e+01] [ 6.09309978e-03 -2.44147029e-04 9.99981407e-01 7.64015694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:318.44, Y:34.99, Z:7.64 [[ 9.99901241e-01 -1.26275456e-02 -6.16879381e-03 3.18438850e+02] [ 1.26288358e-02 9.99920239e-01 1.70225718e-04 3.49927337e+01] [ 6.16615224e-03 -2.48113590e-04 9.99980958e-01 7.64009259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.934391418 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:318.47, Y:34.99, Z:7.64 [[ 9.99907176e-01 -1.25938872e-02 -5.19927543e-03 3.18470357e+02] [ 1.25948057e-02 9.99920672e-01 1.43945985e-04 3.49941193e+01] [ 5.19705014e-03 -2.09416487e-04 9.99986473e-01 7.64082707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:318.50, Y:34.99, Z:7.64 [[ 9.99914639e-01 -1.24291913e-02 -4.02859056e-03 3.18502457e+02] [ 1.24297435e-02 9.99922741e-01 1.12073261e-04 3.49947020e+01] [ 4.02688633e-03 -1.62138042e-04 9.99991879e-01 7.64073297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.994391418 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:318.53, Y:35.00, Z:7.64 [[ 9.99924250e-01 -1.18533767e-02 -3.31528334e-03 3.18533832e+02] [ 1.18537480e-02 9.99929738e-01 9.23797591e-05 3.49952277e+01] [ 3.31395539e-03 -1.31671295e-04 9.99994500e-01 7.64101933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.024391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:318.57, Y:35.00, Z:7.64 [[ 9.99939347e-01 -1.08800569e-02 -1.71083464e-03 3.18566189e+02] [ 1.08801551e-02 9.99940808e-01 4.81189091e-05 3.49969385e+01] [ 1.71020983e-03 -6.67301367e-05 9.99998535e-01 7.64177914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.054391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:318.60, Y:35.00, Z:7.64 [[ 9.99942962e-01 -1.06408475e-02 -9.19625927e-04 3.18598265e+02] [ 1.06408761e-02 9.99943384e-01 2.62072321e-05 3.49973670e+01] [ 9.19294994e-04 -3.59913628e-05 9.99999577e-01 7.64204540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.084391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:318.63, Y:35.00, Z:7.64 [[ 9.99943574e-01 -1.06166047e-02 -3.68468814e-04 3.18630544e+02] [ 1.06166094e-02 9.99943642e-01 1.08550168e-05 3.49976195e+01] [ 3.68332804e-04 -1.47662937e-05 9.99999932e-01 7.64221596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.114391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:318.66, Y:35.00, Z:7.64 [[ 9.99939320e-01 -1.10156530e-02 -1.06496869e-04 3.18662043e+02] [ 1.10156534e-02 9.99939326e-01 3.39225531e-06 3.49987077e+01] [ 1.06453040e-04 -4.56518206e-06 9.99999994e-01 7.64318561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.144391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:318.69, Y:35.00, Z:7.64 [[ 9.99936183e-01 -1.12953870e-02 2.08176999e-04 3.18693762e+02] [ 1.12953884e-02 9.99936205e-01 -5.31829028e-06 3.49987766e+01] [-2.08103647e-04 7.66939094e-06 9.99999978e-01 7.64339315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.174391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:318.73, Y:35.00, Z:7.64 [[ 9.99928770e-01 -1.19338824e-02 -1.93002105e-04 3.18726404e+02] [ 1.19338838e-02 9.99928789e-01 5.98065561e-06 3.49988873e+01] [ 1.92916988e-04 -8.28349428e-06 9.99999981e-01 7.64354911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.204391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:318.76, Y:35.00, Z:7.64 [[ 9.99927926e-01 -1.19459638e-02 -1.19865673e-03 3.18757357e+02] [ 1.19460134e-02 9.99928643e-01 3.42690538e-05 3.49992398e+01] [ 1.19816182e-03 -4.85857532e-05 9.99999281e-01 7.64318782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.234391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:318.79, Y:35.00, Z:7.64 [[ 9.99935381e-01 -1.12825766e-02 -1.39162659e-03 3.18789660e+02] [ 1.12826431e-02 9.99936348e-01 3.99576615e-05 3.49989951e+01] [ 1.39108719e-03 -5.56563057e-05 9.99999031e-01 7.64288036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.264391418 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:318.82, Y:35.00, Z:7.64 [[ 9.99948496e-01 -9.98074751e-03 -1.84119726e-03 3.18820806e+02] [ 9.98086138e-03 9.99950189e-01 5.26660619e-05 3.49991538e+01] [ 1.84057990e-03 -7.10400840e-05 9.99998304e-01 7.64267574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.294391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:318.85, Y:35.00, Z:7.64 [[ 9.99984160e-01 -5.11024092e-03 -2.35911535e-03 3.18853020e+02] [ 5.11041489e-03 9.99986939e-01 6.77224206e-05 3.50016097e+01] [ 2.35873846e-03 -7.97774060e-05 9.99997215e-01 7.64306723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.324391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:318.88, Y:35.00, Z:7.64 [[ 9.99996471e-01 -1.64547163e-03 -2.08553594e-03 3.18883843e+02] [ 1.64559942e-03 9.99998644e-01 5.95560600e-05 3.50025280e+01] [ 2.08543511e-03 -6.29878065e-05 9.99997823e-01 7.64290560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.354391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:318.91, Y:35.01, Z:7.65 [[ 9.99992068e-01 3.12143585e-03 -2.47384726e-03 3.18914512e+02] [-3.16032354e-03 9.99868995e-01 -1.58746845e-02 3.50117109e+01] [ 2.42397136e-03 1.58823768e-02 9.99870929e-01 7.64603283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.384391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:318.94, Y:35.00, Z:7.64 [[ 9.99926901e-01 1.20078952e-02 -1.41533129e-03 3.18943567e+02] [-1.19836366e-02 9.99799281e-01 1.60558699e-02 3.49988871e+01] [ 1.60784441e-03 -1.60377354e-02 9.99870095e-01 7.63730052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.414391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:318.97, Y:35.01, Z:7.64 [[ 9.99853737e-01 1.69896215e-02 -1.96410515e-03 3.18972832e+02] [-1.69895454e-02 9.99855666e-01 5.54606345e-05 3.50072814e+01] [ 1.96476392e-03 -2.20832691e-05 9.99998070e-01 7.64314944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:319.00, Y:35.01, Z:7.65 [[ 9.99716199e-01 2.33662446e-02 -4.64118262e-03 3.18999131e+02] [-2.34047232e-02 9.99690638e-01 -8.41702189e-03 3.50120372e+01] [ 4.44307262e-03 8.52325873e-03 9.99953806e-01 7.64649590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.474391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:319.03, Y:35.01, Z:7.64 [[ 9.99542165e-01 3.01673286e-02 -2.32209696e-03 3.19029725e+02] [-3.01467331e-02 9.99509809e-01 8.44491494e-03 3.50060909e+01] [ 2.57571921e-03 -8.37104493e-03 9.99961645e-01 7.63961657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:319.06, Y:35.01, Z:7.64 [[ 9.99429552e-01 3.36512383e-02 -2.85725893e-03 3.19057649e+02] [-3.36511479e-02 9.99433637e-01 7.97481549e-05 3.50104638e+01] [ 2.85832431e-03 1.64473800e-05 9.99995915e-01 7.64259825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.534391418 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:319.09, Y:35.01, Z:7.64 [[ 9.99327774e-01 3.65183987e-02 -3.22598705e-03 3.19085057e+02] [-3.65182998e-02 9.99332980e-01 8.95793665e-05 3.50106562e+01] [ 3.22710654e-03 2.82884133e-05 9.99994792e-01 7.64248766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:319.11, Y:35.01, Z:7.64 [[ 9.99180335e-01 4.03488917e-02 -3.25955996e-03 3.19113154e+02] [-4.03488119e-02 9.99185651e-01 9.02680470e-05 3.50111684e+01] [ 3.26054775e-03 4.13253140e-05 9.99994684e-01 7.64221813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.594391418 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:319.14, Y:35.01, Z:7.64 [[ 9.99156425e-01 4.09068679e-02 -3.61470271e-03 3.19140814e+02] [-4.09067747e-02 9.99162963e-01 9.97452811e-05 3.50107837e+01] [ 3.61575733e-03 4.82046906e-05 9.99993462e-01 7.64226090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624391418 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:319.17, Y:35.01, Z:7.64 [[ 9.99177906e-01 4.03441343e-02 -3.98271564e-03 3.19168165e+02] [-4.03440223e-02 9.99185843e-01 1.08496537e-04 3.50101640e+01] [ 3.98385028e-03 5.22714258e-05 9.99992063e-01 7.64195401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.654391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:319.20, Y:35.01, Z:7.64 [[ 9.99223069e-01 3.92422421e-02 -3.64771101e-03 3.19195816e+02] [-3.92421404e-02 9.99229726e-01 9.94788124e-05 3.50092500e+01] [ 3.64880505e-03 4.37424636e-05 9.99993342e-01 7.64155647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.684391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:319.22, Y:35.01, Z:7.64 [[ 9.99380803e-01 3.49743978e-02 -3.84732511e-03 3.19223710e+02] [-3.49742546e-02 9.99388208e-01 1.04510542e-04 3.50073328e+01] [ 3.84862654e-03 3.01114984e-05 9.99992594e-01 7.64150575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.714391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:319.25, Y:35.01, Z:7.64 [[ 9.99486229e-01 3.17966740e-02 -4.03106447e-03 3.19251912e+02] [-3.17964927e-02 9.99494358e-01 1.09075219e-04 3.50058826e+01] [ 4.03249442e-03 1.91545322e-05 9.99991869e-01 7.64129705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.744391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:319.28, Y:35.00, Z:7.64 [[ 9.99706492e-01 2.38993969e-02 -3.96853741e-03 3.19280270e+02] [-2.38991609e-02 9.99714369e-01 1.06897990e-04 3.50031082e+01] [ 3.96995867e-03 -1.20219006e-05 9.99992120e-01 7.64141729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.774391418 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:319.31, Y:35.00, Z:7.64 [[ 9.99800925e-01 1.96307721e-02 -3.56971401e-03 3.19308230e+02] [-1.96305557e-02 9.99807298e-01 9.56659150e-05 3.50009085e+01] [ 3.57090411e-03 -2.55714008e-05 9.99993624e-01 7.64109152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.804391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:319.34, Y:35.00, Z:7.64 [[ 9.99882233e-01 1.49948471e-02 -3.26717456e-03 3.19335599e+02] [-1.49946431e-02 9.99887570e-01 8.69335538e-05 3.49987862e+01] [ 3.26811079e-03 -3.79331994e-05 9.99994659e-01 7.64072549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.834391418 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:319.36, Y:35.00, Z:7.64 [[ 9.99978266e-01 5.96666043e-03 -2.80471789e-03 3.19363917e+02] [-5.96647559e-03 9.99982198e-01 7.42642236e-05 3.49951056e+01] [ 2.80511107e-03 -5.75283287e-05 9.99996064e-01 7.64084801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.864391418 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:319.39, Y:34.99, Z:7.64 [[ 9.99995809e-01 1.61517778e-03 -2.40280274e-03 3.19391961e+02] [-1.61503008e-03 9.99998694e-01 6.34063847e-05 3.49930901e+01] [ 2.40290201e-03 -5.95255202e-05 9.99997111e-01 7.64082593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.894391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:319.42, Y:34.99, Z:7.64 [[ 9.99994382e-01 -2.65750914e-03 -2.04270933e-03 3.19420484e+02] [ 2.65762451e-03 9.99996467e-01 5.37668388e-05 3.49910440e+01] [ 2.04255923e-03 -5.91952912e-05 9.99997912e-01 7.64058439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.924391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:319.45, Y:34.99, Z:7.64 [[ 9.99946607e-01 -1.01202234e-02 -2.08928937e-03 3.19449438e+02] [ 1.01203619e-02 9.99948786e-01 5.57205080e-05 3.49875281e+01] [ 2.08861846e-03 -7.68618974e-05 9.99997816e-01 7.64019204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.954391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:319.48, Y:34.99, Z:7.64 [[ 9.99909045e-01 -1.32950662e-02 -2.26779517e-03 3.19481683e+02] [ 1.32952388e-02 9.99911613e-01 6.10270939e-05 3.49851684e+01] [ 2.26678336e-03 -9.11724214e-05 9.99997427e-01 7.63995239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:319.51, Y:34.98, Z:7.64 [[ 9.99864728e-01 -1.62830806e-02 -2.32096822e-03 3.19513247e+02] [ 1.62832694e-02 9.99867417e-01 6.24513828e-05 3.49831510e+01] [ 2.31964359e-03 -1.00235886e-04 9.99997305e-01 7.63958088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.014391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:319.55, Y:34.98, Z:7.64 [[ 9.99817408e-01 -1.89326371e-02 -2.58944323e-03 3.19545614e+02] [ 1.89328817e-02 9.99820754e-01 6.99655516e-05 3.49813799e+01] [ 2.58765445e-03 -1.18978399e-04 9.99996645e-01 7.63920831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:319.58, Y:34.98, Z:7.64 [[ 9.99741484e-01 -2.26626133e-02 -1.83607871e-03 3.19577712e+02] [ 2.26627431e-02 9.99743166e-01 4.99117760e-05 3.49788027e+01] [ 1.83447601e-03 -9.15094531e-05 9.99998313e-01 7.63868307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.074391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:319.61, Y:34.98, Z:7.64 [[ 9.99721186e-01 -2.35679206e-02 -1.45053008e-03 3.19610468e+02] [ 2.35680034e-02 9.99722235e-01 3.99860459e-05 3.49774349e+01] [ 1.44918479e-03 -7.41609951e-05 9.99998947e-01 7.63841098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:319.64, Y:34.98, Z:7.64 [[ 9.99710705e-01 -2.40322388e-02 -9.78890383e-04 3.19642940e+02] [ 2.40322769e-02 9.99711183e-01 2.72028411e-05 3.49763660e+01] [ 9.77953917e-04 -5.07199362e-05 9.99999521e-01 7.63821029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.134391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:319.68, Y:34.98, Z:7.64 [[ 9.99717972e-01 -2.37456242e-02 -3.49040103e-04 3.19676048e+02] [ 2.37456292e-02 9.99718033e-01 1.02936099e-05 3.49761833e+01] [ 3.48697256e-04 -1.85788836e-05 9.99999939e-01 7.63804580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:319.71, Y:34.98, Z:7.64 [[ 9.99740329e-01 -2.27855471e-02 -3.04201540e-04 3.19708989e+02] [ 2.27855509e-02 9.99740376e-01 9.12132620e-06 3.49757638e+01] [ 3.03914727e-04 -1.60503573e-05 9.99999954e-01 7.63781710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.194391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:319.74, Y:34.98, Z:7.64 [[ 9.99763338e-01 -2.17498651e-02 -4.58714543e-04 3.19741247e+02] [ 2.17498735e-02 9.99763443e-01 1.32581677e-05 3.49757424e+01] [ 4.58317667e-04 -2.32320133e-05 9.99999895e-01 7.63756804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:319.77, Y:34.98, Z:7.64 [[ 9.99824257e-01 -1.86985021e-02 -1.34953968e-03 3.19774637e+02] [ 1.86985704e-02 9.99825166e-01 3.80119025e-05 3.49768202e+01] [ 1.34859297e-03 -6.32396850e-05 9.99999089e-01 7.63671391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.254391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:319.81, Y:34.98, Z:7.64 [[ 9.99859058e-01 -1.67042469e-02 -1.68278851e-03 3.19806731e+02] [ 1.67043497e-02 9.99860472e-01 4.70742707e-05 3.49770855e+01] [ 1.68176737e-03 -7.51775237e-05 9.99998583e-01 7.63606099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:319.84, Y:34.98, Z:7.64 [[ 9.99891917e-01 -1.45681863e-02 -1.98052086e-03 3.19837733e+02] [ 1.45683256e-02 9.99893875e-01 5.58947982e-05 3.49777505e+01] [ 1.97949639e-03 -8.47416295e-05 9.99998037e-01 7.63557947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.314391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:319.87, Y:34.98, Z:7.64 [[ 9.99955719e-01 -9.33687418e-03 -1.17556125e-03 3.19869778e+02] [ 9.33691975e-03 9.99956409e-01 3.32789444e-05 3.49803929e+01] [ 1.17519929e-03 -4.42535918e-05 9.99999308e-01 7.63535882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344391418 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:319.90, Y:34.98, Z:7.64 [[ 9.99979393e-01 -6.41171153e-03 -3.20850285e-04 3.19902202e+02] [ 6.41171491e-03 9.99979445e-01 9.48807140e-06 3.49816953e+01] [ 3.20782854e-04 -1.15450764e-05 9.99999948e-01 7.63518529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.374391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:319.93, Y:34.98, Z:7.64 [[ 9.99995232e-01 -3.07237804e-03 3.09259234e-04 3.19934336e+02] [ 3.07238071e-03 9.99995280e-01 -8.15244811e-06 3.49830299e+01] [-3.09232727e-04 9.10257135e-06 9.99999952e-01 7.63573355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:319.97, Y:34.99, Z:7.64 [[ 9.99986903e-01 4.36660172e-03 2.66959046e-03 3.19966155e+02] [-4.36641789e-03 9.99990464e-01 -7.46845163e-05 3.49866216e+01] [-2.66989112e-03 6.30269906e-05 9.99996434e-01 7.63629651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.434391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:320.00, Y:34.99, Z:7.64 [[ 9.99956367e-01 8.51827119e-03 3.83445527e-03 3.19996151e+02] [-8.51792081e-03 9.99963716e-01 -1.07699823e-04 3.49879953e+01] [-3.83523356e-03 7.50335375e-05 9.99992643e-01 7.63649213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:320.03, Y:34.99, Z:7.64 [[ 9.99956865e-01 8.45956462e-03 3.83445449e-03 3.20025450e+02] [-8.45921369e-03 9.99964214e-01 -1.07727893e-04 3.49872487e+01] [-3.83522860e-03 7.52867760e-05 9.99992643e-01 7.63630129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.494391418 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:320.05, Y:34.99, Z:7.64 [[ 9.99906046e-01 1.27464070e-02 5.04262281e-03 3.20054882e+02] [-1.27458569e-02 9.99918758e-01 -1.41227916e-04 3.49886267e+01] [-5.04401329e-03 7.69420984e-05 9.99987276e-01 7.63634097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.524391418 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:320.08, Y:34.99, Z:7.64 [[ 9.99840354e-01 1.69116528e-02 5.76743202e-03 3.20082944e+02] [-1.69110037e-02 9.99856986e-01 -1.61304093e-04 3.49901767e+01] [-5.76933512e-03 6.37452769e-05 9.99983355e-01 7.63644618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.554391418 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:320.11, Y:34.99, Z:7.64 [[ 9.99664495e-01 2.46357165e-02 7.99864928e-03 3.20109627e+02] [-2.46347245e-02 9.99696494e-01 -2.22525031e-04 3.49933607e+01] [-8.00170371e-03 2.54058514e-05 9.99967986e-01 7.63665951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.584391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:320.14, Y:34.99, Z:7.64 [[ 9.99574155e-01 2.76866609e-02 9.21722281e-03 3.20138501e+02] [-2.76854850e-02 9.99616651e-01 -2.55171944e-04 3.49940891e+01] [-9.22075425e-03 -1.20003379e-07 9.99957488e-01 7.63660997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.614391418 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:320.17, Y:34.99, Z:7.64 [[ 9.99490880e-01 3.01630441e-02 1.04005668e-02 3.20166546e+02] [-3.01616919e-02 9.99544992e-01 -2.86882413e-04 3.49944517e+01] [-1.04044877e-02 -2.69623346e-05 9.99945871e-01 7.63665495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.644391418 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:320.19, Y:35.00, Z:7.64 [[ 9.99382014e-01 3.31282722e-02 1.17519526e-02 3.20194858e+02] [-3.31267687e-02 9.99451106e-01 -3.22627381e-04 3.49950660e+01] [-1.17561901e-02 -6.68762126e-05 9.99930891e-01 7.63594627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.674391418 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:320.22, Y:34.99, Z:7.64 [[ 9.99368142e-01 3.35396414e-02 1.17647288e-02 3.20222540e+02] [-3.35381801e-02 9.99437385e-01 -3.21541171e-04 3.49945814e+01] [-1.17688942e-02 -7.32295910e-05 9.99930741e-01 7.63573891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.704391418 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:320.25, Y:34.99, Z:7.63 [[ 9.99406284e-01 3.23950708e-02 1.17319924e-02 3.20250030e+02] [-3.23935543e-02 9.99475140e-01 -3.19317035e-04 3.49935073e+01] [-1.17361791e-02 -6.09134825e-05 9.99931127e-01 7.63467833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.734391418 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:320.28, Y:34.99, Z:7.63 [[ 9.99457102e-01 3.08535475e-02 1.15568478e-02 3.20277819e+02] [-3.08519876e-02 9.99523915e-01 -3.13274156e-04 3.49923271e+01] [-1.15610114e-02 -4.34476448e-05 9.99933168e-01 7.63401670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.764391418 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:320.31, Y:34.99, Z:7.63 [[ 9.99511575e-01 2.89885478e-02 1.16737386e-02 3.20305474e+02] [-2.89868447e-02 9.99579743e-01 -3.15101082e-04 3.49911170e+01] [-1.16779670e-02 -2.34376689e-05 9.99931810e-01 7.63337019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.794391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:320.33, Y:34.99, Z:7.63 [[ 9.99609246e-01 2.50962628e-02 1.23098497e-02 3.20332717e+02] [-2.50940896e-02 9.99685039e-01 -3.30988091e-04 3.49886478e+01] [-1.23142791e-02 2.19542845e-05 9.99924176e-01 7.63251615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.824391418 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:320.36, Y:34.99, Z:7.63 [[ 9.99656286e-01 2.30484338e-02 1.24931955e-02 3.20361931e+02] [-2.30460498e-02 9.99734348e-01 -3.34773723e-04 3.49868316e+01] [-1.24975927e-02 4.67398512e-05 9.99921901e-01 7.63219252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.854391418 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:320.39, Y:34.98, Z:7.63 [[ 9.99687171e-01 2.15116474e-02 1.27596979e-02 3.20389690e+02] [-2.15090502e-02 9.99768596e-01 -3.40755827e-04 3.49846206e+01] [-1.27640754e-02 6.62002459e-05 9.99918534e-01 7.63172778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.884391418 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:320.42, Y:34.98, Z:7.63 [[ 9.99744333e-01 1.84571593e-02 1.30614962e-02 3.20419169e+02] [-1.84541892e-02 9.99829646e-01 -3.47890000e-04 3.49813635e+01] [-1.30656922e-02 1.06761733e-04 9.99914635e-01 7.63052768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.914391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:320.45, Y:34.98, Z:7.63 [[ 9.99773327e-01 1.72349434e-02 1.25000767e-02 3.20448616e+02] [-1.72321337e-02 9.99851461e-01 -3.32451964e-04 3.49791663e+01] [-1.25039497e-02 1.16973614e-04 9.99921816e-01 7.63019357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:320.48, Y:34.98, Z:7.63 [[ 9.99797444e-01 1.59935669e-02 1.22178751e-02 3.20478684e+02] [-1.59907958e-02 9.99872086e-01 -3.24469518e-04 3.49769980e+01] [-1.22215017e-02 1.29030249e-04 9.99925306e-01 7.62934842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.974391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:320.51, Y:34.97, Z:7.63 [[ 9.99845436e-01 1.35286676e-02 1.12284792e-02 3.20509110e+02] [-1.35261744e-02 9.99908473e-01 -2.97957902e-04 3.49733685e+01] [-1.12314825e-02 1.46033481e-04 9.99936914e-01 7.62799273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:320.54, Y:34.97, Z:7.63 [[ 9.99866590e-01 1.25342788e-02 1.04734524e-02 3.20539863e+02] [-1.25320551e-02 9.99921432e-01 -2.77922578e-04 3.49706906e+01] [-1.04761131e-02 1.46631618e-04 9.99945113e-01 7.62739759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.034391418 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:320.57, Y:34.97, Z:7.63 [[ 9.99906290e-01 9.86471733e-03 9.49205942e-03 3.20569902e+02] [-9.86277003e-03 9.99951330e-01 -2.51939696e-04 3.49662186e+01] [-9.49408276e-03 1.58298087e-04 9.99954918e-01 7.62584307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064391418 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:320.60, Y:34.96, Z:7.63 [[ 9.99923486e-01 8.72095725e-03 8.77305043e-03 3.20600916e+02] [-8.71924794e-03 9.99961959e-01 -2.33065334e-04 3.49633892e+01] [-8.77474925e-03 1.56553099e-04 9.99961489e-01 7.62514006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.094391418 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:320.63, Y:34.96, Z:7.62 [[ 9.99936094e-01 7.61393329e-03 8.35676077e-03 3.20631097e+02] [-7.61234135e-03 9.99971001e-01 -2.22289577e-04 3.49607433e+01] [-8.35821093e-03 1.58660856e-04 9.99965057e-01 7.62438489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:320.66, Y:34.96, Z:7.62 [[ 9.99945983e-01 7.22181383e-03 7.47510444e-03 3.20662508e+02] [-7.22052645e-03 9.99973912e-01 -1.99196325e-04 3.49575692e+01] [-7.47634799e-03 1.45211376e-04 9.99972041e-01 7.62369994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.154391418 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:320.69, Y:34.95, Z:7.62 [[ 9.99966579e-01 5.41302584e-03 6.12702450e-03 3.20693718e+02] [-5.41211885e-03 9.99985341e-01 -1.64601998e-04 3.49527012e+01] [-6.12782568e-03 1.31436312e-04 9.99981216e-01 7.62220773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.184391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:320.72, Y:34.95, Z:7.62 [[ 9.99975484e-01 4.70237705e-03 5.18836685e-03 3.20723688e+02] [-4.70171665e-03 9.99988937e-01 -1.39475654e-04 3.49497524e+01] [-5.18896532e-03 1.15078004e-04 9.99986531e-01 7.62114100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.214391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:320.75, Y:34.95, Z:7.62 [[ 9.99985212e-01 3.73907451e-03 3.94909282e-03 3.20754544e+02] [-3.73868293e-03 9.99993005e-01 -1.06534873e-04 3.49466935e+01] [-3.94946354e-03 9.17688915e-05 9.99992197e-01 7.62011671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.244391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:320.79, Y:34.94, Z:7.62 [[ 9.99996290e-01 2.04701701e-03 1.79718996e-03 3.20786125e+02] [-2.04693331e-03 9.99997904e-01 -4.84085220e-05 3.49408054e+01] [-1.79728529e-03 4.47296144e-05 9.99998384e-01 7.61787147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.274391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:320.82, Y:34.94, Z:7.62 [[ 9.99999200e-01 1.19973383e-03 4.00290621e-04 3.20816886e+02] [-1.19972959e-03 9.99999280e-01 -1.08402094e-05 3.49374592e+01] [-4.00303339e-04 1.03599603e-05 9.99999920e-01 7.61712756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.304391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:320.85, Y:34.93, Z:7.62 [[ 9.99999585e-01 4.78688533e-04 -7.75496604e-04 3.20847588e+02] [-4.78672390e-04 9.99999885e-01 2.10011056e-05 3.49341902e+01] [ 7.75506568e-04 -2.06298881e-05 9.99999699e-01 7.61616729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.334391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:320.88, Y:34.93, Z:7.62 [[ 9.99996396e-01 -6.67549063e-08 -2.68464225e-03 3.20876687e+02] [ 2.61439830e-07 9.99999997e-01 7.25176382e-05 3.49311968e+01] [ 2.68464224e-03 -7.25180788e-05 9.99996394e-01 7.61535375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.364391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:320.91, Y:34.93, Z:7.61 [[ 9.99984944e-01 -8.27767818e-04 -5.42453928e-03 3.20906530e+02] [ 8.28573734e-04 9.99999646e-01 1.46322812e-04 3.49261030e+01] [ 5.42441624e-03 -1.50815240e-04 9.99985276e-01 7.61389811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.394391418 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:320.93, Y:34.92, Z:7.61 [[ 9.99976049e-01 -7.03098873e-04 -6.88533089e-03 3.20934546e+02] [ 7.04383022e-04 9.99999735e-01 1.84081828e-04 3.49234114e+01] [ 6.88519964e-03 -1.88927329e-04 9.99976279e-01 7.61317829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.424391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:320.96, Y:34.92, Z:7.61 [[ 9.99953402e-01 5.41237440e-05 -9.65350095e-03 3.20962443e+02] [-5.16720456e-05 9.99999966e-01 2.54219100e-04 3.49189953e+01] [ 9.65351439e-03 -2.53708438e-04 9.99953372e-01 7.61265577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.454391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:320.99, Y:34.92, Z:7.61 [[ 9.99950790e-01 5.74200173e-04 -9.90388408e-03 3.20989069e+02] [-5.71646486e-04 9.99999803e-01 2.60675881e-04 3.49167085e+01] [ 9.90403180e-03 -2.55001532e-04 9.99950921e-01 7.61191291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:321.02, Y:34.91, Z:7.61 [[ 9.99941176e-01 1.69719835e-03 -1.07128361e-02 3.21017285e+02] [-1.69432228e-03 9.99998526e-01 2.77539220e-04 3.49144713e+01] [ 1.07132913e-02 -2.59371898e-04 9.99942577e-01 7.61164494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.514391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:321.05, Y:34.91, Z:7.61 [[ 9.99922361e-01 5.28843445e-03 -1.12829523e-02 3.21045131e+02] [-5.28551278e-03 9.99985990e-01 2.88748971e-04 3.49114825e+01] [ 1.12843213e-02 -2.29090364e-04 9.99936304e-01 7.61171524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544391418 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:321.07, Y:34.91, Z:7.61 [[ 9.99908764e-01 7.57862054e-03 -1.11816418e-02 3.21072794e+02] [-7.57589500e-03 9.99971262e-01 2.86087809e-04 3.49100047e+01] [ 1.11834886e-02 -2.01350763e-04 9.99937443e-01 7.61168037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.574391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:321.10, Y:34.91, Z:7.61 [[ 9.99856313e-01 1.27221926e-02 -1.12026598e-02 3.21100586e+02] [-1.27198349e-02 9.99919060e-01 2.81687897e-04 3.49073754e+01] [ 1.12053368e-02 -1.39151439e-04 9.99937209e-01 7.61261543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:321.13, Y:34.91, Z:7.61 [[ 9.99826838e-01 1.50348614e-02 -1.09657317e-02 3.21128974e+02] [-1.50327421e-02 9.99886964e-01 2.75668883e-04 3.49057868e+01] [ 1.09686368e-02 -1.10776131e-04 9.99939837e-01 7.61269786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.634391418 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:321.16, Y:34.90, Z:7.61 [[ 9.99804512e-01 1.67936175e-02 -1.04361086e-02 3.21156680e+02] [-1.67918075e-02 9.99858974e-01 2.61033433e-04 3.49043318e+01] [ 1.04390205e-02 -8.57412779e-05 9.99945508e-01 7.61268807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:321.18, Y:34.90, Z:7.61 [[ 9.99784299e-01 1.82167417e-02 -9.97526189e-03 3.21183966e+02] [-1.82151746e-02 9.99834059e-01 2.47935316e-04 3.49026097e+01] [ 9.97812316e-03 -6.61806988e-05 9.99950215e-01 7.61302435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.694391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:321.21, Y:34.90, Z:7.61 [[ 9.99760606e-01 2.00492770e-02 -8.76113054e-03 3.21211579e+02] [-2.00481475e-02 9.99798992e-01 2.16732326e-04 3.48996859e+01] [ 8.76371481e-03 -4.10360038e-05 9.99961597e-01 7.61368865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:321.24, Y:34.90, Z:7.61 [[ 9.99754481e-01 2.03227802e-02 -8.82966781e-03 3.21239240e+02] [-2.03216528e-02 9.99793470e-01 2.17390709e-04 3.48978769e+01] [ 8.83226221e-03 -3.79038920e-05 9.99960994e-01 7.61402235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.754391418 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:321.27, Y:34.90, Z:7.61 [[ 9.99748668e-01 2.06009424e-02 -8.84320620e-03 3.21266677e+02] [-2.05998318e-02 9.99787777e-01 2.16669315e-04 3.48959698e+01] [ 8.84579307e-03 -3.44462992e-05 9.99960875e-01 7.61430348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:321.29, Y:34.89, Z:7.61 [[ 9.99743176e-01 2.06630621e-02 -9.30698871e-03 3.21293598e+02] [-2.06618473e-02 9.99786496e-01 2.26669012e-04 3.48941114e+01] [ 9.30968530e-03 -3.43112183e-05 9.99956663e-01 7.61417196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.814391418 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:321.32, Y:34.89, Z:7.61 [[ 9.99747384e-01 2.04068943e-02 -9.41947845e-03 3.21320017e+02] [-2.04056504e-02 9.99791757e-01 2.28150306e-04 3.48906846e+01] [ 9.42217275e-03 -3.58820875e-05 9.99955610e-01 7.61437063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844391418 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:321.35, Y:34.89, Z:7.61 [[ 9.99753702e-01 2.01591231e-02 -9.28142811e-03 3.21348234e+02] [-2.01579137e-02 9.99796784e-01 2.23844209e-04 3.48885938e+01] [ 9.28405447e-03 -3.66948506e-05 9.99956902e-01 7.61459563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.874391418 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:321.38, Y:34.89, Z:7.62 [[ 9.99771627e-01 1.92515879e-02 -9.27741248e-03 3.21375258e+02] [-1.92503532e-02 9.99814670e-01 2.22382329e-04 3.48852234e+01] [ 9.27997431e-03 -4.37380761e-05 9.99956939e-01 7.61542068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:321.40, Y:34.88, Z:7.62 [[ 9.99784465e-01 1.84040365e-02 -9.60802204e-03 3.21403579e+02] [-1.84026820e-02 9.99830630e-01 2.29374686e-04 3.48829544e+01] [ 9.61061615e-03 -5.25118730e-05 9.99953816e-01 7.61565945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.934391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:321.43, Y:34.88, Z:7.62 [[ 9.99802705e-01 1.74577530e-02 -9.47511253e-03 3.21431943e+02] [-1.74564045e-02 9.99847600e-01 2.25014414e-04 3.48805581e+01] [ 9.47759677e-03 -5.95686228e-05 9.99955085e-01 7.61512379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964391418 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:321.46, Y:34.88, Z:7.61 [[ 9.99847163e-01 1.48752316e-02 -9.18571044e-03 3.21459747e+02] [-1.48738657e-02 9.99889354e-01 2.17001227e-04 3.48764469e+01] [ 9.18792202e-03 -8.03410380e-05 9.99957787e-01 7.61498114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.994391418 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:321.49, Y:34.87, Z:7.62 [[ 9.99870148e-01 1.33224577e-02 -9.06637116e-03 3.21486327e+02] [-1.33210760e-02 9.99911248e-01 2.12779176e-04 3.48743291e+01] [ 9.06840124e-03 -9.19777278e-05 9.99958877e-01 7.61545020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.024391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:321.51, Y:34.87, Z:7.62 [[ 9.99897276e-01 1.16411916e-02 -8.36178600e-03 3.21514250e+02] [-1.16399655e-02 9.99932234e-01 1.95285689e-04 3.48722074e+01] [ 8.36349272e-03 -9.79347281e-05 9.99965021e-01 7.61555306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.054391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:321.54, Y:34.87, Z:7.62 [[ 9.99927786e-01 9.43023924e-03 -7.44942904e-03 3.21542309e+02] [-9.42921221e-03 9.99955529e-01 1.72977742e-04 3.48683607e+01] [ 7.45072898e-03 -1.02723003e-04 9.99972238e-01 7.61628646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.084391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:321.57, Y:34.87, Z:7.62 [[ 9.99940592e-01 8.03064209e-03 -7.37035736e-03 3.21570418e+02] [-8.02960538e-03 9.99967748e-01 1.70240184e-04 3.48669065e+01] [ 7.37148679e-03 -1.11049009e-04 9.99972824e-01 7.61643819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.114391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:321.60, Y:34.87, Z:7.62 [[ 9.99950162e-01 7.14462416e-03 -6.97338008e-03 3.21597864e+02] [-7.14368081e-03 9.99974471e-01 1.60177620e-04 3.48653466e+01] [ 6.97434646e-03 -1.10354036e-04 9.99975673e-01 7.61645387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.144391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:321.63, Y:34.86, Z:7.62 [[ 9.99959259e-01 5.95167314e-03 -6.78658272e-03 3.21626274e+02] [-5.95075428e-03 9.99982282e-01 1.55578997e-04 3.48639342e+01] [ 6.78738843e-03 -1.15187372e-04 9.99976959e-01 7.61664082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.174391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:321.65, Y:34.86, Z:7.62 [[ 9.99975188e-01 3.68424088e-03 -6.00407514e-03 3.21654044e+02] [-3.68348619e-03 9.99993207e-01 1.36749447e-04 3.48615955e+01] [ 6.00453817e-03 -1.14630126e-04 9.99981966e-01 7.61660356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.204391418 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:321.68, Y:34.86, Z:7.62 [[ 9.99981407e-01 2.25597800e-03 -5.66530370e-03 3.21682833e+02] [-2.25528504e-03 9.99997449e-01 1.28702775e-04 3.48601419e+01] [ 5.66557959e-03 -1.15923508e-04 9.99983944e-01 7.61660875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.234391418 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:321.71, Y:34.86, Z:7.62 [[ 9.99987564e-01 -6.55290935e-04 -4.94391477e-03 3.21710267e+02] [ 6.55850772e-04 9.99999779e-01 1.11617182e-04 3.48580165e+01] [ 4.94384053e-03 -1.14858264e-04 9.99987773e-01 7.61664757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.264391418 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:321.74, Y:34.86, Z:7.62 [[ 9.99987863e-01 -1.80605526e-03 -4.58391769e-03 3.21739539e+02] [ 1.80654726e-03 9.99998363e-01 1.03193443e-04 3.48566476e+01] [ 4.58372381e-03 -1.11473254e-04 9.99989488e-01 7.61672671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.294391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:321.77, Y:34.86, Z:7.62 [[ 9.99985468e-01 -2.85654461e-03 -4.57205814e-03 3.21768195e+02] [ 2.85704439e-03 9.99995913e-01 1.02783485e-04 3.48554166e+01] [ 4.57174585e-03 -1.15844565e-04 9.99989543e-01 7.61693001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.324391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:321.80, Y:34.85, Z:7.62 [[ 9.99984690e-01 -3.11707675e-03 -4.57211398e-03 3.21797434e+02] [ 3.11756787e-03 9.99995135e-01 1.00292839e-04 3.48548566e+01] [ 4.57177911e-03 -1.14545179e-04 9.99989543e-01 7.61673952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.354391418 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:321.83, Y:34.85, Z:7.62 [[ 9.99981481e-01 -4.41356288e-03 -4.19029319e-03 3.21825624e+02] [ 4.41399062e-03 9.99990254e-01 9.28352558e-05 3.48536666e+01] [ 4.18984262e-03 -1.11329451e-04 9.99991216e-01 7.61701066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.384391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:321.86, Y:34.85, Z:7.62 [[ 9.99980955e-01 -4.52996946e-03 -4.19153301e-03 3.21855253e+02] [ 4.53039830e-03 9.99989733e-01 9.28224338e-05 3.48531661e+01] [ 4.19106950e-03 -1.11809980e-04 9.99991211e-01 7.61704717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.414391418 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:321.89, Y:34.85, Z:7.62 [[ 9.99984264e-01 -3.69513313e-03 -4.22117844e-03 3.21885200e+02] [ 3.69556184e-03 9.99993167e-01 9.37647282e-05 3.48524572e+01] [ 4.22080313e-03 -1.09362879e-04 9.99991086e-01 7.61722032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.444391418 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:321.92, Y:34.85, Z:7.62 [[ 9.99988778e-01 -2.53420557e-03 -4.00263172e-03 3.21915085e+02] [ 2.53458001e-03 9.99996784e-01 8.84790660e-05 3.48519644e+01] [ 4.00239462e-03 -9.86230634e-05 9.99991986e-01 7.61732484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.474391418 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:321.94, Y:34.85, Z:7.62 [[ 9.99992395e-01 1.92798379e-03 -3.39005809e-03 3.21943693e+02] [-1.92774206e-03 9.99998139e-01 7.45730386e-05 3.48513512e+01] [ 3.39019555e-03 -6.80373139e-05 9.99994251e-01 7.61770302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.504391418 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:321.97, Y:34.85, Z:7.62 [[ 9.99987614e-01 3.95023454e-03 -3.02790096e-03 3.21972542e+02] [-3.95005785e-03 9.99992196e-01 6.43322567e-05 3.48508440e+01] [ 3.02813146e-03 -5.23710759e-05 9.99995414e-01 7.61791005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.534391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:322.00, Y:34.85, Z:7.62 [[ 9.99980390e-01 5.86215611e-03 -2.20327347e-03 3.22000702e+02] [-5.86207057e-03 9.99982817e-01 4.52805337e-05 3.48504375e+01] [ 2.20350105e-03 -3.23639012e-05 9.99997572e-01 7.61782770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.564391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:322.03, Y:34.85, Z:7.62 [[ 9.99948917e-01 1.00498544e-02 -1.07903515e-03 3.22028101e+02] [-1.00498360e-02 9.99949499e-01 2.24507691e-05 3.48503173e+01] [ 1.07920628e-03 -1.16054959e-05 9.99999418e-01 7.61804000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.594391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:322.06, Y:34.85, Z:7.62 [[ 9.99933825e-01 1.14850104e-02 -6.63815083e-04 3.22056891e+02] [-1.14850039e-02 9.99934045e-01 1.36335958e-05 3.48500835e+01] [ 6.63927883e-04 -6.00877477e-06 9.99999780e-01 7.61764578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.624391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:322.08, Y:34.85, Z:7.62 [[ 9.99922937e-01 1.23978988e-02 -6.41764964e-04 3.22084925e+02] [-1.23978930e-02 9.99923143e-01 1.29732218e-05 3.48497462e+01] [ 6.41876481e-04 -5.01568871e-06 9.99999794e-01 7.61745543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.654391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:322.11, Y:34.85, Z:7.62 [[ 9.99920134e-01 1.25771472e-02 -1.24170567e-03 3.22113101e+02] [-1.25771251e-02 9.99920905e-01 2.55944433e-05 3.48481903e+01] [ 1.24192936e-03 -9.97531169e-06 9.99999229e-01 7.61670752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.684391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:322.14, Y:34.85, Z:7.62 [[ 9.99929384e-01 1.17208609e-02 -1.96184519e-03 3.22141671e+02] [-1.17208033e-02 9.99931308e-01 4.08245006e-05 3.48465650e+01] [ 1.96218892e-03 -1.78272161e-05 9.99998075e-01 7.61607166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.714391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:322.17, Y:34.85, Z:7.62 [[ 9.99947420e-01 1.00626159e-02 -1.97506037e-03 3.22170169e+02] [-1.00625546e-02 9.99949370e-01 4.09537342e-05 3.48451113e+01] [ 1.97537247e-03 -2.10774280e-05 9.99998049e-01 7.61520831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.744391418 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:322.20, Y:34.84, Z:7.62 [[ 9.99963493e-01 8.15731356e-03 -2.54364808e-03 3.22198960e+02] [-8.15720605e-03 9.99966728e-01 5.26381311e-05 3.48438484e+01] [ 2.54399284e-03 -3.18871480e-05 9.99996764e-01 7.61512181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.774391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:322.23, Y:34.84, Z:7.62 [[ 9.99992199e-01 3.46293925e-03 -1.90022459e-03 3.22226240e+02] [-3.46287176e-03 9.99994004e-01 3.88067968e-05 3.48422758e+01] [ 1.90034758e-03 -3.22262600e-05 9.99998194e-01 7.61536543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.804391418 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:322.25, Y:34.84, Z:7.62 [[ 9.99998878e-01 1.17085812e-03 -9.34551495e-04 3.22254997e+02] [-1.17084103e-03 9.99999314e-01 1.88303289e-05 3.48410237e+01] [ 9.34572901e-04 -1.77360966e-05 9.99999563e-01 7.61541672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.834391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:322.28, Y:34.84, Z:7.62 [[ 9.99994927e-01 -3.14267129e-03 5.19030900e-04 3.22284908e+02] [ 3.14267742e-03 9.99995062e-01 -1.09906885e-05 3.48385226e+01] [-5.18993797e-04 1.26217794e-05 9.99999865e-01 7.61572389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.864391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:322.32, Y:34.84, Z:7.62 [[ 9.99985370e-01 -5.28112079e-03 1.17043876e-03 3.22316309e+02] [ 5.28115247e-03 9.99986054e-01 -2.39784173e-05 3.48367542e+01] [-1.17029580e-03 3.01593320e-05 9.99999315e-01 7.61544001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.894391418 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:322.35, Y:34.84, Z:7.61 [[ 9.99970180e-01 -7.55909045e-03 1.58110864e-03 3.22346982e+02] [ 7.55915120e-03 9.99971429e-01 -3.24495535e-05 3.48350463e+01] [-1.58081818e-03 4.44004251e-05 9.99998750e-01 7.61489822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.924391418 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:322.38, Y:34.83, Z:7.61 [[ 9.99930823e-01 -1.15158918e-02 2.39434451e-03 3.22380081e+02] [ 1.15160407e-02 9.99933687e-01 -4.84108902e-05 3.48323613e+01] [-2.39362824e-03 7.59809102e-05 9.99997132e-01 7.61433704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.954391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:322.41, Y:34.83, Z:7.61 [[ 9.99903098e-01 -1.36701073e-02 2.63111617e-03 3.22411757e+02] [ 1.36702998e-02 9.99906556e-01 -5.51938038e-05 3.48308446e+01] [-2.63011580e-03 9.11566021e-05 9.99996537e-01 7.61402602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:322.44, Y:34.83, Z:7.61 [[ 9.99873061e-01 -1.57328645e-02 2.51771041e-03 3.22444415e+02] [ 1.57330478e-02 9.99876227e-01 -5.29848835e-05 3.48291589e+01] [-2.51656518e-03 9.25894159e-05 9.99996829e-01 7.61391543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.014391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:322.48, Y:34.83, Z:7.61 [[ 9.99834270e-01 -1.80630448e-02 2.27120702e-03 3.22476910e+02] [ 1.80632002e-02 9.99836846e-01 -4.79291952e-05 3.48275197e+01] [-2.26997072e-03 8.89465190e-05 9.99997420e-01 7.61348076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:322.51, Y:34.82, Z:7.61 [[ 9.99745248e-01 -2.25006376e-02 1.77779868e-03 3.22510332e+02] [ 2.25007395e-02 9.99746826e-01 -3.73507315e-05 3.48246690e+01] [-1.77650818e-03 7.73430014e-05 9.99998419e-01 7.61297714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.074391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:322.54, Y:34.82, Z:7.61 [[ 9.99694424e-01 -2.46886938e-02 1.23580340e-03 3.22542374e+02] [ 2.46887448e-02 9.99695186e-01 -2.59832125e-05 3.48230793e+01] [-1.23478522e-03 5.64857074e-05 9.99999236e-01 7.61294782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:322.58, Y:34.82, Z:7.61 [[ 9.99591029e-01 -2.85934656e-02 4.33189644e-04 3.22575534e+02] [ 2.85934720e-02 9.99591123e-01 -8.58826539e-06 3.48218140e+01] [-4.32766954e-04 2.09711490e-05 9.99999906e-01 7.61324332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.134391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:322.61, Y:34.82, Z:7.61 [[ 9.99552871e-01 -2.98999094e-02 -2.29628056e-04 3.22607832e+02] [ 2.98999116e-02 9.99552898e-01 6.36092355e-06 3.48209955e+01] [ 2.29335197e-04 -1.32239380e-05 9.99999974e-01 7.61310868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164391418 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:322.64, Y:34.82, Z:7.61 [[ 9.99522051e-01 -3.09102443e-02 -4.76129422e-04 3.22640930e+02] [ 3.09102532e-02 9.99522164e-01 1.12858577e-05 3.48201371e+01] [ 4.75553062e-04 -2.59977446e-05 9.99999887e-01 7.61290316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.194391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:322.67, Y:34.82, Z:7.61 [[ 9.99496962e-01 -3.15794410e-02 -2.92613928e-03 3.22673583e+02] [ 3.15545150e-02 9.99468351e-01 -8.20532678e-03 3.48227306e+01] [ 3.18370324e-03 8.10886628e-03 9.99962054e-01 7.61498490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:322.71, Y:34.81, Z:7.61 [[ 9.99459397e-01 -3.28747105e-02 -4.08849482e-04 3.22706289e+02] [ 3.28769655e-02 9.99425367e-01 8.24874463e-03 3.48141196e+01] [ 1.37439452e-04 -8.25772706e-03 9.99965895e-01 7.60990998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.254391418 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:322.74, Y:34.82, Z:7.61 [[ 9.99459324e-01 -3.28783956e-02 -2.66145352e-04 3.22739400e+02] [ 3.28783985e-02 9.99459359e-01 6.68730058e-06 3.48172367e+01] [ 2.65781595e-04 -1.54341178e-05 9.99999965e-01 7.61180966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:322.77, Y:34.82, Z:7.61 [[ 9.99445225e-01 -3.32751445e-02 -1.41691308e-03 3.22771834e+02] [ 3.32752246e-02 9.99446226e-01 3.29928770e-05 3.48175626e+01] [ 1.41503059e-03 -8.01226745e-05 9.99998996e-01 7.61185189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.314391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:322.80, Y:34.82, Z:7.61 [[ 9.99442724e-01 -3.33094698e-02 -2.17259361e-03 3.22804726e+02] [ 3.33096563e-02 9.99445078e-01 4.96732893e-05 3.48178861e+01] [ 2.16973340e-03 -1.22013954e-04 9.99997639e-01 7.61203100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344391418 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:322.84, Y:34.82, Z:7.61 [[ 9.99435972e-01 -3.34011853e-02 -3.47829008e-03 3.22836844e+02] [ 3.34016629e-02 9.99442006e-01 7.92705735e-05 3.48183874e+01] [ 3.47370148e-03 -1.95406535e-04 9.99993948e-01 7.61200506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.374391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:322.87, Y:34.82, Z:7.61 [[ 9.99418321e-01 -3.38090599e-02 -4.46842166e-03 3.22870082e+02] [ 3.38098543e-02 9.99428278e-01 1.02330830e-04 3.48204032e+01] [ 4.46240725e-03 -2.53347991e-04 9.99990011e-01 7.61219565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404391418 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:322.90, Y:34.82, Z:7.61 [[ 9.99415604e-01 -3.39022489e-02 -4.36895562e-03 3.22903596e+02] [ 3.39030116e-02 9.99425123e-01 1.00607886e-04 3.48208697e+01] [ 4.36303318e-03 -2.48669845e-04 9.99990451e-01 7.61206806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.434391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:322.94, Y:34.82, Z:7.61 [[ 9.99411624e-01 -3.40500815e-02 -4.12279920e-03 3.22935658e+02] [ 3.40507633e-02 9.99420100e-01 9.52635434e-05 3.48215023e+01] [ 4.11716466e-03 -2.35591952e-04 9.99991497e-01 7.61237110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.464391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:322.97, Y:34.82, Z:7.61 [[ 9.99433562e-01 -3.34975256e-02 -3.23579051e-03 3.22967594e+02] [ 3.34979435e-02 9.99438784e-01 7.50288939e-05 3.48240288e+01] [ 3.23146124e-03 -1.83378722e-04 9.99994762e-01 7.61301365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.494391418 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:323.00, Y:34.83, Z:7.61 [[ 9.99464597e-01 -3.26099958e-02 -2.66604962e-03 3.23001143e+02] [ 3.26102781e-02 9.99468142e-01 6.24865204e-05 3.48251306e+01] [ 2.66259397e-03 -1.49393685e-04 9.99996444e-01 7.61304426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.524391418 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:323.03, Y:34.83, Z:7.61 [[ 9.99502451e-01 -3.14786043e-02 -1.98714586e-03 3.23034651e+02] [ 3.14787598e-02 9.99504420e-01 4.70309003e-05 3.48265383e+01] [ 1.98468060e-03 -1.09560387e-04 9.99998025e-01 7.61315024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.554391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:323.07, Y:34.83, Z:7.61 [[ 9.99583418e-01 -2.88439162e-02 -1.00962659e-03 3.23067976e+02] [ 2.88439556e-02 9.99583926e-01 2.44073786e-05 3.48297983e+01] [ 1.00850251e-03 -5.35188356e-05 9.99999490e-01 7.61355467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.584391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:323.10, Y:34.83, Z:7.61 [[ 9.99625992e-01 -2.73382918e-02 -7.02750348e-04 3.23100469e+02] [ 2.73383106e-02 9.99626238e-01 1.71633040e-05 3.48308127e+01] [ 7.02018472e-04 -3.63688921e-05 9.99999753e-01 7.61358261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.614391418 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:323.13, Y:34.83, Z:7.61 [[ 9.99664578e-01 -2.58894943e-02 -6.82779404e-04 3.23133453e+02] [ 2.58895119e-02 9.99664810e-01 1.69046803e-05 3.48316355e+01] [ 6.82112889e-04 -3.45758356e-05 9.99999767e-01 7.61339628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.644391418 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:323.17, Y:34.83, Z:7.61 [[ 9.99716874e-01 -2.37808877e-02 -8.01266486e-04 3.23166763e+02] [ 2.37809112e-02 9.99717194e-01 1.97970610e-05 3.48344261e+01] [ 8.00569091e-04 -3.88463030e-05 9.99999679e-01 7.61346808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.674391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:323.20, Y:34.84, Z:7.61 [[ 9.99735770e-01 -2.29692837e-02 -8.95370471e-04 3.23199067e+02] [ 2.29693132e-02 9.99736170e-01 2.26938617e-05 3.48354701e+01] [ 8.94612984e-04 -4.32539101e-05 9.99999599e-01 7.61357954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.704391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:323.23, Y:34.84, Z:7.61 [[ 9.99752910e-01 -2.22125777e-02 -8.48614957e-04 3.23230677e+02] [ 2.22126036e-02 9.99753269e-01 2.10168800e-05 3.48375606e+01] [ 8.47938739e-04 -3.98616346e-05 9.99999640e-01 7.61418433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.734391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:323.26, Y:34.84, Z:7.61 [[ 9.99753388e-01 -2.21580361e-02 -1.47784935e-03 3.23263316e+02] [ 2.21581137e-02 9.99754478e-01 3.61391944e-05 3.48381174e+01] [ 1.47668573e-03 -6.88766360e-05 9.99998907e-01 7.61410544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.764391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:323.30, Y:34.84, Z:7.61 [[ 9.99759809e-01 -2.18630383e-02 -1.52704300e-03 3.23295450e+02] [ 2.18631209e-02 9.99760973e-01 3.74411405e-05 3.48382359e+01] [ 1.52585941e-03 -7.08180731e-05 9.99998833e-01 7.61390266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.794391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:323.33, Y:34.84, Z:7.61 [[ 9.99759325e-01 -2.18500137e-02 -1.96680274e-03 3.23328032e+02] [ 2.18501509e-02 9.99761256e-01 4.82620787e-05 3.48386191e+01] [ 1.96527865e-03 -9.12253998e-05 9.99998065e-01 7.61356547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.824391418 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:323.36, Y:34.84, Z:7.61 [[ 9.99759814e-01 -2.17886296e-02 -2.36009618e-03 3.23359585e+02] [ 2.17888266e-02 9.99762594e-01 5.78152590e-05 3.48392054e+01] [ 2.35827617e-03 -1.09225099e-04 9.99997213e-01 7.61349851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.854391418 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:323.39, Y:34.84, Z:7.61 [[ 9.99777891e-01 -2.08799713e-02 -2.86271582e-03 3.23392030e+02] [ 2.08802582e-02 9.99781981e-01 7.03721160e-05 3.48411566e+01] [ 2.86062232e-03 -1.30130731e-04 9.99995900e-01 7.61317054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.884391418 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:323.42, Y:34.84, Z:7.61 [[ 9.99798853e-01 -1.98179565e-02 -3.08253726e-03 3.23423811e+02] [ 1.98182849e-02 9.99803596e-01 7.60184153e-05 3.48419202e+01] [ 3.08042530e-03 -1.37093726e-04 9.99995246e-01 7.61300190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.914391418 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:323.45, Y:34.84, Z:7.61 [[ 9.99867641e-01 -1.59366576e-02 -3.27461265e-03 3.23454650e+02] [ 1.59370075e-02 9.99872995e-01 8.07865499e-05 3.48443615e+01] [ 3.27290929e-03 -1.32963383e-04 9.99994635e-01 7.61317696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.944391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:323.49, Y:34.85, Z:7.61 [[ 9.99904499e-01 -1.33787643e-02 -3.46442225e-03 3.23486994e+02] [ 1.33791420e-02 9.99910492e-01 8.58604181e-05 3.48454718e+01] [ 3.46296345e-03 -1.32203216e-04 9.99993995e-01 7.61326564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.974391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:323.52, Y:34.85, Z:7.61 [[ 9.99939787e-01 -1.04763049e-02 -3.26645432e-03 3.23518481e+02] [ 1.04766255e-02 9.99945115e-01 8.10471055e-05 3.48468613e+01] [ 3.26542597e-03 -1.15263644e-04 9.99994662e-01 7.61350290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.004391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:323.55, Y:34.85, Z:7.61 [[ 9.99986436e-01 -4.42512998e-03 -2.74707932e-03 3.23549682e+02] [ 4.42533402e-03 9.99990206e-01 6.82011442e-05 3.48502172e+01] [ 2.74675062e-03 -8.03569627e-05 9.99996224e-01 7.61336657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.034391418 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:323.58, Y:34.85, Z:7.61 [[ 9.99995884e-01 -1.53357210e-03 -2.42502388e-03 3.23580392e+02] [ 1.53372348e-03 9.99998822e-01 6.05645396e-05 3.48513848e+01] [ 2.42492814e-03 -6.42836064e-05 9.99997058e-01 7.61352630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.064391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:323.61, Y:34.85, Z:7.61 [[ 9.99997549e-01 1.27882060e-03 -1.80715997e-03 3.23610466e+02] [-1.27874230e-03 9.99999181e-01 4.44835813e-05 3.48524956e+01] [ 1.80721538e-03 -4.21725804e-05 9.99998366e-01 7.61343239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.094391418 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:323.64, Y:34.85, Z:7.61 [[ 9.99978814e-01 6.48880420e-03 -5.16863573e-04 3.23639498e+02] [-6.48879867e-03 9.99978947e-01 1.23814263e-05 3.48541631e+01] [ 5.16933032e-04 -9.02734029e-06 9.99999866e-01 7.61328494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.124391418 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:323.67, Y:34.85, Z:7.61 [[ 9.99961904e-01 8.71567242e-03 4.76185220e-04 3.23666919e+02] [-8.71566753e-03 9.99962018e-01 -1.23457391e-05 3.48546439e+01] [-4.76274735e-04 8.19499670e-06 9.99999887e-01 7.61261250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.154391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.70, Y:34.85, Z:7.61 [[ 9.99935911e-01 1.12797122e-02 9.70627932e-04 3.23695354e+02] [-1.12796939e-02 9.99936382e-01 -2.43049521e-05 3.48547620e+01] [-9.70840335e-04 1.33550085e-05 9.99999529e-01 7.61246643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.184391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:323.72, Y:34.86, Z:7.61 [[ 9.99880824e-01 1.53701830e-02 1.44780780e-03 3.23723022e+02] [-1.53701470e-02 9.99881872e-01 -3.59869584e-05 3.48568268e+01] [-1.44818990e-03 1.37296509e-05 9.99998951e-01 7.61189165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.214391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:323.75, Y:34.86, Z:7.61 [[ 9.99851188e-01 1.71885168e-02 1.46827669e-03 3.23751743e+02] [-1.71884821e-02 9.99852266e-01 -3.62536029e-05 3.48572258e+01] [-1.46868292e-03 1.10107604e-05 9.99998921e-01 7.61158155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.244391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:323.78, Y:34.86, Z:7.61 [[ 9.99819493e-01 1.89076820e-02 1.86574936e-03 3.23780845e+02] [-1.89076295e-02 9.99821234e-01 -4.57850354e-05 3.48573062e+01] [-1.86628151e-03 1.04998732e-05 9.99998258e-01 7.61109253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.274391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:323.81, Y:34.86, Z:7.61 [[ 9.99820586e-01 1.88498135e-02 1.86575502e-03 3.23810149e+02] [-1.88497613e-02 9.99822326e-01 -4.55521824e-05 3.48566703e+01] [-1.86628217e-03 1.03749730e-05 9.99998258e-01 7.61090305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.304391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:323.84, Y:34.86, Z:7.61 [[ 9.99782995e-01 2.07295590e-02 2.06126958e-03 3.23837884e+02] [-2.07294991e-02 9.99785120e-01 -5.04318717e-05 3.48574857e+01] [-2.06187208e-03 7.69184195e-06 9.99997874e-01 7.61006459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.334391418 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:323.87, Y:34.86, Z:7.61 [[ 9.99779802e-01 2.09216248e-02 1.62279658e-03 3.23865516e+02] [-2.09215881e-02 9.99781119e-01 -3.95751248e-05 3.48572483e+01] [-1.62326936e-03 5.61492883e-06 9.99998682e-01 7.60980831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.364391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:323.89, Y:34.86, Z:7.61 [[ 9.99798463e-01 2.00515776e-02 9.83914750e-04 3.23894314e+02] [-2.00515636e-02 9.99798947e-01 -2.40287520e-05 3.48569478e+01] [-9.84198745e-04 4.29488014e-06 9.99999516e-01 7.60900442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.394391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:323.92, Y:34.86, Z:7.61 [[ 9.99806604e-01 1.96440970e-02 -9.29950444e-04 3.23922554e+02] [-1.96485054e-02 9.99794468e-01 -4.99581751e-03 3.48587637e+01] [ 8.31620986e-04 5.01312347e-03 9.99987088e-01 7.61029545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.424391418 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:323.95, Y:34.85, Z:7.61 [[ 9.99849126e-01 1.73600778e-02 5.94683865e-04 3.23950597e+02] [-1.73628425e-02 9.99836696e-01 5.01122112e-03 3.48534440e+01] [-5.07591563e-04 -5.02079046e-03 9.99987267e-01 7.60633390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.454391418 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:323.98, Y:34.86, Z:7.61 [[ 9.99881558e-01 1.53904328e-02 6.50363723e-05 3.23979696e+02] [-1.53904327e-02 9.99881560e-01 -2.04125089e-06 3.48551499e+01] [-6.50600853e-05 1.04007122e-06 9.99999998e-01 7.60767018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484391418 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:324.01, Y:34.85, Z:7.61 [[ 9.99929856e-01 1.18289751e-02 -5.99167413e-04 3.24007194e+02] [-1.18289692e-02 9.99930035e-01 1.34276889e-05 3.48533673e+01] [ 5.99284328e-04 -6.33921414e-06 9.99999820e-01 7.60698286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.514391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:324.03, Y:34.86, Z:7.61 [[ 9.99942292e-01 1.02441421e-02 -3.23589169e-03 3.24034910e+02] [-1.02691990e-02 9.99916660e-01 -7.82413147e-03 3.48560592e+01] [ 3.15547050e-03 7.85690997e-03 9.99964155e-01 7.60961229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:324.06, Y:34.85, Z:7.60 [[ 9.99966172e-01 8.15962499e-03 -1.03690070e-03 3.24063679e+02] [-8.15127151e-03 9.99936200e-01 7.82007206e-03 3.48476023e+01] [ 1.10064340e-03 -7.81135547e-03 9.99968885e-01 7.60347640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.574391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:324.09, Y:34.85, Z:7.61 [[ 9.99979240e-01 6.22485757e-03 -1.66429745e-03 3.24091959e+02] [-6.22480274e-03 9.99980625e-01 3.81204465e-05 3.48505354e+01] [ 1.66450250e-03 -2.77597318e-05 9.99998614e-01 7.60593657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604391418 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:324.12, Y:34.85, Z:7.61 [[ 9.99993851e-01 2.69898015e-03 -2.23889756e-03 3.24119575e+02] [-2.69887207e-03 9.99996357e-01 5.12904278e-05 3.48499867e+01] [ 2.23902783e-03 -4.52476143e-05 9.99997492e-01 7.60539867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.634391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:324.15, Y:34.85, Z:7.61 [[ 9.99996493e-01 8.27641997e-04 -2.51590543e-03 3.24148125e+02] [-8.27499591e-04 9.99999656e-01 5.76429094e-05 3.48495389e+01] [ 2.51595227e-03 -5.55607965e-05 9.99996833e-01 7.60545277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664391418 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:324.18, Y:34.85, Z:7.61 [[ 9.99990957e-01 -3.16002528e-03 -2.84600476e-03 3.24177483e+02] [ 3.16022416e-03 9.99995004e-01 6.53852664e-05 3.48486958e+01] [ 2.84578393e-03 -7.43786882e-05 9.99995948e-01 7.60526249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.694391418 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:324.21, Y:34.85, Z:7.61 [[ 9.99981658e-01 -5.39017563e-03 -2.76226366e-03 3.24207459e+02] [ 5.39037260e-03 9.99985470e-01 6.38676293e-05 3.48477164e+01] [ 2.76187926e-03 -7.87560882e-05 9.99996183e-01 7.60504731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:324.24, Y:34.85, Z:7.60 [[ 9.99965167e-01 -7.75394254e-03 -3.08890426e-03 3.24237779e+02] [ 7.75419970e-03 9.99969933e-01 7.12866083e-05 3.48466487e+01] [ 3.08825863e-03 -9.52361056e-05 9.99995227e-01 7.60490143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.754391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:324.27, Y:34.85, Z:7.60 [[ 9.99912568e-01 -1.28430408e-02 -3.14833156e-03 3.24268911e+02] [ 1.28433343e-02 9.99917518e-01 7.30228457e-05 3.48450379e+01] [ 3.14713405e-03 -1.13451536e-04 9.99995041e-01 7.60481156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:324.30, Y:34.84, Z:7.60 [[ 9.99879212e-01 -1.52419633e-02 -3.04042049e-03 3.24301292e+02] [ 1.52422497e-02 9.99883828e-01 7.10314157e-05 3.48436988e+01] [ 3.03898462e-03 -1.17365684e-04 9.99995375e-01 7.60434700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.814391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:324.33, Y:34.84, Z:7.60 [[ 9.99840224e-01 -1.77259571e-02 -2.30593916e-03 3.24332318e+02] [ 1.77261287e-02 9.99842878e-01 5.40032495e-05 3.48424849e+01] [ 2.30461959e-03 -9.48699954e-05 9.99997340e-01 7.60403247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844391418 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:324.36, Y:34.84, Z:7.60 [[ 9.99759376e-01 -2.18585458e-02 -1.84239159e-03 3.24364076e+02] [ 2.18586629e-02 9.99761070e-01 4.34842408e-05 3.48409905e+01] [ 1.84100088e-03 -8.37459941e-05 9.99998302e-01 7.60451370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.874391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:324.40, Y:34.84, Z:7.60 [[ 9.99723952e-01 -2.34405158e-02 -1.60082697e-03 3.24396631e+02] [ 2.34406066e-02 9.99725231e-01 3.79713117e-05 3.48397724e+01] [ 1.59949704e-03 -7.54851848e-05 9.99998718e-01 7.60408218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:324.43, Y:34.84, Z:7.60 [[ 9.99685597e-01 -2.49973578e-02 -1.95944886e-03 3.24429562e+02] [ 2.49974975e-02 9.99687513e-01 4.68455154e-05 3.48387299e+01] [ 1.95766554e-03 -9.58121049e-05 9.99998079e-01 7.60383860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.934391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:324.46, Y:34.84, Z:7.60 [[ 9.99620465e-01 -2.74321816e-02 -2.53001721e-03 3.24462499e+02] [ 2.74324226e-02 9.99623658e-01 6.05932877e-05 3.48374643e+01] [ 2.52740285e-03 -1.29974792e-04 9.99996798e-01 7.60373022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.964391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:324.50, Y:34.84, Z:7.60 [[ 9.99607017e-01 -2.78529224e-02 -3.16654152e-03 3.24495660e+02] [ 2.78533026e-02 9.99612019e-01 7.60223830e-05 3.48365424e+01] [ 3.16319552e-03 -1.64191147e-04 9.99994984e-01 7.60359637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.994391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:324.53, Y:34.84, Z:7.60 [[ 9.99596897e-01 -2.81342438e-02 -3.80889296e-03 3.24528876e+02] [ 2.81347970e-02 9.99604134e-01 9.17437918e-05 3.48357249e+01] [ 3.80480400e-03 -1.98869240e-04 9.99992742e-01 7.60354424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.024391418 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:324.56, Y:34.84, Z:7.60 [[ 9.99599599e-01 -2.79895905e-02 -4.15020594e-03 3.24560532e+02] [ 2.79902470e-02 9.99608191e-01 1.00177938e-04 3.48350930e+01] [ 4.14577591e-03 -2.16303115e-04 9.99991383e-01 7.60307480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.054391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:324.59, Y:34.84, Z:7.60 [[ 9.99637262e-01 -2.64300390e-02 -5.17657744e-03 3.24593892e+02] [ 2.64310427e-02 9.99650631e-01 1.25551432e-04 3.48352257e+01] [ 5.17145057e-03 -2.62328229e-04 9.99986594e-01 7.60288774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.084391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:324.63, Y:34.84, Z:7.60 [[ 9.99671230e-01 -2.50763278e-02 -5.34882525e-03 3.24626534e+02] [ 2.50773807e-02 9.99685505e-01 1.29876030e-04 3.48352925e+01] [ 5.34388625e-03 -2.63967858e-04 9.99985686e-01 7.60296803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.114391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:324.66, Y:34.84, Z:7.60 [[ 9.99738711e-01 -2.21510329e-02 -5.64285114e-03 3.24657952e+02] [ 2.21521593e-02 9.99754601e-01 1.37193349e-04 3.48364053e+01] [ 5.63842742e-03 -2.62158839e-04 9.99984070e-01 7.60292130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.144391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:324.69, Y:34.84, Z:7.60 [[ 9.99781742e-01 -2.01317402e-02 -5.58407952e-03 3.24690438e+02] [ 2.01328151e-02 9.99797305e-01 1.36345044e-04 3.48364778e+01] [ 5.58020279e-03 -2.48738526e-04 9.99984400e-01 7.60294542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.174391418 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:324.72, Y:34.84, Z:7.60 [[ 9.99830334e-01 -1.75821357e-02 -5.49287036e-03 3.24722701e+02] [ 1.75831399e-02 9.99845396e-01 1.34577991e-04 3.48371268e+01] [ 5.48965497e-03 -2.31137066e-04 9.99984905e-01 7.60313402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.204391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:324.75, Y:34.84, Z:7.60 [[ 9.99930385e-01 -1.07640057e-02 -4.83341283e-03 3.24754173e+02] [ 1.07647048e-02 9.99942052e-01 1.18643401e-04 3.48398816e+01] [ 4.83185566e-03 -1.70665404e-04 9.99988312e-01 7.60385101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.234391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:324.79, Y:34.84, Z:7.60 [[ 9.99967726e-01 -6.52735163e-03 -4.68400667e-03 3.24785727e+02] [ 6.52796205e-03 9.99978686e-01 1.15044994e-04 3.48408595e+01] [ 4.68315590e-03 -1.45618299e-04 9.99989023e-01 7.60393952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.264391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:324.82, Y:34.84, Z:7.60 [[ 9.99986332e-01 -2.47976476e-03 -4.60291177e-03 3.24815902e+02] [ 2.48031125e-03 9.99996918e-01 1.13022402e-04 3.48420137e+01] [ 4.60261731e-03 -1.24437511e-04 9.99989400e-01 7.60450740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.294391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:324.85, Y:34.84, Z:7.60 [[ 9.99990982e-01 1.68421265e-03 -3.89865673e-03 3.24845631e+02] [-1.68385419e-03 9.99998578e-01 9.52250175e-05 3.48433980e+01] [ 3.89881156e-03 -8.86593892e-05 9.99992396e-01 7.60461132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.324391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:324.87, Y:34.85, Z:7.60 [[ 9.99953743e-01 9.21653582e-03 -2.75088371e-03 3.24874431e+02] [-9.21639238e-03 9.99957526e-01 6.48134131e-05 3.48461231e+01] [ 2.75136422e-03 -3.94571914e-05 9.99996214e-01 7.60487491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.354391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:324.90, Y:34.85, Z:7.60 [[ 9.99917693e-01 1.26187257e-02 -2.31829423e-03 3.24902046e+02] [-1.26186319e-02 9.99920380e-01 5.50849976e-05 3.48467230e+01] [ 2.31880475e-03 -2.58267622e-05 9.99997311e-01 7.60468320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.384391418 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:324.93, Y:34.85, Z:7.60 [[ 9.99838803e-01 1.78792832e-02 -1.64282456e-03 3.24929859e+02] [-1.78792464e-02 9.99840153e-01 3.70359008e-05 3.48483640e+01] [ 1.64322413e-03 -7.65746554e-06 9.99998650e-01 7.60398839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.414391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:324.96, Y:34.85, Z:7.60 [[ 9.99802558e-01 1.97610629e-02 -2.08439605e-03 3.24957147e+02] [-1.97610050e-02 9.99804731e-01 4.83814541e-05 3.48485485e+01] [ 2.08494510e-03 -7.18214074e-06 9.99997826e-01 7.60378845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.444391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:324.98, Y:34.85, Z:7.60 [[ 9.99775641e-01 2.10068808e-02 -2.71630170e-03 3.24984858e+02] [-2.10067868e-02 9.99779331e-01 6.31349254e-05 3.48487352e+01] [ 2.71702857e-03 -6.05998985e-06 9.99996309e-01 7.60336001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.474391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:325.01, Y:34.85, Z:7.60 [[ 9.99720958e-01 2.33756927e-02 -3.40346404e-03 3.25013001e+02] [-2.33755596e-02 9.99726751e-01 7.89027179e-05 3.48494472e+01] [ 3.40437846e-03 6.77175797e-07 9.99994205e-01 7.60285673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.504391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:325.04, Y:34.85, Z:7.60 [[ 9.99681161e-01 2.48400838e-02 -4.53284221e-03 3.25040062e+02] [-2.48398649e-02 9.99691437e-01 1.04607689e-04 3.48495696e+01] [ 4.53404201e-03 8.02085234e-06 9.99989721e-01 7.60304086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.534391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:325.07, Y:34.85, Z:7.60 [[ 9.99611454e-01 2.73159678e-02 -5.54792286e-03 3.25067825e+02] [-2.73156796e-02 9.99626849e-01 1.27712929e-04 3.48492523e+01] [ 5.54934125e-03 2.38819768e-05 9.99984602e-01 7.60264384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.564391418 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:325.10, Y:34.85, Z:7.60 [[ 9.99584307e-01 2.82682207e-02 -5.66753292e-03 3.25095250e+02] [-2.82679401e-02 9.99600374e-01 1.29624589e-04 3.48488053e+01] [ 5.66893228e-03 3.06387763e-05 9.99983931e-01 7.60277626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.594391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:325.12, Y:34.85, Z:7.60 [[ 9.99563258e-01 2.90362803e-02 -5.49426325e-03 3.25123606e+02] [-2.90360314e-02 9.99578358e-01 1.25078755e-04 3.48484613e+01] [ 5.49557845e-03 3.45074723e-05 9.99984899e-01 7.60282434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.624391418 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:325.15, Y:34.85, Z:7.60 [[ 9.99534425e-01 3.01212807e-02 -4.86234440e-03 3.25151743e+02] [-3.01211020e-02 9.99546251e-01 1.10000705e-04 3.48478604e+01] [ 4.86345148e-03 3.65096802e-05 9.99988173e-01 7.60311281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.654391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:325.18, Y:34.85, Z:7.60 [[ 9.99500903e-01 3.14236854e-02 -3.23995473e-03 3.25178281e+02] [-3.14236156e-02 9.99506154e-01 7.24738900e-05 3.48467152e+01] [ 3.24063209e-03 2.93733734e-05 9.99994749e-01 7.60317549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.684391418 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:325.21, Y:34.85, Z:7.60 [[ 9.99502550e-01 3.14474143e-02 -2.39009392e-03 3.25205761e+02] [-3.14473773e-02 9.99505408e-01 5.30833893e-05 3.48457369e+01] [ 2.39058113e-03 2.21052022e-05 9.99997142e-01 7.60305584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.714391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:325.23, Y:34.84, Z:7.60 [[ 9.99512648e-01 3.11501141e-02 -2.03407093e-03 3.25233700e+02] [-3.11500874e-02 9.99514717e-01 4.48337294e-05 3.48446342e+01] [ 2.03448041e-03 1.85496078e-05 9.99997930e-01 7.60327457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.744391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:325.26, Y:34.84, Z:7.60 [[ 9.99567427e-01 2.93829298e-02 -1.26559469e-03 3.25261024e+02] [-2.93829188e-02 9.99568228e-01 2.73297390e-05 3.48419532e+01] [ 1.26585127e-03 9.86894894e-06 9.99999199e-01 7.60293775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.774391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:325.29, Y:34.84, Z:7.60 [[ 9.99616908e-01 2.76430547e-02 -1.37823997e-03 3.25288784e+02] [-2.76430399e-02 9.99617858e-01 2.98114317e-05 3.48401845e+01] [ 1.37853736e-03 8.29873122e-06 9.99999050e-01 7.60253046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.804391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:325.32, Y:34.84, Z:7.60 [[ 9.99714437e-01 2.38324587e-02 -1.74863749e-03 3.25316808e+02] [-2.38324290e-02 9.99715967e-01 3.78196667e-05 3.48366193e+01] [ 1.74904216e-03 3.86541206e-06 9.99998470e-01 7.60170989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.834391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:325.34, Y:34.83, Z:7.60 [[ 9.99762060e-01 2.16767025e-02 -2.43787496e-03 3.25343649e+02] [-2.16766387e-02 9.99765033e-01 5.25726100e-05 3.48344544e+01] [ 2.43844174e-03 2.84833926e-07 9.99997027e-01 7.60165265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.864391418 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:325.37, Y:34.83, Z:7.60 [[ 9.99811561e-01 1.92272094e-02 -2.67514893e-03 3.25371761e+02] [-1.92271236e-02 9.99815140e-01 5.77628490e-05 3.48321102e+01] [ 2.67576502e-03 -6.31654493e-06 9.99996420e-01 7.60089352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.894391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:325.40, Y:34.83, Z:7.60 [[ 9.99849976e-01 1.69765868e-02 -3.43829798e-03 3.25400023e+02] [-1.69764330e-02 9.99855887e-01 7.39143436e-05 3.48295806e+01] [ 3.43905729e-03 -1.55332192e-05 9.99994086e-01 7.60053411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.924391418 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:325.43, Y:34.83, Z:7.60 [[ 9.99904245e-01 1.33519532e-02 -3.63684554e-03 3.25427581e+02] [-1.33517587e-02 9.99910858e-01 7.77694141e-05 3.48251828e+01] [ 3.63755972e-03 -2.92036833e-05 9.99993384e-01 7.59986278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.954391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:325.46, Y:34.82, Z:7.60 [[ 9.99921084e-01 1.20112755e-02 -3.68178689e-03 3.25455498e+02] [-1.20110688e-02 9.99927861e-01 7.82692854e-05 3.48229166e+01] [ 3.68246141e-03 -3.40409131e-05 9.99993219e-01 7.59930994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:325.48, Y:34.82, Z:7.60 [[ 9.99932191e-01 1.10701268e-02 -3.61472012e-03 3.25483762e+02] [-1.10699230e-02 9.99938724e-01 7.63961601e-05 3.48203664e+01] [ 3.61534433e-03 -3.63763064e-05 9.99993464e-01 7.59924472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.014391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:325.51, Y:34.82, Z:7.60 [[ 9.99941448e-01 1.03215052e-02 -3.25059915e-03 3.25512434e+02] [-1.03213367e-02 9.99946731e-01 6.86116285e-05 3.48169340e+01] [ 3.25113417e-03 -3.50570829e-05 9.99994714e-01 7.59942119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044391418 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:325.54, Y:34.81, Z:7.60 [[ 9.99938760e-01 1.07256696e-02 -2.72683638e-03 3.25540003e+02] [-1.07255538e-02 9.99942478e-01 5.70823216e-05 3.48149444e+01] [ 2.72729178e-03 -2.78319956e-05 9.99996281e-01 7.59933188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.074391418 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:325.57, Y:34.81, Z:7.60 [[ 9.99922177e-01 1.22222346e-02 -2.50127802e-03 3.25568182e+02] [-1.22221425e-02 9.99925305e-01 5.20843118e-05 3.48116559e+01] [ 2.50172778e-03 -2.15092820e-05 9.99996870e-01 7.59947661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:325.60, Y:34.81, Z:7.60 [[ 9.99908365e-01 1.33339712e-02 -2.33806424e-03 3.25596493e+02] [-1.33338940e-02 9.99911099e-01 4.85658430e-05 3.48097860e+01] [ 2.33850396e-03 -1.73858918e-05 9.99997266e-01 7.59936139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.134391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:325.62, Y:34.81, Z:7.60 [[ 9.99909692e-01 1.32341247e-02 -2.33807173e-03 3.25624951e+02] [-1.32340482e-02 9.99912425e-01 4.82072580e-05 3.48093006e+01] [ 2.33850495e-03 -1.72607507e-05 9.99997266e-01 7.59918281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:325.65, Y:34.81, Z:7.60 [[ 9.99886304e-01 1.48450583e-02 -2.64642963e-03 3.25652917e+02] [-1.48449664e-02 9.99889806e-01 5.43908188e-05 3.48073907e+01] [ 2.64694544e-03 -1.50984760e-05 9.99996497e-01 7.59905800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.194391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:325.68, Y:34.80, Z:7.60 [[ 9.99828137e-01 1.82095409e-02 -3.47985531e-03 3.25679671e+02] [-1.82094039e-02 9.99834193e-01 7.10336546e-05 3.48042050e+01] [ 3.48057182e-03 -7.65535552e-06 9.99993943e-01 7.59915346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224391418 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:325.71, Y:34.80, Z:7.60 [[ 9.99795334e-01 1.98917664e-02 -3.68876212e-03 3.25707703e+02] [-1.98916250e-02 9.99802139e-01 7.50082898e-05 3.48022625e+01] [ 3.68952430e-03 -1.61746532e-06 9.99993194e-01 7.59869950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.254391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:325.74, Y:34.80, Z:7.60 [[ 9.99762664e-01 2.13177298e-02 -4.49111019e-03 3.25735266e+02] [-2.13175363e-02 9.99772751e-01 9.09504072e-05 3.48003170e+01] [ 4.49202845e-03 4.81058313e-06 9.99989911e-01 7.59873912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284391418 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:325.76, Y:34.80, Z:7.60 [[ 9.99713945e-01 2.33723227e-02 -5.07575245e-03 3.25763487e+02] [-2.33721046e-02 9.99726830e-01 1.02279749e-04 3.47963402e+01] [ 5.07675642e-03 1.63805263e-05 9.99987113e-01 7.59832123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.314391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:325.79, Y:34.79, Z:7.60 [[ 9.99698032e-01 2.39844271e-02 -5.34708616e-03 3.25791901e+02] [-2.39841972e-02 9.99712332e-01 1.07132298e-04 3.47939508e+01] [ 5.34811748e-03 2.11456215e-05 9.99985698e-01 7.59831084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:325.82, Y:34.79, Z:7.60 [[ 9.99696488e-01 2.40965214e-02 -5.12735428e-03 3.25819070e+02] [-2.40963196e-02 9.99709636e-01 1.01143957e-04 3.47917032e+01] [ 5.12830270e-03 2.24371084e-05 9.99986850e-01 7.59790436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.374391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:325.85, Y:34.79, Z:7.60 [[ 9.99696088e-01 2.40853302e-02 -5.25629263e-03 3.25846162e+02] [-2.40851232e-02 9.99709906e-01 1.02683399e-04 3.47896118e+01] [ 5.25724098e-03 2.39462628e-05 9.99986180e-01 7.59822309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404391418 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:325.87, Y:34.79, Z:7.60 [[ 9.99712977e-01 2.35571419e-02 -4.36175277e-03 3.25874516e+02] [-2.35569953e-02 9.99722492e-01 8.49924893e-05 3.47854445e+01] [ 4.36254453e-03 1.77816951e-05 9.99990484e-01 7.59782827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.434391418 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:325.90, Y:34.78, Z:7.60 [[ 9.99732885e-01 2.28003927e-02 -3.78158634e-03 3.25902172e+02] [-2.28002791e-02 9.99740037e-01 7.31440452e-05 3.47829622e+01] [ 3.78227098e-03 1.30967167e-05 9.99992847e-01 7.59743177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.464391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:325.93, Y:34.78, Z:7.60 [[ 9.99765581e-01 2.12876716e-02 -3.95188528e-03 3.25930551e+02] [-2.12875375e-02 9.99773392e-01 7.59883863e-05 3.47788968e+01] [ 3.95260736e-03 8.15533292e-06 9.99992188e-01 7.59781524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.494391418 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:325.96, Y:34.78, Z:7.60 [[ 9.99789749e-01 2.01108343e-02 -4.00157783e-03 3.25957697e+02] [-2.01106901e-02 9.99797757e-01 7.62820622e-05 3.47772689e+01] [ 4.00230263e-03 4.20846779e-06 9.99991991e-01 7.59776754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.524391418 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:325.99, Y:34.78, Z:7.60 [[ 9.99810367e-01 1.90438701e-02 -4.06941553e-03 3.25985327e+02] [-1.90437135e-02 9.99818649e-01 7.72323890e-05 3.47755296e+01] [ 4.07014834e-03 2.79040116e-07 9.99991717e-01 7.59785851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.554391418 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:326.01, Y:34.77, Z:7.60 [[ 9.99868525e-01 1.59008362e-02 -3.17756778e-03 3.26013061e+02] [-1.59007266e-02 9.99873574e-01 5.97704631e-05 3.47725367e+01] [ 3.17811646e-03 -9.23696826e-06 9.99994950e-01 7.59761791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.584391418 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:326.04, Y:34.77, Z:7.60 [[ 9.99885825e-01 1.44088157e-02 -4.55221085e-03 3.26039988e+02] [-1.44397071e-02 9.99872431e-01 -6.82763896e-03 3.47738080e+01] [ 4.45325193e-03 6.89259201e-03 9.99966330e-01 7.59960928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.614391418 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:326.07, Y:34.77, Z:7.60 [[ 9.99939569e-01 1.07588436e-02 -2.25939702e-03 3.26069759e+02] [-1.07430513e-02 9.99918560e-01 6.88913796e-03 3.47655450e+01] [ 2.33333217e-03 -6.86444882e-03 9.99973717e-01 7.59516255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.644391418 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:326.10, Y:34.77, Z:7.60 [[ 9.99970126e-01 7.55103197e-03 -1.65227884e-03 3.26098244e+02] [-7.55099174e-03 9.99971490e-01 3.05858315e-05 3.47668001e+01] [ 1.65246269e-03 -1.81085739e-05 9.99998635e-01 7.59667814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.674391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:326.13, Y:34.76, Z:7.60 [[ 9.99998867e-01 -1.80758888e-04 -1.49465153e-03 3.26126372e+02] [ 1.80800431e-04 9.99999983e-01 2.76595881e-05 3.47632901e+01] [ 1.49464650e-03 -2.79297904e-05 9.99998883e-01 7.59608365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.704391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:326.16, Y:34.76, Z:7.60 [[ 9.99987988e-01 -4.51628242e-03 -1.90470193e-03 3.26156389e+02] [ 4.51635805e-03 9.99989801e-01 3.54068476e-05 3.47612141e+01] [ 1.90452259e-03 -4.40087381e-05 9.99998185e-01 7.59534991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.734391418 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:326.19, Y:34.76, Z:7.59 [[ 9.99958899e-01 -8.83184503e-03 -2.04928896e-03 3.26186508e+02] [ 8.83194215e-03 9.99960997e-01 3.83502523e-05 3.47588576e+01] [ 2.04887032e-03 -5.64478776e-05 9.99997899e-01 7.59490950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.764391418 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:326.22, Y:34.75, Z:7.59 [[ 9.99841079e-01 -1.77392114e-02 -1.77134053e-03 3.26217463e+02] [ 1.77393015e-02 9.99842646e-01 3.51677491e-05 3.47543912e+01] [ 1.77043795e-03 -6.65845039e-05 9.99998431e-01 7.59389122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.794391418 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:326.25, Y:34.75, Z:7.59 [[ 9.99751077e-01 -2.22446918e-02 -1.71964253e-03 3.26249328e+02] [ 2.22447818e-02 9.99752554e-01 3.32289558e-05 3.47522970e+01] [ 1.71847784e-03 -7.14737572e-05 9.99998521e-01 7.59360657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.824391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:326.28, Y:34.75, Z:7.59 [[ 9.99647937e-01 -2.64953712e-02 -1.41362607e-03 3.26281171e+02] [ 2.64954367e-02 9.99648934e-01 2.76558645e-05 3.47502421e+01] [ 1.41239704e-03 -6.51007680e-05 9.99999000e-01 7.59371134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.854391418 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:326.31, Y:34.75, Z:7.59 [[ 9.99417892e-01 -3.41051279e-02 -8.47516959e-04 3.26312996e+02] [ 3.41051544e-02 9.99418250e-01 1.68962725e-05 3.47472831e+01] [ 8.46447666e-04 -4.57911337e-05 9.99999641e-01 7.59337601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.884391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:326.35, Y:34.75, Z:7.59 [[ 9.99315310e-01 -3.69941523e-02 -5.86235378e-04 3.26346421e+02] [ 3.69941657e-02 9.99315482e-01 1.20471858e-05 3.47456773e+01] [ 5.85388414e-04 -3.37262260e-05 9.99999828e-01 7.59303954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.914391418 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:326.38, Y:34.74, Z:7.59 [[ 9.99119000e-01 -4.19553624e-02 -9.85241032e-04 3.26379164e+02] [ 4.19554024e-02 9.99119484e-01 1.99255796e-05 3.47446712e+01] [ 9.83537527e-04 -6.12442091e-05 9.99999514e-01 7.59265818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.944391418 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:326.41, Y:34.74, Z:7.59 [[ 9.99063258e-01 -4.32639854e-02 -9.12900752e-04 3.26412246e+02] [ 4.32640204e-02 9.99063674e-01 1.86507864e-05 3.47438593e+01] [ 9.11239071e-04 -5.81290722e-05 9.99999583e-01 7.59246843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.974391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:326.44, Y:34.74, Z:7.59 [[ 9.99032972e-01 -4.39606724e-02 -7.62175370e-04 3.26444067e+02] [ 4.39606976e-02 9.99033261e-01 1.63479809e-05 3.47434202e+01] [ 7.60719877e-04 -4.98379329e-05 9.99999709e-01 7.59243624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.004391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:326.48, Y:34.74, Z:7.59 [[ 9.99036246e-01 -4.38895496e-02 -5.35295006e-04 3.26477344e+02] [ 4.38895620e-02 9.99036389e-01 1.13924313e-05 3.47445058e+01] [ 5.34279181e-04 -3.48753152e-05 9.99999857e-01 7.59284465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.034391418 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:326.51, Y:34.74, Z:7.59 [[ 9.99081671e-01 -4.28385234e-02 -8.21766420e-04 3.26510699e+02] [ 4.28385520e-02 9.99082008e-01 1.72408477e-05 3.47446066e+01] [ 8.20273472e-04 -5.24282984e-05 9.99999662e-01 7.59280315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.064391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:326.54, Y:34.75, Z:7.59 [[ 9.99126178e-01 -4.17834006e-02 -1.01383378e-03 3.26542865e+02] [ 4.17834442e-02 9.99126690e-01 2.17998001e-05 3.47450584e+01] [ 1.01203752e-03 -6.41422182e-05 9.99999486e-01 7.59294261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.094391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:326.58, Y:34.75, Z:7.59 [[ 9.99191738e-01 -4.01848650e-02 -1.02325933e-03 3.26575684e+02] [ 4.01849081e-02 9.99192260e-01 2.16283086e-05 3.47454990e+01] [ 1.02156367e-03 -6.27304094e-05 9.99999476e-01 7.59275865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.124391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:326.61, Y:34.75, Z:7.59 [[ 9.99333604e-01 -3.64786831e-02 -1.28610435e-03 3.26608133e+02] [ 3.64787490e-02 9.99334429e-01 2.77584487e-05 3.47475589e+01] [ 1.28423577e-03 -7.46554284e-05 9.99999173e-01 7.59308782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.154391418 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:326.64, Y:34.75, Z:7.59 [[ 9.99406584e-01 -3.44181768e-02 -1.36742004e-03 3.26640088e+02] [ 3.44182485e-02 9.99407516e-01 2.89086470e-05 3.47481837e+01] [ 1.36561488e-03 -7.59556947e-05 9.99999065e-01 7.59246768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.184391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:326.67, Y:34.75, Z:7.59 [[ 9.99475529e-01 -3.23482027e-02 -1.50377807e-03 3.26673339e+02] [ 3.23482875e-02 9.99476657e-01 3.20525366e-05 3.47489696e+01] [ 1.50195423e-03 -8.06803711e-05 9.99998869e-01 7.59248535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.214391418 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:326.71, Y:34.75, Z:7.59 [[ 9.99621661e-01 -2.74247173e-02 -2.10230853e-03 3.26706941e+02] [ 2.74248719e-02 9.99623866e-01 4.47578427e-05 3.47524572e+01] [ 2.10029031e-03 -1.02396451e-04 9.99997789e-01 7.59290298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.244391418 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:326.74, Y:34.75, Z:7.59 [[ 9.99689189e-01 -2.48613863e-02 -1.85371050e-03 3.26739562e+02] [ 2.48615027e-02 9.99690904e-01 3.97773197e-05 3.47541386e+01] [ 1.85214861e-03 -8.58509852e-05 9.99998281e-01 7.59284464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.274391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:326.77, Y:34.76, Z:7.59 [[ 9.99755846e-01 -2.20215732e-02 -1.81638056e-03 3.26771793e+02] [ 2.20216801e-02 9.99757493e-01 3.88864430e-05 3.47555417e+01] [ 1.81508373e-03 -7.88767003e-05 9.99998350e-01 7.59308069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.304391418 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:326.80, Y:34.76, Z:7.59 [[ 9.99863476e-01 -1.64745288e-02 -1.27222756e-03 3.26804184e+02] [ 1.64745771e-02 9.99864285e-01 2.74966352e-05 3.47588469e+01] [ 1.27160191e-03 -4.84522923e-05 9.99999190e-01 7.59305796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.334391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:326.84, Y:34.76, Z:7.59 [[ 9.99908839e-01 -1.34602031e-02 -1.06572401e-03 3.26836447e+02] [ 1.34602355e-02 9.99909407e-01 2.32037432e-05 3.47603627e+01] [ 1.06531513e-03 -3.75465240e-05 9.99999432e-01 7.59317647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.364391418 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:326.87, Y:34.77, Z:7.60 [[ 9.99975026e-01 -6.30682466e-03 -3.18917013e-03 3.26867219e+02] [ 6.28607211e-03 9.99959273e-01 -6.47587824e-03 3.47664588e+01] [ 3.22988248e-03 6.45566916e-03 9.99973946e-01 7.59570682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.394391418 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:326.90, Y:34.76, Z:7.59 [[ 9.99989274e-01 -4.35876047e-03 -1.56604552e-03 3.26899270e+02] [ 4.36862186e-03 9.99970297e-01 6.34975154e-03 3.47620667e+01] [ 1.53832196e-03 -6.35652489e-03 9.99978614e-01 7.59161639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.424391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:326.93, Y:34.77, Z:7.60 [[ 9.99993772e-01 4.39118578e-04 -3.50200543e-03 3.26928327e+02] [-4.58645687e-04 9.99984343e-01 -5.57712678e-03 3.47687342e+01] [ 3.49950158e-03 5.57869823e-03 9.99978316e-01 7.59550252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.454391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:326.96, Y:34.77, Z:7.59 [[ 9.99995032e-01 2.55552517e-03 -1.84534646e-03 3.26957065e+02] [-2.54506192e-03 9.99980798e-01 5.65033474e-03 3.47650628e+01] [ 1.85975060e-03 -5.64561015e-03 9.99982334e-01 7.59184352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:326.99, Y:34.77, Z:7.59 [[ 9.99953219e-01 9.44054919e-03 -2.10612171e-03 3.26986123e+02] [-9.44048074e-03 9.99955437e-01 4.24373855e-05 3.47704734e+01] [ 2.10642848e-03 -2.25525988e-05 9.99997781e-01 7.59392320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.514391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:327.01, Y:34.77, Z:7.59 [[ 9.99914837e-01 1.28843065e-02 -2.07692800e-03 3.27014168e+02] [-1.28842460e-02 9.99916994e-01 4.25226328e-05 3.47711073e+01] [ 2.07730348e-03 -1.57593601e-05 9.99997842e-01 7.59391645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:327.04, Y:34.77, Z:7.59 [[ 9.99876506e-01 1.56148423e-02 -1.77469144e-03 3.27041730e+02] [-1.56148030e-02 9.99878081e-01 3.60093328e-05 3.47719269e+01] [ 1.77503735e-03 -8.29342864e-06 9.99998425e-01 7.59405591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.574391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:327.07, Y:34.77, Z:7.59 [[ 9.99795742e-01 2.01979390e-02 -7.19460695e-04 3.27068530e+02] [-2.01979342e-02 9.99796001e-01 1.39369842e-05 3.47732748e+01] [ 7.19595424e-04 5.97482340e-07 9.99999741e-01 7.59431387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:327.10, Y:34.77, Z:7.59 [[ 9.99772106e-01 2.13472648e-02 -1.75706304e-04 3.27096522e+02] [-2.13472646e-02 9.99772121e-01 2.99173019e-06 3.47732718e+01] [ 1.75730130e-04 7.59800580e-07 9.99999985e-01 7.59394584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.634391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:327.12, Y:34.77, Z:7.59 [[ 9.99757872e-01 2.19958344e-02 6.17658689e-04 3.27124138e+02] [-2.19958304e-02 9.99758062e-01 -1.32954623e-05 3.47729712e+01] [-6.17801699e-04 -2.93672654e-07 9.99999809e-01 7.59361302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:327.15, Y:34.77, Z:7.59 [[ 9.99774561e-01 2.11945345e-02 1.27238506e-03 3.27152201e+02] [-2.11945180e-02 9.99775371e-01 -2.64687659e-05 3.47720298e+01] [-1.27266023e-03 -5.04789119e-07 9.99999190e-01 7.59283658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.694391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:327.18, Y:34.77, Z:7.59 [[ 9.99796088e-01 2.01298360e-02 1.60388013e-03 3.27181282e+02] [-2.01298093e-02 9.99797374e-01 -3.28020223e-05 3.47706425e+01] [-1.60421544e-03 5.09532457e-07 9.99998713e-01 7.59254636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:327.21, Y:34.77, Z:7.59 [[ 9.99834703e-01 1.80485458e-02 2.19491609e-03 3.27208582e+02] [-1.80484913e-02 9.99837112e-01 -4.46402768e-05 3.47693968e+01] [-2.19536426e-03 5.01797382e-06 9.99997590e-01 7.59209123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.754391418 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:327.24, Y:34.77, Z:7.59 [[ 9.99913802e-01 1.28219940e-02 2.82573233e-03 3.27237821e+02] [-1.28218844e-02 9.99917795e-01 -5.68972759e-05 3.47666947e+01] [-2.82622958e-03 2.06611582e-05 9.99996006e-01 7.59134511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:327.27, Y:34.76, Z:7.59 [[ 9.99948657e-01 9.70515546e-03 2.91424264e-03 3.27266407e+02] [-9.70502639e-03 9.99952903e-01 -5.84301586e-05 3.47646353e+01] [-2.91467246e-03 3.01443569e-05 9.99995752e-01 7.59101835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.814391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:327.29, Y:34.76, Z:7.59 [[ 9.99976574e-01 6.26398612e-03 2.75942839e-03 3.27294926e+02] [-6.26385818e-03 9.99980380e-01 -5.50034726e-05 3.47621391e+01] [-2.75971879e-03 3.77175160e-05 9.99996191e-01 7.59088387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844391418 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:327.32, Y:34.76, Z:7.59 [[ 9.99995681e-01 -9.05957457e-04 2.79592049e-03 3.27324987e+02] [ 9.06116450e-04 9.99999588e-01 -5.55998413e-05 3.47582835e+01] [-2.79586897e-03 5.81330307e-05 9.99996090e-01 7.59014727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.874391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:327.36, Y:34.76, Z:7.59 [[ 9.99989248e-01 -3.88859019e-03 2.52653605e-03 3.27356197e+02] [ 3.88872665e-03 9.99992438e-01 -4.91001261e-05 3.47559422e+01] [-2.52632601e-03 5.89246063e-05 9.99996807e-01 7.58968652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:327.39, Y:34.75, Z:7.59 [[ 9.99976299e-01 -6.44179554e-03 2.42990311e-03 3.27387948e+02] [ 6.44193065e-03 9.99979249e-01 -4.77801693e-05 3.47534683e+01] [-2.42954490e-03 6.34323043e-05 9.99997047e-01 7.58943746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.934391418 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:327.42, Y:34.75, Z:7.59 [[ 9.99939170e-01 -1.06692111e-02 2.79735198e-03 3.27421429e+02] [ 1.06694090e-02 9.99943079e-01 -5.58142195e-05 3.47493817e+01] [-2.79659725e-03 8.56569166e-05 9.99996086e-01 7.58826233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.964391418 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:327.45, Y:34.75, Z:7.59 [[ 9.99925741e-01 -1.18395382e-02 2.88752422e-03 3.27453580e+02] [ 1.18397589e-02 9.99929906e-01 -5.93471222e-05 3.47470504e+01] [-2.88661918e-03 9.35303058e-05 9.99995829e-01 7.58789229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.994391418 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:327.48, Y:34.75, Z:7.59 [[ 9.99913850e-01 -1.27955695e-02 2.92672890e-03 3.27484711e+02] [ 1.27958012e-02 9.99918129e-01 -6.04595081e-05 3.47452031e+01] [-2.92571567e-03 9.79041407e-05 9.99995715e-01 7.58771824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.024391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:327.52, Y:34.74, Z:7.59 [[ 9.99907436e-01 -1.30551299e-02 3.83188777e-03 3.27517028e+02] [ 1.30555302e-02 9.99914770e-01 -7.94558221e-05 3.47426000e+01] [-3.83052387e-03 1.29475794e-04 9.99992655e-01 7.58713330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.054391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:327.55, Y:34.74, Z:7.59 [[ 9.99914184e-01 -1.24772099e-02 3.99306698e-03 3.27548870e+02] [ 1.24776411e-02 9.99922148e-01 -8.30960363e-05 3.47415457e+01] [-3.99171930e-03 1.32912962e-04 9.99992024e-01 7.58708914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.084391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:327.58, Y:34.74, Z:7.59 [[ 9.99915510e-01 -1.23704876e-02 3.99305900e-03 3.27581564e+02] [ 1.23709195e-02 9.99923474e-01 -8.34772843e-05 3.47407776e+01] [-3.99172077e-03 1.32868043e-04 9.99992024e-01 7.58689095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.114391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:327.61, Y:34.74, Z:7.59 [[ 9.99930436e-01 -1.12719038e-02 3.47377571e-03 3.27613522e+02] [ 1.12722242e-02 9.99936464e-01 -7.26773863e-05 3.47400630e+01] [-3.47273579e-03 1.11829509e-04 9.99993964e-01 7.58713747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.144391418 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:327.65, Y:34.74, Z:7.59 [[ 9.99940294e-01 -1.03810795e-02 3.41192079e-03 3.27645859e+02] [ 1.03813867e-02 9.99946109e-01 -7.23369944e-05 3.47397022e+01] [-3.41098599e-03 1.07753145e-04 9.99994177e-01 7.58677369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.174391418 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:327.68, Y:34.74, Z:7.59 [[ 9.99951631e-01 -9.41040744e-03 2.86012672e-03 3.27678126e+02] [ 9.41061977e-03 9.99955717e-01 -6.07884653e-05 3.47389420e+01] [-2.85942802e-03 8.77010900e-05 9.99995908e-01 7.58621977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.204391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:327.71, Y:34.74, Z:7.58 [[ 9.99966834e-01 -7.89129999e-03 2.01469292e-03 3.27709401e+02] [ 7.89140247e-03 9.99968861e-01 -4.29208802e-05 3.47372321e+01] [-2.01429149e-03 5.88182094e-05 9.99997970e-01 7.58490557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.234391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:327.74, Y:34.74, Z:7.58 [[ 9.99972995e-01 -7.15678569e-03 1.67023168e-03 3.27741078e+02] [ 7.15685499e-03 9.99974389e-01 -3.55202834e-05 3.47360409e+01] [-1.66993470e-03 4.74729301e-05 9.99998605e-01 7.58452313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.264391418 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:327.77, Y:34.74, Z:7.58 [[ 9.99979499e-01 -6.35339634e-03 7.96935815e-04 3.27773211e+02] [ 6.35341171e-03 9.99979817e-01 -1.67554924e-05 3.47353096e+01] [-7.96813276e-04 2.18184102e-05 9.99999682e-01 7.58452811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.294391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:327.80, Y:34.74, Z:7.58 [[ 9.99981818e-01 -6.00889522e-03 5.06819659e-04 3.27804621e+02] [ 6.00890138e-03 9.99981946e-01 -1.06327708e-05 3.47351085e+01] [-5.06746618e-04 1.36780068e-05 9.99999872e-01 7.58436290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.324391418 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:327.84, Y:34.74, Z:7.58 [[ 9.99984692e-01 -5.52494755e-03 3.00456051e-04 3.27836576e+02] [ 5.52494961e-03 9.99984737e-01 -6.05335721e-06 3.47352042e+01] [-3.00418021e-04 7.71326909e-06 9.99999955e-01 7.58465307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.354391418 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:327.87, Y:34.74, Z:7.59 [[ 9.99991546e-01 -4.09742685e-03 -3.46471177e-04 3.27869221e+02] [ 4.09742990e-03 9.99991605e-01 8.07088138e-06 3.47354576e+01] [ 3.46435198e-04 -9.49045450e-06 9.99999940e-01 7.58502394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.384391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:327.90, Y:34.74, Z:7.58 [[ 9.99993861e-01 -3.42977098e-03 -7.16931090e-04 3.27900453e+02] [ 3.42978330e-03 9.99994118e-01 1.59564864e-05 3.47350898e+01] [ 7.16872146e-04 -1.84153068e-05 9.99999743e-01 7.58480173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.414391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:327.93, Y:34.73, Z:7.58 [[ 9.99995348e-01 -2.85057203e-03 -1.08548112e-03 3.27930348e+02] [ 2.85059968e-03 9.99995937e-01 2.39299682e-05 3.47347573e+01] [ 1.08540849e-03 -2.70241290e-05 9.99999411e-01 7.58471992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.444391418 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:327.96, Y:34.74, Z:7.59 [[ 9.99998433e-01 -1.44270922e-03 -1.02593560e-03 3.27960984e+02] [ 1.44273321e-03 9.99998959e-01 2.26423915e-05 3.47356041e+01] [ 1.02590187e-03 -2.41225074e-05 9.99999473e-01 7.58550509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.474391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:327.99, Y:34.74, Z:7.59 [[ 9.99999635e-01 -5.08149539e-04 -6.87072236e-04 3.27991834e+02] [ 5.08160022e-04 9.99999871e-01 1.50831652e-05 3.47357160e+01] [ 6.87064482e-04 -1.54323023e-05 9.99999764e-01 7.58578931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.504391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:328.02, Y:34.74, Z:7.59 [[ 9.99999983e-01 1.81602805e-04 -3.20117330e-05 3.28021668e+02] [-1.81602787e-04 9.99999984e-01 5.82285427e-07 3.47358907e+01] [ 3.20118380e-05 -5.76471991e-07 9.99999999e-01 7.58642196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.534391418 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:328.05, Y:34.74, Z:7.59 [[ 9.99996444e-01 2.04030553e-03 1.71747317e-03 3.28052202e+02] [-2.04024384e-03 9.99997918e-01 -3.76694212e-05 3.47362895e+01] [-1.71754645e-03 3.41652232e-05 9.99998524e-01 7.58709692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.564391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:328.08, Y:34.74, Z:7.59 [[ 9.99992576e-01 3.27600158e-03 2.02850353e-03 3.28082108e+02] [-3.27591823e-03 9.99994633e-01 -4.44097364e-05 3.47359771e+01] [-2.02863813e-03 3.77641951e-05 9.99997942e-01 7.58728286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.594391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:328.11, Y:34.74, Z:7.59 [[ 9.99986679e-01 4.46521710e-03 2.58931202e-03 3.28112664e+02] [-4.46508488e-03 9.99990030e-01 -5.68438142e-05 3.47358090e+01] [-2.58954002e-03 4.52815590e-05 9.99996646e-01 7.58714876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.624391418 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:328.14, Y:34.74, Z:7.59 [[ 9.99975930e-01 6.19969438e-03 3.11486348e-03 3.28142818e+02] [-6.19951145e-03 9.99980781e-01 -6.83813768e-05 3.47354245e+01] [-3.11522756e-03 4.90690991e-05 9.99995146e-01 7.58720252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.654391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:328.17, Y:34.74, Z:7.59 [[ 9.99952696e-01 9.16792440e-03 3.24889041e-03 3.28173563e+02] [-9.16774105e-03 9.99957973e-01 -7.13237035e-05 3.47363098e+01] [-3.24940776e-03 4.15353436e-05 9.99994720e-01 7.58743143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.684391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:328.20, Y:34.74, Z:7.59 [[ 9.99940222e-01 1.05570458e-02 2.84632360e-03 3.28202160e+02] [-1.05569101e-02 9.99944272e-01 -6.26807201e-05 3.47361663e+01] [-2.84682671e-03 3.26285907e-05 9.99995947e-01 7.58705208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.714391418 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:328.23, Y:34.74, Z:7.59 [[ 9.99919251e-01 1.25651118e-02 1.90012346e-03 3.28230346e+02] [-1.25650550e-02 9.99921056e-01 -4.18479209e-05 3.47357641e+01] [-1.90049928e-03 1.79693860e-05 9.99998194e-01 7.58693731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.744391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:328.26, Y:34.74, Z:7.59 [[ 9.99914275e-01 1.29353087e-02 2.02980792e-03 3.28259164e+02] [-1.29352447e-02 9.99916335e-01 -4.46419570e-05 3.47350452e+01] [-2.03021556e-03 1.83820679e-05 9.99997939e-01 7.58682074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.774391418 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:328.29, Y:34.73, Z:7.59 [[ 9.99911859e-01 1.31326376e-02 1.95140056e-03 3.28287094e+02] [-1.31325790e-02 9.99913763e-01 -4.28582268e-05 3.47341250e+01] [-1.95179512e-03 1.72275273e-05 9.99998095e-01 7.58691868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.804391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:328.32, Y:34.73, Z:7.59 [[ 9.99917416e-01 1.26760011e-02 2.11676535e-03 3.28315591e+02] [-1.26759318e-02 9.99919656e-01 -4.61517542e-05 3.47317854e+01] [-2.11718030e-03 1.93159696e-05 9.99997759e-01 7.58687730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.834391418 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:328.34, Y:34.73, Z:7.59 [[ 9.99923862e-01 1.21561854e-02 2.12069934e-03 3.28343469e+02] [-1.21561149e-02 9.99926111e-01 -4.61420349e-05 3.47300963e+01] [-2.12110355e-03 2.03590569e-05 9.99997750e-01 7.58664450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.864391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:328.37, Y:34.73, Z:7.59 [[ 9.99930533e-01 1.15448407e-02 2.37590556e-03 3.28372295e+02] [-1.15447513e-02 9.99933356e-01 -5.13191961e-05 3.47289294e+01] [-2.37633969e-03 2.38863922e-05 9.99997176e-01 7.58656142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.894391418 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:328.40, Y:34.73, Z:7.59 [[ 9.99944784e-01 1.03598594e-02 1.76108262e-03 3.28400177e+02] [-1.03598083e-02 9.99946335e-01 -3.81072865e-05 3.47267358e+01] [-1.76138290e-03 1.98607041e-05 9.99998449e-01 7.58653326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.924391418 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:328.43, Y:34.72, Z:7.59 [[ 9.99951442e-01 9.69287872e-03 1.77806970e-03 3.28429140e+02] [-9.69282612e-03 9.99953023e-01 -3.81983702e-05 3.47249083e+01] [-1.77835642e-03 2.09619949e-05 9.99998419e-01 7.58601765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.954391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:328.46, Y:34.72, Z:7.59 [[ 9.99961744e-01 8.61426114e-03 1.51827519e-03 3.28457318e+02] [-8.61422149e-03 9.99962896e-01 -3.26542394e-05 3.47228326e+01] [-1.51850015e-03 1.95742314e-05 9.99998847e-01 7.58591865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:328.49, Y:34.72, Z:7.59 [[ 9.99972428e-01 7.19599613e-03 1.83323288e-03 3.28485842e+02] [-7.19593667e-03 9.99974108e-01 -3.90314992e-05 3.47207258e+01] [-1.83346629e-03 2.58385953e-05 9.99998319e-01 7.58528014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.014391418 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:328.51, Y:34.72, Z:7.58 [[ 9.99992441e-01 3.35952766e-03 1.95766229e-03 3.28514589e+02] [-3.35945318e-03 9.99994356e-01 -4.13333097e-05 3.47166165e+01] [-1.95779010e-03 3.47563225e-05 9.99998083e-01 7.58466782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044391418 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:328.55, Y:34.71, Z:7.58 [[ 9.99998193e-01 6.92824418e-04 1.77022628e-03 3.28545155e+02] [-6.92759752e-04 9.99999759e-01 -3.71423339e-05 3.47141666e+01] [-1.77025158e-03 3.59159253e-05 9.99998432e-01 7.58446392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.074391418 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:328.58, Y:34.71, Z:7.58 [[ 9.99996591e-01 -2.09922839e-03 1.55286643e-03 3.28576235e+02] [ 2.09928123e-03 9.99997796e-01 -3.24029153e-05 3.47118072e+01] [-1.55279499e-03 3.56627082e-05 9.99998794e-01 7.58437061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104391418 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:328.61, Y:34.71, Z:7.58 [[ 9.99963660e-01 -8.33699266e-03 1.78120563e-03 3.28606958e+02] [ 8.33707062e-03 9.99965245e-01 -3.63477811e-05 3.47074165e+01] [-1.78084070e-03 5.11964974e-05 9.99998413e-01 7.58392863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.134391418 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:328.64, Y:34.70, Z:7.58 [[ 9.99928080e-01 -1.18575400e-02 1.79812317e-03 3.28640012e+02] [ 1.18576271e-02 9.99929695e-01 -3.77618880e-05 3.47044786e+01] [-1.79754899e-03 5.90806461e-05 9.99998383e-01 7.58356035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164391418 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:328.67, Y:34.70, Z:7.58 [[ 9.99878748e-01 -1.54235118e-02 2.14590057e-03 3.28672031e+02] [ 1.54236451e-02 9.99881047e-01 -4.56063714e-05 3.47014079e+01] [-2.14494190e-03 7.86984504e-05 9.99997697e-01 7.58306172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.194391418 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:328.71, Y:34.70, Z:7.58 [[ 9.99747208e-01 -2.22865462e-02 2.97152060e-03 3.28705437e+02] [ 2.22868331e-02 9.99751616e-01 -6.34436542e-05 3.46966157e+01] [-2.96936858e-03 1.29653400e-04 9.99995583e-01 7.58265514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224391418 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:328.74, Y:34.69, Z:7.58 [[ 9.99687885e-01 -2.48754019e-02 2.31214450e-03 3.28738497e+02] [ 2.48755827e-02 9.99690554e-01 -4.94779645e-05 3.46936729e+01] [-2.31019824e-03 1.06978464e-04 9.99997326e-01 7.58073999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.254391418 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:328.77, Y:34.69, Z:7.58 [[ 9.99604455e-01 -2.79040288e-02 3.50696044e-03 3.28771992e+02] [ 2.79044660e-02 9.99610592e-01 -7.57939650e-05 3.46918228e+01] [-3.50347984e-03 1.73623843e-04 9.99993848e-01 7.58232364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:328.80, Y:34.69, Z:7.58 [[ 9.99531126e-01 -3.03993793e-02 3.66147171e-03 3.28804852e+02] [ 3.03998744e-02 9.99537814e-01 -7.96116396e-05 3.46897626e+01] [-3.65735928e-03 1.90882592e-04 9.99993294e-01 7.58224888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.314391418 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:328.84, Y:34.69, Z:7.58 [[ 9.99437999e-01 -3.34001850e-02 2.84854810e-03 3.28836565e+02] [ 3.34004975e-02 9.99442046e-01 -6.21880828e-05 3.46869241e+01] [-2.84488165e-03 1.57296057e-04 9.99995941e-01 7.58129597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:328.87, Y:34.69, Z:7.58 [[ 9.99413421e-01 -3.41473933e-02 2.60164251e-03 3.28869369e+02] [ 3.41476568e-02 9.99416797e-01 -5.69453393e-05 3.46853433e+01] [-2.59818069e-03 1.45751932e-04 9.99996614e-01 7.58079268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.374391418 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:328.90, Y:34.68, Z:7.58 [[ 9.99399893e-01 -3.46039970e-02 1.55469750e-03 3.28902243e+02] [ 3.46040915e-02 9.99401099e-01 -3.39267824e-05 3.46833854e+01] [-1.55259239e-03 8.77053174e-05 9.99998791e-01 7.57983027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:328.93, Y:34.68, Z:7.58 [[ 9.99405510e-01 -3.44377586e-02 1.63318498e-03 3.28934250e+02] [ 3.44378632e-02 9.99406840e-01 -3.59606841e-05 3.46822683e+01] [-1.63097783e-03 9.21827067e-05 9.99998666e-01 7.57965476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.434391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:328.97, Y:34.68, Z:7.58 [[ 9.99418160e-01 -3.40664537e-02 1.67880901e-03 3.28966796e+02] [ 3.40665639e-02 9.99419565e-01 -3.70675537e-05 3.46814665e+01] [-1.67657181e-03 9.42372407e-05 9.99998590e-01 7.57926832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.464391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:329.00, Y:34.68, Z:7.58 [[ 9.99466224e-01 -3.26628418e-02 6.37611156e-04 3.28999602e+02] [ 3.26628572e-02 9.99466426e-01 -1.37039453e-05 3.46810125e+01] [-6.36823334e-04 3.45228326e-05 9.99999797e-01 7.57884274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.494391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:329.03, Y:34.68, Z:7.58 [[ 9.99504683e-01 -3.14686023e-02 -3.40858671e-04 3.29032510e+02] [ 3.14686070e-02 9.99504741e-01 8.46311555e-06 3.46801568e+01] [ 3.40423535e-04 -1.91852712e-05 9.99999942e-01 7.57828771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.524391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:329.07, Y:34.68, Z:7.58 [[ 9.99547610e-01 -3.00573072e-02 -1.06496069e-03 3.29065963e+02] [ 3.00573510e-02 9.99548175e-01 2.51039994e-05 3.46793406e+01] [ 1.06372495e-03 -5.71025398e-05 9.99999433e-01 7.57793590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.554391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:329.10, Y:34.68, Z:7.58 [[ 9.99641415e-01 -2.67069979e-02 -1.94368976e-03 3.29097516e+02] [ 2.67071362e-02 9.99643300e-01 4.52626060e-05 3.46795579e+01] [ 1.94178762e-03 -9.71567627e-05 9.99998110e-01 7.57699166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.584391418 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:329.13, Y:34.68, Z:7.58 [[ 9.99692178e-01 -2.47041573e-02 -2.29201206e-03 3.29129424e+02] [ 2.47043443e-02 9.99694800e-01 5.33181825e-05 3.46798506e+01] [ 2.28999536e-03 -1.09924425e-04 9.99997372e-01 7.57737251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.614391418 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:329.16, Y:34.68, Z:7.58 [[ 9.99750153e-01 -2.22863157e-02 -1.71818575e-03 3.29160398e+02] [ 2.22864174e-02 9.99751626e-01 4.00707988e-05 3.46801905e+01] [ 1.71686597e-03 -7.83529921e-05 9.99998523e-01 7.57715838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.644391418 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:329.19, Y:34.68, Z:7.58 [[ 9.99801939e-01 -1.98464538e-02 -1.48375698e-03 3.29192534e+02] [ 1.98465274e-02 9.99803038e-01 3.48934671e-05 3.46805427e+01] [ 1.48277223e-03 -6.43339796e-05 9.99998899e-01 7.57698450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.674391418 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:329.22, Y:34.68, Z:7.58 [[ 9.99898451e-01 -1.42359731e-02 -6.51014210e-04 3.29224376e+02] [ 1.42359863e-02 9.99898663e-01 1.56402989e-05 3.46822645e+01] [ 6.50725583e-04 -2.49065400e-05 9.99999788e-01 7.57722980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.704391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:329.26, Y:34.68, Z:7.58 [[ 9.99939299e-01 -1.09852531e-02 -8.49782954e-04 3.29255877e+02] [ 1.09852742e-02 9.99939660e-01 2.01903880e-05 3.46827297e+01] [ 8.49509881e-04 -2.95242612e-05 9.99999639e-01 7.57758743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.734391418 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:329.29, Y:34.68, Z:7.58 [[ 9.99969768e-01 -7.74781089e-03 -6.58976530e-04 3.29286862e+02] [ 7.74782296e-03 9.99969985e-01 1.57743972e-05 3.46835577e+01] [ 6.58834534e-04 -2.08795538e-05 9.99999783e-01 7.57763386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.764391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:329.32, Y:34.68, Z:7.58 [[ 9.99990585e-01 -4.28368391e-03 -6.92109787e-04 3.29318672e+02] [ 4.28369651e-03 9.99990825e-01 1.67340438e-05 3.46843610e+01] [ 6.92031753e-04 -1.96986745e-05 9.99999760e-01 7.57762205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.794391418 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:329.35, Y:34.69, Z:7.58 [[ 9.99997236e-01 2.24871860e-03 -6.86868158e-04 3.29349619e+02] [-2.24870787e-03 9.99997472e-01 1.63994703e-05 3.46864781e+01] [ 6.86903298e-04 -1.48548592e-05 9.99999764e-01 7.57746243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.824391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:329.38, Y:34.69, Z:7.58 [[ 9.99985732e-01 5.33226347e-03 -3.20882986e-04 3.29379306e+02] [-5.33226137e-03 9.99985783e-01 7.41370763e-06 3.46874335e+01] [ 3.20917956e-04 -5.70256990e-06 9.99999948e-01 7.57740770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.854391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:329.41, Y:34.69, Z:7.58 [[ 9.99940200e-01 1.09360464e-02 1.04639207e-05 3.29407735e+02] [-1.09360463e-02 9.99940200e-01 -1.94019624e-06 3.46900093e+01] [-1.04845132e-05 1.82564630e-06 1.00000000e+00 7.57795936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.884391418 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:329.44, Y:34.69, Z:7.58 [[ 9.99910277e-01 1.33938602e-02 2.07676693e-04 3.29436332e+02] [-1.33938594e-02 9.99910298e-01 -5.29005382e-06 3.46907664e+01] [-2.07728918e-04 2.50798676e-06 9.99999978e-01 7.57775049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.914391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:329.46, Y:34.69, Z:7.58 [[ 9.99880150e-01 1.54809302e-02 1.62500785e-04 3.29464861e+02] [-1.54809297e-02 9.99880163e-01 -4.23476318e-06 3.46912695e+01] [-1.62546870e-04 1.71859242e-06 9.99999987e-01 7.57771525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.944391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:329.49, Y:34.69, Z:7.58 [[ 9.99881083e-01 1.54205386e-02 1.62503849e-04 3.29494167e+02] [-1.54205381e-02 9.99881096e-01 -4.10232854e-06 3.46906671e+01] [-1.62547787e-04 1.59594391e-06 9.99999987e-01 7.57753731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.974391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:329.52, Y:34.69, Z:7.58 [[ 9.99852224e-01 1.71909703e-02 -1.59644548e-05 3.29521911e+02] [-1.71909703e-02 9.99852224e-01 -2.40155924e-07 3.46911532e+01] [ 1.59579670e-05 5.14564911e-07 1.00000000e+00 7.57749180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.004391418 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:329.55, Y:34.69, Z:7.58 [[ 9.99806188e-01 1.96861958e-02 2.02102146e-04 3.29550318e+02] [-1.96861952e-02 9.99806208e-01 -5.11288368e-06 3.46925553e+01] [-2.02163633e-04 1.13327046e-06 9.99999980e-01 7.57715734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.034391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:329.58, Y:34.69, Z:7.58 [[ 9.99798115e-01 2.00893515e-02 3.83100055e-04 3.29577827e+02] [-2.00893494e-02 9.99798189e-01 -9.32110775e-06 3.46926496e+01] [-3.83209996e-04 1.62299509e-06 9.99999927e-01 7.57675832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.064391418 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:329.61, Y:34.69, Z:7.58 [[ 9.99797401e-01 2.00926693e-02 1.20082801e-03 3.29605595e+02] [-2.00926505e-02 9.99798122e-01 -2.77555096e-05 3.46924647e+01] [-1.20114327e-03 3.62206901e-06 9.99999279e-01 7.57674121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.094391418 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:329.63, Y:34.69, Z:7.58 [[ 9.99810925e-01 1.93815489e-02 1.57164226e-03 3.29633136e+02] [-1.93815163e-02 9.99812160e-01 -3.59603329e-05 3.46918943e+01] [-1.57204401e-03 5.49272349e-06 9.99998764e-01 7.57686337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.124391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:329.66, Y:34.69, Z:7.58 [[ 9.99833348e-01 1.81615216e-02 1.85369654e-03 3.29661578e+02] [-1.81614748e-02 9.99835066e-01 -4.20618979e-05 3.46912237e+01] [-1.85415472e-03 8.38902510e-06 9.99998281e-01 7.57647372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.154391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:329.69, Y:34.69, Z:7.58 [[ 9.99853276e-01 1.69769798e-02 2.28234339e-03 3.29690180e+02] [-1.69769065e-02 9.99855881e-01 -5.14870458e-05 3.46904096e+01] [-2.28288856e-03 1.27323610e-05 9.99997394e-01 7.57620573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.184391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:329.72, Y:34.69, Z:7.58 [[ 9.99911148e-01 1.31480296e-02 2.19662018e-03 3.29718085e+02] [-1.31479526e-02 9.99913561e-01 -4.94983687e-05 3.46892337e+01] [-2.19708111e-03 2.06129127e-05 9.99997586e-01 7.57608065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.214391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:329.75, Y:34.69, Z:7.58 [[ 9.99940802e-01 1.06781072e-02 2.09047723e-03 3.29747190e+02] [-1.06780327e-02 9.99942987e-01 -4.68027325e-05 3.46881406e+01] [-2.09085781e-03 2.44777777e-05 9.99997814e-01 7.57554347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.244391418 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:329.78, Y:34.69, Z:7.57 [[ 9.99968180e-01 7.76455872e-03 1.83068187e-03 3.29775924e+02] [-7.76449685e-03 9.99969855e-01 -4.08957241e-05 3.46866909e+01] [-1.83094422e-03 2.66800992e-05 9.99998323e-01 7.57485321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.274391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:329.80, Y:34.68, Z:7.57 [[ 9.99998552e-01 1.28913357e-03 1.11078482e-03 3.29804559e+02] [-1.28910690e-03 9.99999169e-01 -2.47269931e-05 3.46841017e+01] [-1.11081577e-03 2.32950369e-05 9.99999383e-01 7.57398490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.304391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:329.83, Y:34.68, Z:7.57 [[ 9.99996948e-01 -2.23863520e-03 1.04516228e-03 3.29834786e+02] [ 2.23866000e-03 9.99997494e-01 -2.25577365e-05 3.46825091e+01] [-1.04510916e-03 2.48974306e-05 9.99999454e-01 7.57339602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.334391418 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:329.87, Y:34.68, Z:7.57 [[ 9.99982562e-01 -5.84063395e-03 8.72902227e-04 3.29866089e+02] [ 5.84065285e-03 9.99982943e-01 -1.91035801e-05 3.46807638e+01] [-8.72775761e-04 2.42015658e-05 9.99999619e-01 7.57287202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.364391418 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:329.90, Y:34.68, Z:7.57 [[ 9.99958635e-01 -9.01674997e-03 1.19405274e-03 3.29897833e+02] [ 9.01678638e-03 9.99959348e-01 -2.51202454e-05 3.46790125e+01] [-1.19377769e-03 3.58857248e-05 9.99999287e-01 7.57279531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.394391418 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:329.93, Y:34.68, Z:7.57 [[ 9.99885507e-01 -1.50835482e-02 1.20815149e-03 3.29929528e+02] [ 1.50835903e-02 9.99886236e-01 -2.56817418e-05 3.46773746e+01] [-1.20762667e-03 4.39020634e-05 9.99999270e-01 7.57227080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.424391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:329.96, Y:34.68, Z:7.57 [[ 9.99844753e-01 -1.75548117e-02 1.51625638e-03 3.29961298e+02] [ 1.75548836e-02 9.99845901e-01 -3.41088619e-05 3.46762587e+01] [-1.51542395e-03 6.07212708e-05 9.99998850e-01 7.57204585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.454391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:329.99, Y:34.68, Z:7.57 [[ 9.99804470e-01 -1.97025845e-02 1.68248037e-03 3.29994030e+02] [ 1.97026760e-02 9.99805883e-01 -3.78569000e-05 3.46751790e+01] [-1.68140790e-03 7.09988635e-05 9.99998584e-01 7.57161532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:330.03, Y:34.67, Z:7.57 [[ 9.99718441e-01 -2.36319604e-02 2.13746091e-03 3.30025855e+02] [ 2.36321182e-02 9.99720721e-01 -4.86146362e-05 3.46744284e+01] [-2.13571511e-03 9.91136774e-05 9.99997714e-01 7.57147750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.514391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:330.06, Y:34.67, Z:7.57 [[ 9.99679576e-01 -2.52093383e-02 2.28803478e-03 3.30059111e+02] [ 2.52095237e-02 9.99682188e-01 -5.22331336e-05 3.46738442e+01] [-2.28599085e-03 1.09896664e-04 9.99997381e-01 7.57121756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:330.09, Y:34.67, Z:7.57 [[ 9.99652174e-01 -2.62562943e-02 2.47747683e-03 3.30091319e+02] [ 2.62565152e-02 9.99655237e-01 -5.66560077e-05 3.46730962e+01] [-2.47513511e-03 1.21686209e-04 9.99996929e-01 7.57095853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.574391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:330.12, Y:34.67, Z:7.57 [[ 9.99583564e-01 -2.87321191e-02 2.67646499e-03 3.30122932e+02] [ 2.87323872e-02 9.99587138e-01 -6.17755804e-05 3.46739275e+01] [-2.67358504e-03 1.38651083e-04 9.99996416e-01 7.57153661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604391418 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:330.15, Y:34.67, Z:7.57 [[ 9.99551264e-01 -2.98377906e-02 2.64135739e-03 3.30154898e+02] [ 2.98380577e-02 9.99554744e-01 -6.17605095e-05 3.46740352e+01] [-2.63833852e-03 1.40545770e-04 9.99996510e-01 7.57139252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.634391418 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:330.19, Y:34.67, Z:7.57 [[ 9.99521817e-01 -3.07971902e-02 2.76960550e-03 3.30186581e+02] [ 3.07974883e-02 9.99525643e-01 -6.50476522e-05 3.46740782e+01] [-2.76628844e-03 1.50313441e-04 9.99996163e-01 7.57114041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:330.22, Y:34.68, Z:7.57 [[ 9.99463066e-01 -3.26822308e-02 2.33475502e-03 3.30218726e+02] [ 3.26824481e-02 9.99465785e-01 -5.49651481e-05 3.46750299e+01] [-2.33171137e-03 1.31241145e-04 9.99997273e-01 7.57098385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.694391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:330.25, Y:34.68, Z:7.57 [[ 9.99436563e-01 -3.35257060e-02 1.60717037e-03 3.30252041e+02] [ 3.35258099e-02 9.99437851e-01 -3.77344891e-05 3.46751585e+01] [-1.60500183e-03 9.15949165e-05 9.99998708e-01 7.57102015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:330.29, Y:34.67, Z:7.57 [[ 9.99413555e-01 -3.42135674e-02 1.40645807e-03 3.30285420e+02] [ 3.42136477e-02 9.99414541e-01 -3.30952502e-05 3.46749803e+01] [-1.40450234e-03 8.11959025e-05 9.99999010e-01 7.57048428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.754391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:330.32, Y:34.68, Z:7.57 [[ 9.99368404e-01 -3.55356463e-02 1.05805074e-04 3.30318439e+02] [ 3.55356467e-02 9.99368409e-01 -1.80742112e-06 3.46764045e+01] [-1.05674021e-04 5.56613131e-06 9.99999994e-01 7.57054113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784391418 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:330.35, Y:34.68, Z:7.57 [[ 9.99359910e-01 -3.57685462e-02 -6.18328530e-04 3.30350631e+02] [ 3.57685627e-02 9.99360100e-01 1.55911218e-05 3.46772277e+01] [ 6.17375190e-04 -3.76978648e-05 9.99999809e-01 7.57033885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.814391418 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:330.38, Y:34.68, Z:7.57 [[ 9.99395160e-01 -3.44845952e-02 -4.48619460e-03 3.30382815e+02] [ 3.44389260e-02 9.99357894e-01 -9.88733653e-03 3.46828747e+01] [ 4.82427479e-03 9.72685656e-03 9.99941056e-01 7.57401661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844391418 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:330.41, Y:34.67, Z:7.57 [[ 9.99428353e-01 -3.37852116e-02 -1.23576526e-03 3.30414372e+02] [ 3.37959747e-02 9.99377871e-01 1.00847868e-02 3.46742639e+01] [ 8.94279803e-04 -1.01207857e-02 9.99948384e-01 7.56783870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.874391418 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:330.45, Y:34.68, Z:7.57 [[ 9.99569814e-01 -2.93246848e-02 -4.99557808e-04 3.30447281e+02] [ 2.93246950e-02 9.99569939e-01 1.30554070e-05 3.46822022e+01] [ 4.98960121e-04 -2.76991711e-05 9.99999875e-01 7.57123840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904391418 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:330.48, Y:34.68, Z:7.57 [[ 9.99654762e-01 -2.62739370e-02 1.93584534e-04 3.30480314e+02] [ 2.62739383e-02 9.99654780e-01 -4.06712653e-06 3.46841821e+01] [-1.93410846e-04 9.15195052e-06 9.99999981e-01 7.57152834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.934391418 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:330.51, Y:34.69, Z:7.57 [[ 9.99827069e-01 -1.85026590e-02 1.86660503e-03 3.30512839e+02] [ 1.85027763e-02 9.99828808e-01 -4.55768795e-05 3.46894953e+01] [-1.86544219e-03 8.01063730e-05 9.99998257e-01 7.57290141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.964391418 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:330.55, Y:34.69, Z:7.57 [[ 9.99890818e-01 -1.45866658e-02 2.36262380e-03 3.30545670e+02] [ 1.45868452e-02 9.99893605e-01 -5.87243270e-05 3.46917542e+01] [-2.36151583e-03 9.31811429e-05 9.99997207e-01 7.57315441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.994391418 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:330.58, Y:34.69, Z:7.57 [[ 9.99943051e-01 -1.02708732e-02 2.89898252e-03 3.30577550e+02] [ 1.02711270e-02 9.99947248e-01 -7.26987611e-05 3.46934646e+01] [-2.89808292e-03 1.02470439e-04 9.99995795e-01 7.57348924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.024391418 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:330.61, Y:34.70, Z:7.57 [[ 9.99972454e-01 -6.68292067e-03 3.22937914e-03 3.30609834e+02] [ 6.68321802e-03 9.99977664e-01 -8.12952497e-05 3.46954460e+01] [-3.22876371e-03 1.02875655e-04 9.99994782e-01 7.57328199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.054391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.64, Y:34.70, Z:7.57 [[ 9.99995228e-01 4.12730257e-04 3.06171526e-03 3.30642495e+02] [-4.12495556e-04 9.99999912e-01 -7.72876001e-05 3.46992157e+01] [-3.06174689e-03 7.60242873e-05 9.99995310e-01 7.57323989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.084391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:330.67, Y:34.70, Z:7.57 [[ 9.99989116e-01 3.50600978e-03 3.07825667e-03 3.30673881e+02] [-3.50578622e-03 9.99993852e-01 -7.80172104e-05 3.47005761e+01] [-3.07851127e-03 6.72246515e-05 9.99995259e-01 7.57272100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.114391418 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:330.70, Y:34.70, Z:7.57 [[ 9.99975687e-01 6.35327166e-03 2.87410742e-03 3.30704585e+02] [-6.35308756e-03 9.99979816e-01 -7.31820148e-05 3.47018452e+01] [-2.87451435e-03 5.49207795e-05 9.99995867e-01 7.57280022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.144391418 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:330.73, Y:34.70, Z:7.57 [[ 9.99957285e-01 8.86254054e-03 2.62383438e-03 3.30734718e+02] [-8.86239540e-03 9.99960726e-01 -6.69394158e-05 3.47030216e+01] [-2.62432458e-03 4.36830987e-05 9.99996556e-01 7.57291748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.174391418 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:330.76, Y:34.71, Z:7.57 [[ 9.99910916e-01 1.31369420e-02 2.36234586e-03 3.30763928e+02] [-1.31368343e-02 9.99913706e-01 -6.11174641e-05 3.47060898e+01] [-2.36294490e-03 3.00782734e-05 9.99997208e-01 7.57290422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.204391418 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:330.79, Y:34.71, Z:7.57 [[ 9.99876931e-01 1.55717008e-02 1.90902272e-03 3.30792929e+02] [-1.55716369e-02 9.99878754e-01 -4.83283368e-05 3.47068247e+01] [-1.90954381e-03 1.85957805e-05 9.99998177e-01 7.57274900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.234391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:330.82, Y:34.71, Z:7.57 [[ 9.99847670e-01 1.73752267e-02 1.65505647e-03 3.30820993e+02] [-1.73751812e-02 9.99849039e-01 -4.19151835e-05 3.47073216e+01] [-1.65553491e-03 1.31518925e-05 9.99998630e-01 7.57237296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.264391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:330.85, Y:34.71, Z:7.57 [[ 9.99768523e-01 2.15004344e-02 7.94700149e-04 3.30849992e+02] [-2.15004251e-02 9.99768839e-01 -2.02565792e-05 3.47083417e+01] [-7.94951971e-04 3.16549924e-06 9.99999684e-01 7.57152968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.294391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:330.88, Y:34.71, Z:7.57 [[ 9.99736495e-01 2.29533209e-02 2.93181432e-04 3.30878198e+02] [-2.29533196e-02 9.99736538e-01 -7.99213001e-06 3.47088185e+01] [-2.93287636e-04 1.26053695e-06 9.99999957e-01 7.57117590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.324391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:330.91, Y:34.71, Z:7.57 [[ 9.99664408e-01 2.59009879e-02 4.59575143e-04 3.30906252e+02] [-2.59009851e-02 9.99664513e-01 -1.20490481e-05 3.47097782e+01] [-4.59733044e-04 1.41555634e-07 9.99999894e-01 7.57045233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.354391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:330.93, Y:34.71, Z:7.57 [[ 9.99642178e-01 2.67478893e-02 2.57609657e-04 3.30934495e+02] [-2.67478884e-02 9.99642211e-01 -7.04821032e-06 3.47099046e+01] [-2.57706012e-04 1.55173969e-07 9.99999967e-01 7.57050252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.384391418 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:330.96, Y:34.71, Z:7.57 [[ 9.99626440e-01 2.73212409e-02 7.28456693e-04 3.30961729e+02] [-2.73212345e-02 9.99626705e-01 -1.86011083e-05 3.47100261e+01] [-7.28692970e-04 -1.30817652e-06 9.99999735e-01 7.57052769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.414391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:330.99, Y:34.71, Z:7.57 [[ 9.99643884e-01 2.66142557e-02 1.94597165e-03 3.30989603e+02] [-2.66142128e-02 9.99645778e-01 -4.79269988e-05 3.47105313e+01] [-1.94655789e-03 -3.88057244e-06 9.99998105e-01 7.57019664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.444391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:331.02, Y:34.71, Z:7.57 [[ 9.99672470e-01 2.55108818e-02 2.03669313e-03 3.31017898e+02] [-2.55108331e-02 9.99674545e-01 -4.98814099e-05 3.47099718e+01] [-2.03730280e-03 -2.09266629e-06 9.99997925e-01 7.57033627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.474391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:331.04, Y:34.71, Z:7.57 [[ 9.99710937e-01 2.38885511e-02 2.71636863e-03 3.31044602e+02] [-2.38884599e-02 9.99714628e-01 -6.60080194e-05 3.47092399e+01] [-2.71717029e-03 1.09907588e-06 9.99996308e-01 7.56992269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.504391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:331.07, Y:34.71, Z:7.57 [[ 9.99763787e-01 2.15820260e-02 2.56621922e-03 3.31072728e+02] [-2.15819380e-02 9.99767081e-01 -6.19665400e-05 3.47082970e+01] [-2.56695886e-03 6.56791858e-06 9.99996705e-01 7.56981544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.534391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:331.10, Y:34.71, Z:7.57 [[ 9.99883137e-01 1.51287673e-02 2.19815810e-03 3.31100030e+02] [-1.51286877e-02 9.99885553e-01 -5.28361466e-05 3.47061147e+01] [-2.19870587e-03 1.95747245e-05 9.99997583e-01 7.56883025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.564391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:331.13, Y:34.70, Z:7.57 [[ 9.99932952e-01 1.13821516e-02 2.13036433e-03 3.31128568e+02] [-1.13820689e-02 9.99935221e-01 -5.09315829e-05 3.47041342e+01] [-2.13080604e-03 2.66802144e-05 9.99997729e-01 7.56822988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.594391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:331.16, Y:34.70, Z:7.57 [[ 9.99971336e-01 7.27141770e-03 2.11020444e-03 3.31156059e+02] [-7.27132762e-03 9.99973562e-01 -5.03608498e-05 3.47021338e+01] [-2.11051485e-03 3.50154185e-05 9.99997772e-01 7.56787635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.624391418 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:331.19, Y:34.70, Z:7.57 [[ 9.99993412e-01 2.90456363e-03 2.17689203e-03 3.31185804e+02] [-2.90445843e-03 9.99995781e-01 -5.14858151e-05 3.47000904e+01] [-2.17703239e-03 4.51627836e-05 9.99997629e-01 7.56734982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.654391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:331.22, Y:34.70, Z:7.57 [[ 9.99983268e-01 -5.24628232e-03 2.43719653e-03 3.31216606e+02] [ 5.24643773e-03 9.99986236e-01 -5.73785910e-05 3.46960632e+01] [-2.43686196e-03 7.01642308e-05 9.99997028e-01 7.56681794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.684391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:331.25, Y:34.69, Z:7.57 [[ 9.99961101e-01 -8.44805198e-03 2.53530466e-03 3.31249962e+02] [ 8.44822767e-03 9.99964311e-01 -5.85966847e-05 3.46936226e+01] [-2.53471915e-03 8.00132363e-05 9.99996784e-01 7.56660270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.714391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:331.28, Y:34.69, Z:7.57 [[ 9.99925911e-01 -1.18168449e-02 2.92152083e-03 3.31283225e+02] [ 1.18170978e-02 9.99930173e-01 -6.93180666e-05 3.46914576e+01] [-2.92049771e-03 1.03836828e-04 9.99995730e-01 7.56629038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.744391418 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:331.31, Y:34.69, Z:7.57 [[ 9.99845060e-01 -1.74336161e-02 2.43417454e-03 3.31314761e+02] [ 1.74338080e-02 9.99848018e-01 -5.76467149e-05 3.46879476e+01] [-2.43279960e-03 1.00074715e-04 9.99997036e-01 7.56585655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.774391418 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:331.35, Y:34.69, Z:7.57 [[ 9.99797629e-01 -1.99776640e-02 2.36509334e-03 3.31347434e+02] [ 1.99778540e-02 9.99800421e-01 -5.67317433e-05 3.46856030e+01] [-2.36348795e-03 1.03969752e-04 9.99997202e-01 7.56513714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.804391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:331.38, Y:34.68, Z:7.56 [[ 9.99751911e-01 -2.21978830e-02 1.83600924e-03 3.31380035e+02] [ 2.21980014e-02 9.99753593e-01 -4.40987910e-05 3.46834077e+01] [-1.83457793e-03 8.48435862e-05 9.99998314e-01 7.56466847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.834391418 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:331.41, Y:34.68, Z:7.56 [[ 9.99659912e-01 -2.60462864e-02 1.28496713e-03 3.31413361e+02] [ 2.60463474e-02 9.99660736e-01 -3.07585781e-05 3.46809029e+01] [-1.28373004e-03 6.42168176e-05 9.99999174e-01 7.56434516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.864391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:331.45, Y:34.68, Z:7.56 [[ 9.99624967e-01 -2.73535573e-02 1.30730318e-03 3.31445274e+02] [ 2.73536220e-02 9.99625819e-01 -3.15694884e-05 3.46794238e+01] [-1.30595047e-03 6.73171258e-05 9.99999145e-01 7.56383609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.894391418 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:331.48, Y:34.68, Z:7.56 [[ 9.99628720e-01 -2.72160503e-02 1.30730401e-03 3.31478813e+02] [ 2.72161147e-02 9.99629572e-01 -3.15377661e-05 3.46784749e+01] [-1.30596141e-03 6.71057926e-05 9.99999145e-01 7.56363325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.924391418 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:331.51, Y:34.68, Z:7.56 [[ 9.99603833e-01 -2.81199618e-02 1.20216603e-03 3.31512250e+02] [ 2.81200172e-02 9.99604554e-01 -2.91904165e-05 3.46770385e+01] [-1.20086981e-03 6.29837817e-05 9.99999277e-01 7.56340377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.954391418 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:331.55, Y:34.68, Z:7.56 [[ 9.99582751e-01 -2.88679059e-02 9.83959418e-04 3.31545751e+02] [ 2.88679433e-02 9.99583234e-01 -2.38643664e-05 3.46758956e+01] [-9.82860423e-04 5.22592937e-05 9.99999516e-01 7.56299343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984391418 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:331.58, Y:34.67, Z:7.56 [[ 9.99557928e-01 -2.97261295e-02 5.52120907e-04 3.31577396e+02] [ 2.97261414e-02 9.99558081e-01 -1.32504383e-05 3.46742693e+01] [-5.51483030e-04 2.96570048e-05 9.99999847e-01 7.56209371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.014391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:331.61, Y:34.67, Z:7.56 [[ 9.99545449e-01 -3.01455875e-02 3.72452217e-04 3.31610208e+02] [ 3.01455928e-02 9.99545518e-01 -8.70533560e-06 3.46729761e+01] [-3.72020517e-04 1.99291715e-05 9.99999931e-01 7.56176917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044391418 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:331.64, Y:34.67, Z:7.56 [[ 9.99536263e-01 -3.04506465e-02 1.28466837e-04 3.31643452e+02] [ 3.04506470e-02 9.99536272e-01 -2.53776597e-06 3.46719333e+01] [-1.28329986e-04 6.44848742e-06 9.99999992e-01 7.56161816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.074391418 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:331.68, Y:34.67, Z:7.56 [[ 9.99532021e-01 -3.05896531e-02 -1.12893441e-04 3.31676805e+02] [ 3.05896537e-02 9.99532027e-01 3.61147456e-06 3.46711031e+01] [ 1.12730136e-04 -7.06315571e-06 9.99999994e-01 7.56152535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104391418 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:331.71, Y:34.67, Z:7.56 [[ 9.99540010e-01 -3.03269060e-02 -2.19510526e-04 3.31709008e+02] [ 3.03269082e-02 9.99540034e-01 6.84599356e-06 3.46700958e+01] [ 2.19201940e-04 -1.34999200e-05 9.99999976e-01 7.56133913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.134391418 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:331.74, Y:34.67, Z:7.56 [[ 9.99550792e-01 -2.99661549e-02 -4.93943975e-04 3.31741775e+02] [ 2.99661652e-02 9.99550914e-01 1.34574169e-05 3.46691318e+01] [ 4.93318885e-04 -2.82529784e-05 9.99999878e-01 7.56082598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164391418 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:331.78, Y:34.67, Z:7.56 [[ 9.99569521e-01 -2.93350535e-02 -4.77100786e-04 3.31775028e+02] [ 2.93350631e-02 9.99569634e-01 1.30953842e-05 3.46692871e+01] [ 4.76511304e-04 -2.70855286e-05 9.99999886e-01 7.56021874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.194391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:331.81, Y:34.67, Z:7.56 [[ 9.99588522e-01 -2.86813238e-02 -4.09868792e-04 3.31807068e+02] [ 2.86813309e-02 9.99588606e-01 1.12671518e-05 3.46692066e+01] [ 4.09377018e-04 -2.30180980e-05 9.99999916e-01 7.56046546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224391418 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:331.84, Y:34.67, Z:7.56 [[ 9.99608708e-01 -2.79716582e-02 -1.32728823e-04 3.31839017e+02] [ 2.79716590e-02 9.99608717e-01 4.68027921e-06 3.46691923e+01] [ 1.32545973e-04 -8.39109322e-06 9.99999991e-01 7.56044404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.254391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:331.87, Y:34.67, Z:7.56 [[ 9.99647790e-01 -2.65384090e-02 9.37131342e-05 3.31872369e+02] [ 2.65384093e-02 9.99647794e-01 -1.74724618e-06 3.46696718e+01] [-9.36337589e-05 4.23362830e-06 9.99999996e-01 7.56088708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284391418 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:331.90, Y:34.67, Z:7.56 [[ 9.99659491e-01 -2.60931620e-02 2.19061688e-04 3.31904273e+02] [ 2.60931638e-02 9.99659515e-01 -5.19158496e-06 3.46694800e+01] [-2.18851636e-04 1.09058297e-05 9.99999976e-01 7.56081554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.314391418 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:331.94, Y:34.67, Z:7.56 [[ 9.99671774e-01 -2.56041651e-02 8.77680669e-04 3.31937019e+02] [ 2.56041947e-02 9.99672159e-01 -2.25785249e-05 3.46701257e+01] [-8.76814825e-04 4.50434208e-05 9.99999615e-01 7.56077748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:331.97, Y:34.67, Z:7.56 [[ 9.99675483e-01 -2.54610456e-02 8.15374257e-04 3.31970295e+02] [ 2.54610711e-02 9.99675814e-01 -2.10178949e-05 3.46696794e+01] [-8.14574787e-04 4.17713762e-05 9.99999667e-01 7.56047359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.374391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:332.00, Y:34.67, Z:7.56 [[ 9.99675171e-01 -2.54542231e-02 1.27859313e-03 3.32002125e+02] [ 2.54542868e-02 9.99675987e-01 -3.36112621e-05 3.46691420e+01] [-1.27732330e-03 6.61460204e-05 9.99999182e-01 7.55993771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:332.04, Y:34.67, Z:7.56 [[ 9.99677024e-01 -2.53732541e-02 1.43029509e-03 3.32035392e+02] [ 2.53733340e-02 9.99678044e-01 -3.77059952e-05 3.46685056e+01] [-1.42887787e-03 7.39851719e-05 9.99998976e-01 7.55965845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.434391418 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:332.07, Y:34.67, Z:7.56 [[ 9.99693680e-01 -2.46838524e-02 1.80362089e-03 3.32066991e+02] [ 2.46839792e-02 9.99695303e-01 -4.80396955e-05 3.46693137e+01] [-1.80188553e-03 9.25455205e-05 9.99998372e-01 7.55937808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.464391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:332.10, Y:34.67, Z:7.56 [[ 9.99716486e-01 -2.37158058e-02 2.12322959e-03 3.32099452e+02] [ 2.37159800e-02 9.99718735e-01 -5.68911370e-05 3.46697174e+01] [-2.12128318e-03 1.07229478e-04 9.99997744e-01 7.55931008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.494391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:332.13, Y:34.67, Z:7.56 [[ 9.99740654e-01 -2.26473839e-02 2.39194383e-03 3.32132552e+02] [ 2.26476024e-02 9.99743508e-01 -6.42958634e-05 3.46700615e+01] [-2.38987418e-03 1.18450981e-04 9.99997137e-01 7.55875963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.524391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:332.17, Y:34.67, Z:7.56 [[ 9.99765984e-01 -2.15387333e-02 2.01486723e-03 3.32165475e+02] [ 2.15388863e-02 9.99768010e-01 -5.42635719e-05 3.46700553e+01] [-2.01323103e-03 9.76488696e-05 9.99997969e-01 7.55907581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.554391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:332.20, Y:34.67, Z:7.56 [[ 9.99812732e-01 -1.91774785e-02 2.59313185e-03 3.32198792e+02] [ 1.91777254e-02 9.99816088e-01 -7.03768511e-05 3.46710672e+01] [-2.59130529e-03 1.20094042e-04 9.99996635e-01 7.55779198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.584391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:332.23, Y:34.67, Z:7.56 [[ 9.99836650e-01 -1.79585771e-02 2.04016573e-03 3.32230662e+02] [ 1.79587269e-02 9.99838728e-01 -5.51448391e-05 3.46708874e+01] [-2.03884639e-03 9.17746104e-05 9.99997917e-01 7.55758386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.614391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:332.26, Y:34.67, Z:7.56 [[ 9.99860783e-01 -1.65653960e-02 2.00058599e-03 3.32263683e+02] [ 1.65655388e-02 9.99862781e-01 -5.48117684e-05 3.46717631e+01] [-1.99940349e-03 8.79449225e-05 9.99997997e-01 7.55704675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.644391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:332.30, Y:34.67, Z:7.56 [[ 9.99871663e-01 -1.58898797e-02 2.04189771e-03 3.32297027e+02] [ 1.58900275e-02 9.99873744e-01 -5.61774637e-05 3.46717066e+01] [-2.04074725e-03 8.86160648e-05 9.99997914e-01 7.55705752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.674391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:332.33, Y:34.67, Z:7.56 [[ 9.99884221e-01 -1.50406950e-02 2.30708452e-03 3.32328836e+02] [ 1.50408824e-02 9.99886877e-01 -6.39113484e-05 3.46712935e+01] [-2.30586227e-03 9.86045357e-05 9.99997337e-01 7.55649708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.704391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:332.36, Y:34.67, Z:7.56 [[ 9.99903788e-01 -1.37325400e-02 1.95738382e-03 3.32361003e+02] [ 1.37326727e-02 9.99905701e-01 -5.43398543e-05 3.46720198e+01] [-1.95645302e-03 8.12147375e-05 9.99998083e-01 7.55646068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.734391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:332.39, Y:34.67, Z:7.56 [[ 9.99915585e-01 -1.28676201e-02 1.80189307e-03 3.32392767e+02] [ 1.28677306e-02 9.99917206e-01 -4.97611935e-05 3.46719496e+01] [-1.80110358e-03 7.29432676e-05 9.99998375e-01 7.55632545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.764391418 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:332.43, Y:34.67, Z:7.56 [[ 9.99919810e-01 -1.25515109e-02 1.68339286e-03 3.32425231e+02] [ 1.25516081e-02 9.99921224e-01 -4.71857698e-05 3.46720851e+01] [-1.68266800e-03 6.83112736e-05 9.99998582e-01 7.55616427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.794391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:332.46, Y:34.67, Z:7.56 [[ 9.99921459e-01 -1.23401434e-02 2.19011084e-03 3.32457236e+02] [ 1.23403080e-02 9.99923854e-01 -6.16975249e-05 3.46722858e+01] [-2.18918271e-03 8.87193215e-05 9.99997600e-01 7.55568131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.824391418 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:332.49, Y:34.67, Z:7.56 [[ 9.99916689e-01 -1.26155248e-02 2.73214110e-03 3.32489415e+02] [ 1.26157828e-02 9.99920415e-01 -7.72391411e-05 3.46714508e+01] [-2.73094925e-03 1.11700805e-04 9.99996265e-01 7.55552958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.854391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:332.52, Y:34.67, Z:7.55 [[ 9.99909202e-01 -1.30801143e-02 3.24019376e-03 3.32522482e+02] [ 1.30804809e-02 9.99914443e-01 -9.19717184e-05 3.46706279e+01] [-3.23871354e-03 1.34346660e-04 9.99994746e-01 7.55470667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.884391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:332.56, Y:34.67, Z:7.55 [[ 9.99896663e-01 -1.40178672e-02 3.18777965e-03 3.32555431e+02] [ 1.40182280e-02 9.99901736e-01 -9.08634367e-05 3.46699492e+01] [-3.18619269e-03 1.35541069e-04 9.99994915e-01 7.55439623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.914391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:332.59, Y:34.67, Z:7.55 [[ 9.99863383e-01 -1.62630810e-02 2.95423508e-03 3.32588375e+02] [ 1.62634016e-02 9.99867739e-01 -8.45114559e-05 3.46695738e+01] [-2.95246993e-03 1.32545822e-04 9.99995633e-01 7.55353099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.944391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:332.62, Y:34.67, Z:7.55 [[ 9.99841704e-01 -1.75920373e-02 2.66224258e-03 3.32621076e+02] [ 1.75923030e-02 9.99845241e-01 -7.63964957e-05 3.46691376e+01] [-2.66048660e-03 1.23219381e-04 9.99996453e-01 7.55284297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.974391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:332.65, Y:34.67, Z:7.55 [[ 9.99824069e-01 -1.86230387e-02 2.23915755e-03 3.32652894e+02] [ 1.86232297e-02 9.99826571e-01 -6.44944897e-05 3.46685833e+01] [-2.23756813e-03 1.06183489e-04 9.99997491e-01 7.55268847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.004391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:332.69, Y:34.67, Z:7.55 [[ 9.99787958e-01 -2.04648762e-02 2.28637350e-03 3.32685735e+02] [ 2.04650806e-02 9.99790566e-01 -6.60306350e-05 3.46678342e+01] [-2.28454335e-03 1.12807452e-04 9.99997384e-01 7.55181345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.034391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:332.72, Y:34.67, Z:7.55 [[ 9.99775076e-01 -2.11221768e-02 1.91071221e-03 3.32719049e+02] [ 2.11223210e-02 9.99776897e-01 -5.52964002e-05 3.46670046e+01] [-1.90911794e-03 9.56426393e-05 9.99998173e-01 7.55095705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.064391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:332.75, Y:34.67, Z:7.55 [[ 9.99768370e-01 -2.14483095e-02 1.78222807e-03 3.32751916e+02] [ 2.14484357e-02 9.99769955e-01 -5.17469202e-05 3.46663827e+01] [-1.78070819e-03 8.99609382e-05 9.99998410e-01 7.55031703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.094391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:332.79, Y:34.67, Z:7.55 [[ 9.99765724e-01 -2.16045800e-02 1.31895272e-03 3.32785053e+02] [ 2.16046492e-02 9.99766592e-01 -3.82680246e-05 3.46674029e+01] [-1.31781810e-03 6.67545701e-05 9.99999129e-01 7.54994131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.124391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:332.82, Y:34.67, Z:7.55 [[ 9.99776126e-01 -2.11166031e-02 1.33692763e-03 3.32818106e+02] [ 2.11166741e-02 9.99777017e-01 -3.89619989e-05 3.46672923e+01] [-1.33580677e-03 6.71847414e-05 9.99999106e-01 7.54992844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.154391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:332.85, Y:34.67, Z:7.55 [[ 9.99787132e-01 -2.05749599e-02 1.53669494e-03 3.32851023e+02] [ 2.05750534e-02 9.99788310e-01 -4.50735026e-05 3.46670330e+01] [-1.53544225e-03 7.66814884e-05 9.99998818e-01 7.54964300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.184391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:332.88, Y:34.67, Z:7.55 [[ 9.99809469e-01 -1.94445726e-02 1.71305212e-03 3.32882809e+02] [ 1.94446871e-02 9.99810933e-01 -5.02055438e-05 3.46671181e+01] [-1.71175202e-03 8.35057406e-05 9.99998531e-01 7.54902174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.214391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:332.92, Y:34.67, Z:7.55 [[ 9.99818623e-01 -1.89977125e-02 1.34475554e-03 3.32915967e+02] [ 1.89977831e-02 9.99819525e-01 -3.97837061e-05 3.46665388e+01] [-1.34375704e-03 6.53238643e-05 9.99999095e-01 7.54881101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.244391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:332.95, Y:34.67, Z:7.55 [[ 9.99825920e-01 -1.86177259e-02 1.22888098e-03 3.32948028e+02] [ 1.86177848e-02 9.99826673e-01 -3.65329327e-05 3.46659233e+01] [-1.22798782e-03 5.94056146e-05 9.99999244e-01 7.54841618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.274391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:332.98, Y:34.67, Z:7.55 [[ 9.99841087e-01 -1.77772286e-02 1.33038985e-03 3.32980737e+02] [ 1.77772971e-02 9.99841971e-01 -3.96374701e-05 3.46660513e+01] [-1.32947496e-03 6.32819068e-05 9.99999114e-01 7.54815640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.304391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:333.01, Y:34.67, Z:7.55 [[ 9.99845803e-01 -1.74781884e-02 1.69819719e-03 3.33012912e+02] [ 1.74783003e-02 9.99847242e-01 -5.10669426e-05 3.46656859e+01] [-1.69704522e-03 8.07406686e-05 9.99998557e-01 7.54806081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.334391418 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:333.05, Y:34.67, Z:7.55 [[ 9.99852925e-01 -1.70788208e-02 1.56306099e-03 3.33045790e+02] [ 1.70789150e-02 9.99854144e-01 -4.69951227e-05 3.46651896e+01] [-1.56203038e-03 7.36835967e-05 9.99998777e-01 7.54795472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.364391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:333.08, Y:34.67, Z:7.55 [[ 9.99871408e-01 -1.59889401e-02 1.23370632e-03 3.33077845e+02] [ 1.59889981e-02 9.99872167e-01 -3.71867848e-05 3.46656309e+01] [-1.23295404e-03 5.69077309e-05 9.99999238e-01 7.54790577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.394391418 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:333.11, Y:34.67, Z:7.55 [[ 9.99877624e-01 -1.56160144e-02 9.37088130e-04 3.33110046e+02] [ 1.56160478e-02 9.99878062e-01 -2.82924088e-05 3.46655487e+01] [-9.36532049e-04 4.29225595e-05 9.99999561e-01 7.54804650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.424391418 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:333.14, Y:34.67, Z:7.55 [[ 9.99879034e-01 -1.55267018e-02 9.16283747e-04 3.33142150e+02] [ 1.55267337e-02 9.99879453e-01 -2.77302644e-05 3.46654990e+01] [-9.15742732e-04 4.19538037e-05 9.99999580e-01 7.54774046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.454391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:333.17, Y:34.67, Z:7.55 [[ 9.99884818e-01 -1.51286871e-02 1.21431559e-03 3.33174861e+02] [ 1.51287429e-02 9.99885553e-01 -3.67980285e-05 3.46650485e+01] [-1.21361991e-03 5.51648583e-05 9.99999262e-01 7.54751167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:333.21, Y:34.66, Z:7.55 [[ 9.99907299e-01 -1.35723883e-02 1.08835045e-03 3.33206751e+02] [ 1.35724323e-02 9.99907890e-01 -3.31396537e-05 3.46643037e+01] [-1.08780042e-03 4.79081446e-05 9.99999407e-01 7.54725762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.514391418 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:333.24, Y:34.66, Z:7.55 [[ 9.99916891e-01 -1.28341897e-02 1.22246996e-03 3.33238998e+02] [ 1.28342452e-02 9.99917637e-01 -3.75138326e-05 3.46633415e+01] [-1.22188782e-03 5.32001941e-05 9.99999252e-01 7.54718662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:333.27, Y:34.66, Z:7.55 [[ 9.99927651e-01 -1.19277153e-02 1.55630183e-03 3.33271322e+02] [ 1.19278043e-02 9.99928860e-01 -4.79284256e-05 3.46625024e+01] [-1.55561944e-03 6.64882217e-05 9.99998788e-01 7.54659130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.574391418 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:333.30, Y:34.66, Z:7.55 [[ 9.99944148e-01 -1.04715220e-02 1.43141374e-03 3.33303305e+02] [ 1.04715961e-02 9.99945170e-01 -4.42713650e-05 3.46618721e+01] [-1.43087167e-03 5.92580789e-05 9.99998975e-01 7.54730182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:333.34, Y:34.66, Z:7.55 [[ 9.99947697e-01 -1.01335786e-02 1.38320811e-03 3.33335261e+02] [ 1.01336476e-02 9.99948652e-01 -4.28733348e-05 3.46614712e+01] [-1.38270263e-03 5.68880361e-05 9.99999042e-01 7.54771777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.634391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:333.37, Y:34.66, Z:7.55 [[ 9.99952790e-01 -9.56506984e-03 1.71090347e-03 3.33366232e+02] [ 9.56517514e-03 9.99954251e-01 -5.33734002e-05 3.46606875e+01] [-1.71031468e-03 6.97359717e-05 9.99998535e-01 7.54732805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:333.40, Y:34.66, Z:7.55 [[ 9.99952954e-01 -9.66921164e-03 7.72681302e-04 3.33397281e+02] [ 9.66923304e-03 9.99953252e-01 -2.39566776e-05 3.46592783e+01] [-7.72413538e-04 3.14267861e-05 9.99999701e-01 7.54671132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.694391418 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:333.43, Y:34.66, Z:7.55 [[ 9.99947436e-01 -1.01908262e-02 1.12832969e-03 3.33429569e+02] [ 1.01908723e-02 9.99948071e-01 -3.51218070e-05 3.46578114e+01] [-1.12791317e-03 4.66186246e-05 9.99999363e-01 7.54586078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:333.46, Y:34.66, Z:7.55 [[ 9.99940324e-01 -1.08913825e-02 8.52434469e-04 3.33462090e+02] [ 1.08914091e-02 9.99940687e-01 -2.64850326e-05 3.46558018e+01] [-8.52095449e-04 3.57676646e-05 9.99999636e-01 7.54586567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.754391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:333.49, Y:34.65, Z:7.55 [[ 9.99933171e-01 -1.15120133e-02 1.06132164e-03 3.33494452e+02] [ 1.15120550e-02 9.99933734e-01 -3.31721892e-05 3.46544694e+01] [-1.06086943e-03 4.53879654e-05 9.99999436e-01 7.54561192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:333.53, Y:34.65, Z:7.55 [[ 9.99934383e-01 -1.14063184e-02 1.06132338e-03 3.33527143e+02] [ 1.14063599e-02 9.99934945e-01 -3.31179837e-05 3.46533488e+01] [-1.06087659e-03 4.52216471e-05 9.99999436e-01 7.54541415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.814391418 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:333.56, Y:34.65, Z:7.55 [[ 9.99932893e-01 -1.15469526e-02 9.37189071e-04 3.33558485e+02] [ 1.15469850e-02 9.99933331e-01 -2.91953027e-05 3.46518405e+01] [-9.36789473e-04 4.00150516e-05 9.99999560e-01 7.54571423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:333.59, Y:34.65, Z:7.55 [[ 9.99933352e-01 -1.15031237e-02 9.84361627e-04 3.33589560e+02] [ 1.15031599e-02 9.99933836e-01 -3.11378146e-05 3.46504356e+01] [-9.83938315e-04 4.24590086e-05 9.99999515e-01 7.54562657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.874391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:333.62, Y:34.65, Z:7.55 [[ 9.99923145e-01 -1.22592776e-02 1.84765340e-03 3.33621664e+02] [ 1.22594070e-02 9.99924849e-01 -5.87722202e-05 3.46487654e+01] [-1.84679405e-03 8.14188384e-05 9.99998291e-01 7.54597993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904391418 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:333.65, Y:34.65, Z:7.55 [[ 9.99917678e-01 -1.26987663e-02 1.83824949e-03 3.33653193e+02] [ 1.26988954e-02 9.99919364e-01 -5.85325263e-05 3.46471446e+01] [-1.83735797e-03 8.18714457e-05 9.99998309e-01 7.54604271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.934391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:333.69, Y:34.65, Z:7.55 [[ 9.99912276e-01 -1.30650123e-02 2.17859850e-03 3.33685465e+02] [ 1.30651952e-02 9.99914644e-01 -6.97715316e-05 3.46451810e+01] [-2.17750097e-03 9.82292256e-05 9.99997624e-01 7.54570150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.964391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:333.72, Y:34.64, Z:7.55 [[ 9.99901098e-01 -1.37347575e-02 3.02499884e-03 3.33718648e+02] [ 1.37351141e-02 9.99905664e-01 -9.71388913e-05 3.46423638e+01] [-3.02337929e-03 1.38677988e-04 9.99995420e-01 7.54552383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.994391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:333.75, Y:34.64, Z:7.55 [[ 9.99892039e-01 -1.43894113e-02 2.97569740e-03 3.33750379e+02] [ 1.43897595e-02 9.99896457e-01 -9.56642425e-05 3.46404062e+01] [-2.97401273e-03 1.38473484e-04 9.99995568e-01 7.54575078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.024391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:333.78, Y:34.64, Z:7.55 [[ 9.99862231e-01 -1.64332661e-02 2.33822770e-03 3.33783309e+02] [ 1.64334879e-02 9.99864958e-01 -7.56788009e-05 3.46376007e+01] [-2.33666830e-03 1.14093611e-04 9.99997263e-01 7.54580636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.054391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:333.82, Y:34.64, Z:7.55 [[ 9.99851034e-01 -1.71435493e-02 2.00206204e-03 3.33815078e+02] [ 1.71437138e-02 9.99853034e-01 -6.50170675e-05 3.46354663e+01] [-2.00065318e-03 9.93301609e-05 9.99997994e-01 7.54547126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.084391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:333.85, Y:34.63, Z:7.55 [[ 9.99838131e-01 -1.79240231e-02 1.56225550e-03 3.33847973e+02] [ 1.79241241e-02 9.99839349e-01 -5.06586459e-05 3.46333945e+01] [-1.56109652e-03 7.86525073e-05 9.99998778e-01 7.54511046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.88, Y:34.63, Z:7.55 [[ 9.99836819e-01 -1.80184263e-02 1.29331746e-03 3.33879510e+02] [ 1.80184951e-02 9.99837653e-01 -4.15968443e-05 3.46307317e+01] [-1.29235798e-03 6.48936908e-05 9.99999163e-01 7.54538713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.144391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:333.91, Y:34.63, Z:7.54 [[ 9.99838958e-01 -1.78780198e-02 1.56030705e-03 3.33912160e+02] [ 1.78781212e-02 9.99840172e-01 -5.10860799e-05 3.46287105e+01] [-1.55914436e-03 7.89732115e-05 9.99998781e-01 7.54499472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.174391418 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:333.94, Y:34.63, Z:7.54 [[ 9.99845591e-01 -1.75105380e-02 1.47475499e-03 3.33944437e+02] [ 1.75106286e-02 9.99846676e-01 -4.85215349e-05 3.46269344e+01] [-1.47367924e-03 7.43379296e-05 9.99998911e-01 7.54488406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.204391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:333.98, Y:34.63, Z:7.55 [[ 9.99858198e-01 -1.68090955e-02 1.01861295e-03 3.33976212e+02] [ 1.68091383e-02 9.99858716e-01 -3.34454256e-05 3.46253154e+01] [-1.01790685e-03 5.05626890e-05 9.99999481e-01 7.54516468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.234391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:334.01, Y:34.62, Z:7.55 [[ 9.99885333e-01 -1.51383753e-02 3.88753702e-04 3.34008398e+02] [ 1.51383813e-02 9.99885408e-01 -1.25327295e-05 3.46237493e+01] [-3.88519429e-04 1.84163942e-05 9.99999924e-01 7.54552214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.264391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:334.04, Y:34.62, Z:7.55 [[ 9.99901327e-01 -1.40393309e-02 4.83089057e-04 3.34039351e+02] [ 1.40393402e-02 9.99901443e-01 -1.58467286e-05 3.46225351e+01] [-4.82818968e-04 2.26274166e-05 9.99999883e-01 7.54550616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.294391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:334.07, Y:34.62, Z:7.55 [[ 9.99919890e-01 -1.26429024e-02 6.08574284e-04 3.34071453e+02] [ 1.26429169e-02 9.99920075e-01 -1.99896931e-05 3.46211501e+01] [-6.08272916e-04 2.76822458e-05 9.99999815e-01 7.54542293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.324391418 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:334.10, Y:34.62, Z:7.55 [[ 9.99955908e-01 -9.35815610e-03 7.78546513e-04 3.34102273e+02] [ 9.35817907e-03 9.99956211e-01 -2.58752634e-05 3.46190610e+01] [-7.78270277e-04 3.31599002e-05 9.99999697e-01 7.54536095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.354391418 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:334.13, Y:34.62, Z:7.55 [[ 9.99973340e-01 -7.22151948e-03 1.08121965e-03 3.34134602e+02] [ 7.22156267e-03 9.99973924e-01 -3.60429650e-05 3.46173410e+01] [-1.08093117e-03 4.38500996e-05 9.99999415e-01 7.54522499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.384391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:334.17, Y:34.62, Z:7.55 [[ 9.99986939e-01 -4.97286128e-03 1.17986763e-03 3.34167036e+02] [ 4.97291130e-03 9.99987634e-01 -3.94662499e-05 3.46157974e+01] [-1.17965678e-03 4.53331115e-05 9.99999303e-01 7.54536194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.414391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:334.20, Y:34.61, Z:7.55 [[ 9.99999149e-01 4.54455125e-07 1.30442449e-03 3.34199195e+02] [-3.97360633e-07 9.99999999e-01 -4.37700828e-05 3.46148503e+01] [-1.30442451e-03 4.37695272e-05 9.99999148e-01 7.54512758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.444391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:334.23, Y:34.61, Z:7.55 [[ 9.99995759e-01 2.73356652e-03 1.00463287e-03 3.34231000e+02] [-2.73353385e-03 9.99996263e-01 -3.38866155e-05 3.46138527e+01] [-1.00472175e-03 3.11402739e-05 9.99999495e-01 7.54529036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.474391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:334.26, Y:34.61, Z:7.54 [[ 9.99985106e-01 5.44075018e-03 4.30562763e-04 3.34260243e+02] [-5.44074440e-03 9.99985199e-01 -1.46025575e-05 3.46131150e+01] [-4.30635840e-04 1.22597581e-05 9.99999907e-01 7.54483911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.504391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:334.29, Y:34.61, Z:7.54 [[ 9.99951866e-01 9.80042521e-03 -4.67006131e-04 3.34288963e+02] [-9.80041972e-03 9.99951975e-01 1.40546202e-05 3.46120917e+01] [ 4.67121444e-04 -9.47708758e-06 9.99999891e-01 7.54459227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.534391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:334.32, Y:34.61, Z:7.54 [[ 9.99927898e-01 1.20076706e-02 -1.21704699e-04 3.34317382e+02] [-1.20076702e-02 9.99927905e-01 3.61267231e-06 3.46111208e+01] [ 1.21739305e-04 -2.15102193e-06 9.99999993e-01 7.54451201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.564391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:334.35, Y:34.61, Z:7.54 [[ 9.99906893e-01 1.36446990e-02 -1.67334566e-04 3.34345130e+02] [-1.36446984e-02 9.99906907e-01 5.01559638e-06 3.46106188e+01] [ 1.67387424e-04 -2.73189970e-06 9.99999986e-01 7.54454077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.594391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:334.37, Y:34.61, Z:7.55 [[ 9.99855576e-01 1.69895884e-02 -4.25907751e-04 3.34373022e+02] [-1.69895842e-02 9.99855667e-01 1.34914149e-05 3.46098269e+01] [ 4.26075492e-04 -6.25347082e-06 9.99999909e-01 7.54549266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.624391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:334.40, Y:34.61, Z:7.55 [[ 9.99830752e-01 1.83968592e-02 -1.54572005e-04 3.34401227e+02] [-1.83968588e-02 9.99830763e-01 4.41238805e-06 3.46090551e+01] [ 1.54627020e-04 -1.56800191e-06 9.99999988e-01 7.54584592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.654391418 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:334.43, Y:34.61, Z:7.55 [[ 9.99807826e-01 1.96038234e-02 -3.11169085e-05 3.34429412e+02] [-1.96038234e-02 9.99807827e-01 3.02543517e-07 3.46086054e+01] [ 3.11168595e-05 3.07525009e-07 1.00000000e+00 7.54661004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.684391418 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:334.46, Y:34.61, Z:7.55 [[ 9.99786919e-01 2.06424496e-02 7.54169658e-05 3.34457614e+02] [-2.06424494e-02 9.99786922e-01 -3.22304851e-06 3.46084738e+01] [-7.54674278e-05 1.66557085e-06 9.99999997e-01 7.54773397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.714391418 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:334.48, Y:34.61, Z:7.55 [[ 9.99748642e-01 2.23983852e-02 9.82909993e-04 3.34484993e+02] [-2.23983634e-02 9.99749125e-01 -3.31797553e-05 3.46084269e+01] [-9.83406578e-04 1.11558400e-05 9.99999516e-01 7.54873094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.744391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:334.51, Y:34.61, Z:7.55 [[ 9.99741053e-01 2.27192563e-02 1.28963106e-03 3.34513344e+02] [-2.27192197e-02 9.99741884e-01 -4.30055617e-05 3.46073560e+01] [-1.29027524e-03 1.36950142e-05 9.99999168e-01 7.54908412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.774391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:334.55, Y:34.62, Z:7.55 [[ 9.99651958e-01 2.52290180e-02 7.71098053e-03 3.34546185e+02] [-2.48919828e-02 9.98846634e-01 -4.10583812e-02 3.46210656e+01] [-8.73794958e-03 4.08521496e-02 9.99126994e-01 7.55297555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.804391418 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:334.57, Y:34.59, Z:7.54 [[ 9.99788947e-01 2.03933237e-02 2.48482962e-03 3.34569584e+02] [-2.04782786e-02 9.98944705e-01 4.11110142e-02 3.45851538e+01] [-1.64381718e-03 -4.11532226e-02 9.99151495e-01 7.53612988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.834391418 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:334.60, Y:34.60, Z:7.55 [[ 9.99814387e-01 1.92471413e-02 8.59541169e-04 3.34599282e+02] [-1.92471240e-02 9.99814757e-01 -2.83592259e-05 3.46028650e+01] [-8.59927779e-04 1.18102666e-05 9.99999630e-01 7.55057500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.864391418 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:334.63, Y:34.60, Z:7.55 [[ 9.99852027e-01 1.72009935e-02 2.24472457e-04 3.34627410e+02] [-1.72009921e-02 9.99852052e-01 -7.83478897e-06 3.46013872e+01] [-2.24574013e-04 3.97248067e-06 9.99999975e-01 7.55068769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.894391418 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:334.66, Y:34.60, Z:7.55 [[ 9.99922415e-01 1.24444095e-02 -5.48014033e-04 3.34656186e+02] [-1.24444020e-02 9.99922565e-01 1.72432230e-05 3.45985793e+01] [ 5.48186179e-04 -1.04221783e-05 9.99999850e-01 7.54964436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.924391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:334.68, Y:34.60, Z:7.55 [[ 9.99951800e-01 9.70845750e-03 -1.46409527e-03 3.34684286e+02] [-9.70839972e-03 9.99952871e-01 4.65634245e-05 3.45965946e+01] [ 1.46447833e-03 -3.23471580e-05 9.99998927e-01 7.54901764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.954391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:334.71, Y:34.59, Z:7.55 [[ 9.99981953e-01 5.52859612e-03 -2.35113471e-03 3.34713114e+02] [-5.52843504e-03 9.99984715e-01 7.50056792e-05 3.45929260e+01] [ 2.35151345e-03 -6.20062300e-05 9.99997233e-01 7.54648110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984391418 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:334.74, Y:34.59, Z:7.55 [[ 9.99988978e-01 3.87352419e-03 -2.65307573e-03 3.34740536e+02] [-3.87331411e-03 9.99992495e-01 8.43180009e-05 3.45906999e+01] [ 2.65338242e-03 -7.40408759e-05 9.99996477e-01 7.54513448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.014391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:334.77, Y:34.59, Z:7.54 [[ 9.99991123e-01 3.04908192e-03 -2.90822005e-03 3.34769248e+02] [-3.04882611e-03 9.99995348e-01 9.23894533e-05 3.45885402e+01] [ 2.90848823e-03 -8.35219759e-05 9.99995767e-01 7.54356799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:334.80, Y:34.59, Z:7.54 [[ 9.99992050e-01 2.83278732e-03 -2.80647056e-03 3.34798394e+02] [-2.83254900e-03 9.99995984e-01 8.88880267e-05 3.45863463e+01] [ 2.80671109e-03 -8.09378546e-05 9.99996058e-01 7.54154202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.074391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:334.83, Y:34.59, Z:7.54 [[ 9.99991383e-01 3.22349426e-03 -2.61596964e-03 3.34826598e+02] [-3.22328960e-03 9.99994802e-01 8.24465597e-05 3.45857685e+01] [ 2.61622181e-03 -7.40138215e-05 9.99996575e-01 7.54076874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:334.85, Y:34.59, Z:7.54 [[ 9.99986970e-01 4.41161285e-03 -2.56869649e-03 3.34854374e+02] [-4.41142010e-03 9.99990266e-01 8.07006848e-05 3.45850423e+01] [ 2.56902751e-03 -6.93680339e-05 9.99996698e-01 7.54035654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.134391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:334.88, Y:34.58, Z:7.54 [[ 9.99981337e-01 5.69647882e-03 -2.20820957e-03 3.34881927e+02] [-5.69634032e-03 9.99983773e-01 6.90049381e-05 3.45842491e+01] [ 2.20856683e-03 -5.64249370e-05 9.99997560e-01 7.53969486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:334.91, Y:34.58, Z:7.54 [[ 9.99966229e-01 8.15657567e-03 -1.00511596e-03 3.34909727e+02] [-8.15654873e-03 9.99966734e-01 3.09001306e-05 3.45830054e+01] [ 1.00533456e-03 -2.27008098e-05 9.99999494e-01 7.53808953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.194391418 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:334.94, Y:34.58, Z:7.54 [[ 9.99956149e-01 9.35640489e-03 -3.96573581e-04 3.34938249e+02] [-9.35640087e-03 9.99956228e-01 1.19787792e-05 3.45818765e+01] [ 3.96668301e-04 -8.26775250e-06 9.99999921e-01 7.53761614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224391418 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:334.97, Y:34.58, Z:7.54 [[ 9.99938791e-01 1.10439792e-02 6.66702384e-04 3.34967499e+02] [-1.10439674e-02 9.99939013e-01 -2.12942449e-05 3.45811546e+01] [-6.66896897e-04 1.39299021e-05 9.99999778e-01 7.53706898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.254391418 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:335.00, Y:34.58, Z:7.54 [[ 9.99932001e-01 1.16077906e-02 1.11881781e-03 3.34996090e+02] [-1.16077583e-02 9.99932627e-01 -3.53308182e-05 3.45805554e+01] [-1.11915254e-03 2.23414490e-05 9.99999374e-01 7.53693632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:335.03, Y:34.58, Z:7.54 [[ 9.99926255e-01 1.20413416e-02 1.57826208e-03 3.35025269e+02] [-1.20412785e-02 9.99927500e-01 -4.95295445e-05 3.45799660e+01] [-1.57874406e-03 3.05215988e-05 9.99998753e-01 7.53705719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.314391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:335.05, Y:34.58, Z:7.54 [[ 9.99924167e-01 1.21575536e-02 1.96328905e-03 3.35052856e+02] [-1.21574565e-02 9.99926094e-01 -6.14152425e-05 3.45797959e+01] [-1.96389061e-03 3.75419840e-05 9.99998071e-01 7.53786202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344391418 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:335.08, Y:34.58, Z:7.54 [[ 9.99928456e-01 1.18274170e-02 1.78749552e-03 3.35081469e+02] [-1.18273363e-02 9.99930053e-01 -5.57098245e-05 3.45792999e+01] [-1.78802939e-03 3.45645281e-05 9.99998401e-01 7.53818788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.374391418 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:335.11, Y:34.58, Z:7.54 [[ 9.99923490e-01 1.22769853e-02 -1.51342397e-03 3.35108279e+02] [-1.22939353e-02 9.99855370e-01 -1.17514924e-02 3.45840105e+01] [ 1.36893219e-03 1.17691992e-02 9.99929804e-01 7.54337230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404391418 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:335.14, Y:34.58, Z:7.54 [[ 9.99925755e-01 1.21099028e-02 -1.35426702e-03 3.35135984e+02] [-1.21091095e-02 9.99926507e-01 5.92453861e-04 3.45774109e+01] [ 1.36134205e-03 -5.76010907e-04 9.99998907e-01 7.53970279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.434391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:335.16, Y:34.57, Z:7.54 [[ 9.99957908e-01 8.95705703e-03 1.98822727e-03 3.35164558e+02] [-8.97892122e-03 9.99896125e-01 1.12747038e-02 3.45724211e+01] [-1.88703258e-03 -1.12920813e-02 9.99934462e-01 7.53655226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.464391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:335.19, Y:34.58, Z:7.54 [[ 9.99966717e-01 8.10515630e-03 9.33618292e-04 3.35193676e+02] [-8.10513267e-03 9.99967152e-01 -2.90867728e-05 3.45773260e+01] [-9.33823378e-04 2.15187045e-05 9.99999564e-01 7.54121817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.494391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:335.22, Y:34.58, Z:7.54 [[ 9.99976213e-01 6.88705807e-03 3.77806619e-04 3.35222052e+02] [-6.88705403e-03 9.99976284e-01 -1.20118712e-05 3.45770513e+01] [-3.77880385e-04 9.40961090e-06 9.99999929e-01 7.54149210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.524391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:335.25, Y:34.58, Z:7.54 [[ 9.99984453e-01 5.57524145e-03 -1.02005938e-04 3.35249729e+02] [-5.57524122e-03 9.99984458e-01 2.55344733e-06 3.45767053e+01] [ 1.02018589e-04 -1.98469991e-06 9.99999995e-01 7.54186286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.554391418 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:335.28, Y:34.58, Z:7.54 [[ 9.99995194e-01 2.66893885e-03 -1.57727049e-03 3.35278849e+02] [-2.66886719e-03 9.99996437e-01 4.75360605e-05 3.45761771e+01] [ 1.57739174e-03 -4.33263066e-05 9.99998755e-01 7.54195387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.584391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:335.31, Y:34.58, Z:7.54 [[ 9.99996138e-01 1.53483546e-03 -2.31695087e-03 3.35307969e+02] [-1.53467776e-03 9.99998820e-01 6.98399722e-05 3.45753574e+01] [ 2.31705533e-03 -6.62839295e-05 9.99997313e-01 7.54184527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.614391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:335.34, Y:34.57, Z:7.54 [[ 9.99996039e-01 2.04188600e-04 -2.80709117e-03 3.35336426e+02] [-2.03951765e-04 9.99999976e-01 8.46561216e-05 3.45749638e+01] [ 2.80710839e-03 -8.40832751e-05 9.99996057e-01 7.54156967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.644391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:335.37, Y:34.58, Z:7.54 [[ 9.99986087e-01 -1.24344768e-03 -5.12639569e-03 3.35365467e+02] [ 1.22734185e-03 9.99994305e-01 -3.14369528e-03 3.45770152e+01] [ 5.13027552e-03 3.13735970e-03 9.99981918e-01 7.54248849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.674391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:335.39, Y:34.57, Z:7.54 [[ 9.99986422e-01 -2.22667745e-03 -4.71146512e-03 3.35394163e+02] [ 2.24284559e-03 9.99991605e-01 3.42916223e-03 3.45739892e+01] [ 4.70378993e-03 -3.43968276e-03 9.99983021e-01 7.53991587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.704391418 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:335.42, Y:34.57, Z:7.54 [[ 9.99985859e-01 -2.26779977e-03 -4.81034987e-03 3.35423514e+02] [ 2.26851979e-03 9.99997417e-01 1.44230399e-04 3.45747190e+01] [ 4.81001036e-03 -1.55140734e-04 9.99988420e-01 7.54090550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.734391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:335.45, Y:34.58, Z:7.54 [[ 9.99982096e-01 -2.85897106e-03 -5.25683417e-03 3.35452032e+02] [ 2.85983764e-03 9.99995898e-01 1.57340296e-04 3.45750096e+01] [ 5.25636277e-03 -1.72371172e-04 9.99986170e-01 7.54087664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.764391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:335.48, Y:34.58, Z:7.54 [[ 9.99977785e-01 -3.37851430e-03 -5.74585888e-03 3.35481665e+02] [ 3.37955771e-03 9.99994275e-01 1.71894678e-04 3.45762213e+01] [ 5.74524523e-03 -1.91309321e-04 9.99983478e-01 7.54085101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.794391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:335.51, Y:34.58, Z:7.54 [[ 9.99976902e-01 -3.55443295e-03 -5.79326089e-03 3.35510578e+02] [ 3.55547939e-03 9.99993665e-01 1.70341119e-04 3.45759904e+01] [ 5.79261872e-03 -1.90935004e-04 9.99983204e-01 7.54052034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.824391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:335.54, Y:34.58, Z:7.54 [[ 9.99976889e-01 -3.99774072e-03 -5.49901341e-03 3.35540326e+02] [ 3.99869594e-03 9.99991992e-01 1.62723538e-04 3.45765507e+01] [ 5.49831885e-03 -1.84708660e-04 9.99984867e-01 7.53984554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.854391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:335.57, Y:34.58, Z:7.54 [[ 9.99978210e-01 -3.98599106e-03 -5.26220343e-03 3.35569764e+02] [ 3.98686446e-03 9.99992040e-01 1.55496172e-04 3.45763747e+01] [ 5.26154174e-03 -1.76472475e-04 9.99986142e-01 7.53981493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.884391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:335.60, Y:34.58, Z:7.54 [[ 9.99980119e-01 -4.31567469e-03 -4.59753394e-03 3.35598478e+02] [ 4.31634297e-03 9.99990675e-01 1.35443492e-04 3.45765639e+01] [ 4.59690653e-03 -1.55285332e-04 9.99989422e-01 7.53962480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.914391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.63, Y:34.58, Z:7.54 [[ 9.99982735e-01 -4.22559244e-03 -4.08339053e-03 3.35628591e+02] [ 4.22611849e-03 9.99991063e-01 1.20207067e-04 3.45766095e+01] [ 4.08284609e-03 -1.37461884e-04 9.99991656e-01 7.53955188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.944391418 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:335.66, Y:34.58, Z:7.54 [[ 9.99988980e-01 -3.09107298e-03 -3.53351598e-03 3.35659597e+02] [ 3.09146049e-03 9.99995216e-01 1.04211439e-04 3.45777378e+01] [ 3.53317695e-03 -1.15134016e-04 9.99993752e-01 7.53998787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.974391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:335.69, Y:34.58, Z:7.54 [[ 9.99993373e-01 -2.09323988e-03 -2.97860475e-03 3.35688847e+02] [ 2.09351093e-03 9.99997805e-01 8.78831924e-05 3.45783652e+01] [ 2.97841426e-03 -9.41183516e-05 9.99995560e-01 7.54044890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.004391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:335.72, Y:34.58, Z:7.54 [[ 9.99996829e-01 -7.44982156e-04 -2.40548112e-03 3.35718075e+02] [ 7.45154248e-04 9.99999720e-01 7.06462256e-05 3.45790915e+01] [ 2.40542782e-03 -7.24384561e-05 9.99997104e-01 7.54078410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.034391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:335.75, Y:34.58, Z:7.54 [[ 9.99997989e-01 1.55329337e-04 -1.99963172e-03 3.35745816e+02] [-1.47356927e-04 9.99992043e-01 3.98646890e-03 3.45805852e+01] [ 2.00023503e-03 -3.98616622e-03 9.99990055e-01 7.54066016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.064391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:335.78, Y:34.58, Z:7.54 [[ 9.99985232e-01 5.12794803e-03 -1.80002334e-03 3.35777935e+02] [-5.13490043e-03 9.99979292e-01 -3.87926075e-03 3.45831579e+01] [ 1.78009341e-03 3.88844640e-03 9.99990856e-01 7.54262825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.094391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:335.81, Y:34.58, Z:7.54 [[ 9.99973610e-01 7.18201962e-03 -1.09415555e-03 3.35805625e+02] [-7.18199100e-03 9.99974209e-01 3.00832843e-05 3.45816298e+01] [ 1.09434339e-03 -2.22242751e-05 9.99999401e-01 7.54093480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.124391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:335.83, Y:34.58, Z:7.54 [[ 9.99936235e-01 1.12518509e-02 -9.59627825e-04 3.35833844e+02] [-1.12518313e-02 9.99936696e-01 2.58418136e-05 3.45828173e+01] [ 9.59857844e-04 -1.50425954e-05 9.99999539e-01 7.54017688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.154391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:335.86, Y:34.58, Z:7.54 [[ 9.99916673e-01 1.28401517e-02 -1.33324230e-03 3.35861241e+02] [-1.28401128e-02 9.99917562e-01 3.77139668e-05 3.45830549e+01] [ 1.33361664e-03 -2.05918427e-05 9.99999111e-01 7.53954484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.184391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:335.89, Y:34.58, Z:7.54 [[ 9.99894562e-01 1.43764921e-02 -2.04466644e-03 3.35888842e+02] [-1.43764037e-02 9.99896653e-01 5.79440232e-05 3.45831701e+01] [ 2.04528816e-03 -2.85429636e-05 9.99997908e-01 7.53914384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.214391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:335.92, Y:34.58, Z:7.54 [[ 9.99862037e-01 1.63720996e-02 -2.80375046e-03 3.35917105e+02] [-1.63719419e-02 9.99865968e-01 7.91978418e-05 3.45834765e+01] [ 2.80467130e-03 -3.32840759e-05 9.99996066e-01 7.53713557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.244391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:335.95, Y:34.58, Z:7.54 [[ 9.99850180e-01 1.69960354e-02 -3.27905571e-03 3.35945060e+02] [-1.69958240e-02 9.99855556e-01 9.23300678e-05 3.45828203e+01] [ 3.28015131e-03 -3.65859812e-05 9.99994620e-01 7.53620969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.274391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:335.97, Y:34.58, Z:7.54 [[ 9.99845906e-01 1.70806704e-02 -4.05142283e-03 3.35972268e+02] [-1.70803519e-02 9.99854114e-01 1.13200007e-04 3.45821618e+01] [ 4.05276531e-03 -4.39828357e-05 9.99991787e-01 7.53546166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.00, Y:34.58, Z:7.53 [[ 9.99851426e-01 1.67720193e-02 -3.97802986e-03 3.36000468e+02] [-1.67717104e-02 9.99859339e-01 1.10992215e-04 3.45811956e+01] [ 3.97933187e-03 -4.42573597e-05 9.99992081e-01 7.53422342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.334391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:336.03, Y:34.58, Z:7.53 [[ 9.99860981e-01 1.62315684e-02 -3.81508233e-03 3.36028191e+02] [-1.62312823e-02 9.99868258e-01 1.05950173e-04 3.45803826e+01] [ 3.81629946e-03 -4.40117659e-05 9.99992717e-01 7.53396312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.364391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:336.05, Y:34.58, Z:7.53 [[ 9.99865529e-01 1.60314439e-02 -3.45209274e-03 3.36054837e+02] [-1.60312106e-02 9.99871487e-01 9.52203730e-05 3.45797212e+01] [ 3.45317562e-03 -3.98663428e-05 9.99994037e-01 7.53396500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.394391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:336.08, Y:34.58, Z:7.53 [[ 9.99858202e-01 1.65524528e-02 -3.09706360e-03 3.36081858e+02] [-1.65522701e-02 9.99862998e-01 8.46202796e-05 3.45791561e+01] [ 3.09803997e-03 -3.33448475e-05 9.99995201e-01 7.53448797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.424391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:336.11, Y:34.58, Z:7.53 [[ 9.99854275e-01 1.67901974e-02 -3.08517429e-03 3.36110000e+02] [-1.67900174e-02 9.99859034e-01 8.42418439e-05 3.45785532e+01] [ 3.08615382e-03 -3.24294379e-05 9.99995237e-01 7.53451563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.454391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:336.14, Y:34.58, Z:7.53 [[ 9.99853665e-01 1.68390520e-02 -3.01588779e-03 3.36137493e+02] [-1.68388813e-02 9.99858213e-01 8.19875708e-05 3.45775015e+01] [ 3.01684077e-03 -3.11913966e-05 9.99995449e-01 7.53450481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484391418 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:336.17, Y:34.58, Z:7.53 [[ 9.99868994e-01 1.59589909e-02 -2.70269682e-03 3.36165517e+02] [-1.59588517e-02 9.99872647e-01 7.30636963e-05 3.45760034e+01] [ 2.70351865e-03 -2.99221867e-05 9.99996345e-01 7.53426129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.514391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:336.19, Y:34.57, Z:7.53 [[ 9.99878615e-01 1.53553846e-02 -2.63953400e-03 3.36192316e+02] [-1.53552510e-02 9.99882099e-01 7.08702550e-05 3.45749500e+01] [ 2.64031103e-03 -3.03309454e-05 9.99996514e-01 7.53433164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:336.22, Y:34.57, Z:7.53 [[ 9.99893246e-01 1.44310844e-02 -2.28915197e-03 3.36219766e+02] [-1.44309822e-02 9.99895866e-01 6.11843882e-05 3.45735830e+01] [ 2.28979655e-03 -2.81431453e-05 9.99997378e-01 7.53446398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.574391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:336.25, Y:34.57, Z:7.53 [[ 9.99887944e-01 1.46918628e-02 -2.87198754e-03 3.36247222e+02] [-1.46917030e-02 9.99892068e-01 7.67629096e-05 3.45725920e+01] [ 2.87280535e-03 -3.45599201e-05 9.99995873e-01 7.53498240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:336.27, Y:34.57, Z:7.54 [[ 9.99879243e-01 1.52535989e-02 -2.97109973e-03 3.36274671e+02] [-1.52534316e-02 9.99883657e-01 7.89583819e-05 3.45720374e+01] [ 2.97195846e-03 -3.36293805e-05 9.99995583e-01 7.53528450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.634391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:336.30, Y:34.57, Z:7.54 [[ 9.99865177e-01 1.61347645e-02 -3.04912535e-03 3.36301137e+02] [-1.61345940e-02 9.99869826e-01 8.05207452e-05 3.45716556e+01] [ 3.05002762e-03 -3.13134896e-05 9.99995348e-01 7.53581872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664391418 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:336.33, Y:34.57, Z:7.54 [[ 9.99818142e-01 1.83415891e-02 -5.22197039e-03 3.36325252e+02] [-1.82623080e-02 9.99723014e-01 1.48453277e-02 3.45670664e+01] [ 5.49281087e-03 -1.47472627e-02 9.99876166e-01 7.53600523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.694391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:336.35, Y:34.57, Z:7.54 [[ 9.99781303e-01 2.03991736e-02 -4.60650707e-03 3.36353009e+02] [-2.03962984e-02 9.99791749e-01 6.70276314e-04 3.45730268e+01] [ 4.61922085e-03 -5.76174033e-04 9.99989165e-01 7.54103149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724391418 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:336.38, Y:34.57, Z:7.54 [[ 9.99756770e-01 2.15210040e-02 -4.82155096e-03 3.36380741e+02] [-2.15279728e-02 9.99767269e-01 -1.39813553e-03 3.45734200e+01] [ 4.79033956e-03 1.50159368e-03 9.99987399e-01 7.54156981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.754391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:336.41, Y:34.58, Z:7.54 [[ 9.99686364e-01 2.48401083e-02 -3.18489315e-03 3.36412847e+02] [-2.48819230e-02 9.99594579e-01 -1.38408289e-02 3.45751998e+01] [ 2.83979424e-03 1.39157342e-02 9.99899139e-01 7.54176420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:336.44, Y:34.57, Z:7.54 [[ 9.99669959e-01 2.54381571e-02 -3.58803505e-03 3.36439867e+02] [-2.54379892e-02 9.99676398e-01 9.24374012e-05 3.45673756e+01] [ 3.58922539e-03 -1.13449645e-06 9.99993559e-01 7.53616118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.814391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:336.47, Y:34.57, Z:7.54 [[ 9.99660912e-01 2.56987113e-02 -4.19974540e-03 3.36467518e+02] [-2.56984824e-02 9.99669734e-01 1.08478425e-04 3.45662402e+01] [ 4.20114612e-03 -5.14558609e-07 9.99991175e-01 7.53544623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844391418 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:336.50, Y:34.56, Z:7.53 [[ 9.99649273e-01 2.58491449e-02 -5.75789965e-03 3.36495466e+02] [-2.58487194e-02 9.99665855e-01 1.48317454e-04 3.45644776e+01] [ 5.75980955e-03 5.68897439e-07 9.99983412e-01 7.53448605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.874391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:336.52, Y:34.56, Z:7.53 [[ 9.99662422e-01 2.52789779e-02 -6.00128480e-03 3.36523253e+02] [-2.52785094e-02 9.99680436e-01 1.53919731e-04 3.45636592e+01] [ 6.00325794e-03 -2.16423640e-06 9.99981980e-01 7.53418897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904391418 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:336.55, Y:34.56, Z:7.53 [[ 9.99668940e-01 2.49001777e-02 -6.48006187e-03 3.36551332e+02] [-2.48996280e-02 9.99689943e-01 1.65501171e-04 3.45626442e+01] [ 6.48217369e-03 -4.09524960e-06 9.99978990e-01 7.53422206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.934391418 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:336.58, Y:34.56, Z:7.53 [[ 9.99691144e-01 2.39854107e-02 -6.50515512e-03 3.36578306e+02] [-2.39848499e-02 9.99712309e-01 1.64219029e-04 3.45620055e+01] [ 6.50722250e-03 -8.14313993e-06 9.99978828e-01 7.53446595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.964391418 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:336.61, Y:34.56, Z:7.53 [[ 9.99711682e-01 2.31161812e-02 -6.49581492e-03 3.36605992e+02] [-2.31156052e-02 9.99732785e-01 1.63750750e-04 3.45609851e+01] [ 6.49786443e-03 -1.35488445e-05 9.99978889e-01 7.53460510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.994391418 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:336.63, Y:34.56, Z:7.53 [[ 9.99736887e-01 2.20718339e-02 -6.24423126e-03 3.36633132e+02] [-2.20712876e-02 9.99756387e-01 1.56391346e-04 3.45599467e+01] [ 6.24616193e-03 -1.85319734e-05 9.99980492e-01 7.53472761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.024391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:336.66, Y:34.56, Z:7.54 [[ 9.99762607e-01 2.08444189e-02 -6.34349297e-03 3.36661013e+02] [-2.08438343e-02 9.99782731e-01 1.58256666e-04 3.45588341e+01] [ 6.34541349e-03 -2.59963801e-05 9.99979867e-01 7.53526566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.054391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:336.69, Y:34.56, Z:7.54 [[ 9.99807459e-01 1.85866249e-02 -6.29145698e-03 3.36688400e+02] [-1.85860114e-02 9.99827253e-01 1.55964274e-04 3.45574951e+01] [ 6.29326900e-03 -3.90011535e-05 9.99980196e-01 7.53593163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.084391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:336.72, Y:34.56, Z:7.54 [[ 9.99828972e-01 1.74724377e-02 -6.06135097e-03 3.36716387e+02] [-1.74718516e-02 9.99847344e-01 1.49622341e-04 3.45567411e+01] [ 6.06303994e-03 -4.36937266e-05 9.99981619e-01 7.53623901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.114391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:336.74, Y:34.56, Z:7.54 [[ 9.99847166e-01 1.62751215e-02 -6.38478614e-03 3.36743253e+02] [-1.62744530e-02 9.99867550e-01 1.56647650e-04 3.45560513e+01] [ 6.38648993e-03 -5.27148068e-05 9.99979605e-01 7.53765405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.144391418 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:336.77, Y:34.56, Z:7.54 [[ 9.99851376e-01 1.58153824e-02 -6.86286618e-03 3.36770158e+02] [-1.58146051e-02 9.99874927e-01 1.67511069e-04 3.45552299e+01] [ 6.86465707e-03 -5.89526546e-05 9.99976436e-01 7.53806878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.174391418 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:336.80, Y:34.55, Z:7.54 [[ 9.99854675e-01 1.56392660e-02 -6.78548010e-03 3.36797804e+02] [-1.56385067e-02 9.99877697e-01 1.64956433e-04 3.45543092e+01] [ 6.78723002e-03 -5.88176848e-05 9.99976965e-01 7.53797120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.204391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:336.83, Y:34.55, Z:7.54 [[ 9.99850216e-01 1.60630618e-02 -6.44391442e-03 3.36825491e+02] [-1.60623911e-02 9.99870979e-01 1.55825245e-04 3.45533996e+01] [ 6.44558605e-03 -5.22972316e-05 9.99979226e-01 7.53840893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.234391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:336.85, Y:34.55, Z:7.54 [[ 9.99835481e-01 1.71885987e-02 -5.79343058e-03 3.36851969e+02] [-1.71880812e-02 9.99852264e-01 1.39102015e-04 3.45526298e+01] [ 5.79496565e-03 -3.95011741e-05 9.99983208e-01 7.53875513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.264391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:336.88, Y:34.55, Z:7.54 [[ 9.99757656e-01 2.16318997e-02 -4.08538411e-03 3.36879301e+02] [-2.16316827e-02 9.99766003e-01 9.72859968e-05 3.45518118e+01] [ 4.08653263e-03 -8.88868716e-06 9.99991650e-01 7.53997320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.294391418 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:336.91, Y:34.55, Z:7.54 [[ 9.99703175e-01 2.41394622e-02 -3.29361700e-03 3.36907124e+02] [-2.41393362e-02 9.99708601e-01 7.79929912e-05 3.45515892e+01] [ 3.29453995e-03 1.53588710e-06 9.99994573e-01 7.54044168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.324391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:336.93, Y:34.55, Z:7.54 [[ 9.99640467e-01 2.66464006e-02 -2.98422344e-03 3.36934051e+02] [-2.66463101e-02 9.99644922e-01 7.00756627e-05 3.45514132e+01] [ 2.98503107e-03 9.46807493e-06 9.99995545e-01 7.54135492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.354391418 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:336.96, Y:34.55, Z:7.54 [[ 9.99529712e-01 3.05843857e-02 -2.22472285e-03 3.36961426e+02] [-3.05843463e-02 9.99532188e-01 5.17361422e-05 3.45508958e+01] [ 2.22526441e-03 1.63298826e-05 9.99997524e-01 7.54227323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.384391418 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:336.99, Y:34.55, Z:7.54 [[ 9.99501382e-01 3.14765750e-02 -2.49257910e-03 3.36989640e+02] [-3.14765286e-02 9.99504490e-01 5.78441169e-05 3.45494456e+01] [ 2.49316474e-03 2.06424626e-05 9.99996892e-01 7.54194746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.414391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:337.02, Y:34.55, Z:7.54 [[ 9.99517584e-01 3.08318956e-02 -3.74067135e-03 3.37016159e+02] [-3.08317903e-02 9.99524584e-01 8.58098382e-05 3.45450452e+01] [ 3.74153865e-03 2.95631525e-05 9.99993000e-01 7.54064362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.444391418 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:337.04, Y:34.54, Z:7.54 [[ 9.99559910e-01 2.92715626e-02 -4.81262403e-03 3.37044411e+02] [-2.92713685e-02 9.99571496e-01 1.10791955e-04 3.45423360e+01] [ 4.81380485e-03 3.01288946e-05 9.99988413e-01 7.54030173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.474391418 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:337.07, Y:34.54, Z:7.54 [[ 9.99614297e-01 2.71164477e-02 -5.99622438e-03 3.37071649e+02] [-2.71161121e-02 9.99632281e-01 1.37270511e-04 3.45396558e+01] [ 5.99774175e-03 2.53767267e-05 9.99982013e-01 7.54020226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.504391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:337.10, Y:34.54, Z:7.54 [[ 9.99723163e-01 2.21758738e-02 -7.86302896e-03 3.37099589e+02] [-2.21751482e-02 9.99754085e-01 1.79454245e-04 3.45358367e+01] [ 7.86507488e-03 -5.04073337e-06 9.99969070e-01 7.54085617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.534391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:337.13, Y:34.53, Z:7.54 [[ 9.99768088e-01 1.96213249e-02 -8.87551195e-03 3.37126833e+02] [-1.96203109e-02 9.99807483e-01 2.01305058e-04 3.45343093e+01] [ 8.87775314e-03 -2.71180690e-05 9.99960592e-01 7.54155850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.564391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:337.16, Y:34.53, Z:7.54 [[ 9.99807892e-01 1.70457763e-02 -9.67572562e-03 3.37155197e+02] [-1.70444593e-02 9.99854709e-01 2.18560491e-04 3.45327893e+01] [ 9.67804535e-03 -5.36009921e-05 9.99953165e-01 7.54207127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.594391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:337.18, Y:34.53, Z:7.54 [[ 9.99809531e-01 1.69493731e-02 -9.67574392e-03 3.37183653e+02] [-1.69480595e-02 9.99856348e-01 2.17749417e-04 3.45322591e+01] [ 9.67804470e-03 -5.37228587e-05 9.99953165e-01 7.54189174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.624391418 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:337.21, Y:34.53, Z:7.54 [[ 9.99847992e-01 1.30911347e-02 -1.15158348e-02 3.37211798e+02] [-1.30890344e-02 9.99914302e-01 2.57734379e-04 3.45288423e+01] [ 1.15182220e-02 -1.06964044e-04 9.99933657e-01 7.54310807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.654391418 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:337.24, Y:34.53, Z:7.54 [[ 9.99866237e-01 1.13552982e-02 -1.17713857e-02 3.37239169e+02] [-1.13530040e-02 9.99935518e-01 2.61707900e-04 3.45267867e+01] [ 1.17735984e-02 -1.28032305e-04 9.99930681e-01 7.54322711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.684391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:337.27, Y:34.53, Z:7.54 [[ 9.99880647e-01 9.26005052e-03 -1.23670401e-02 3.37267463e+02] [-9.25737392e-03 9.99957112e-01 2.73659138e-04 3.45250336e+01] [ 1.23690438e-02 -1.59140160e-04 9.99923488e-01 7.54375435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.714391418 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:337.30, Y:34.52, Z:7.54 [[ 9.99918639e-01 6.16813304e-03 -1.11655620e-02 3.37295477e+02] [-6.16577496e-03 9.99980961e-01 2.45603884e-04 3.45215271e+01] [ 1.11668644e-02 -1.76739559e-04 9.99937633e-01 7.54483421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.744391418 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:337.32, Y:34.52, Z:7.55 [[ 9.99936870e-01 4.76852777e-03 -1.01743023e-02 3.37322433e+02] [-4.76651401e-03 9.99988615e-01 2.22165397e-04 3.45198898e+01] [ 1.01752459e-02 -1.73655417e-04 9.99948216e-01 7.54508711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.774391418 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:337.35, Y:34.52, Z:7.55 [[ 9.99950303e-01 3.39995450e-03 -9.37188448e-03 3.37350339e+02] [-3.39819570e-03 9.99994205e-01 2.03585134e-04 3.45174037e+01] [ 9.37252236e-03 -1.71727519e-04 9.99956062e-01 7.54561468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.804391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:337.38, Y:34.52, Z:7.55 [[ 9.99951070e-01 3.15151510e-03 -9.37690500e-03 3.37377945e+02] [-3.14975441e-03 9.99995019e-01 2.02530733e-04 3.45158447e+01] [ 9.37749657e-03 -1.72985876e-04 9.99956015e-01 7.54575360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.834391418 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:337.40, Y:34.51, Z:7.55 [[ 9.99952953e-01 2.96478458e-03 -9.23584701e-03 3.37404764e+02] [-2.96308181e-03 9.99995590e-01 1.98043354e-04 3.45144118e+01] [ 9.23639344e-03 -1.70667466e-04 9.99957329e-01 7.54556553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.864391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:337.43, Y:34.51, Z:7.55 [[ 9.99951887e-01 2.66657815e-03 -9.44000724e-03 3.37432930e+02] [-2.66479537e-03 9.99996429e-01 2.01426894e-04 3.45128844e+01] [ 9.44051065e-03 -1.76261515e-04 9.99955422e-01 7.54543463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.894391418 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:337.46, Y:34.51, Z:7.55 [[ 9.99951518e-01 1.83459840e-03 -9.67448643e-03 3.37459603e+02] [-1.83270109e-03 9.99998300e-01 2.04976707e-04 3.45103004e+01] [ 9.67484603e-03 -1.87236328e-04 9.99953180e-01 7.54509943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.924391418 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:337.49, Y:34.51, Z:7.55 [[ 9.99954242e-01 -3.32398121e-04 -9.56049379e-03 3.37488486e+02] [ 3.34346149e-04 9.99999924e-01 2.02160516e-04 3.45070666e+01] [ 9.56042586e-03 -2.05347779e-04 9.99954277e-01 7.54517279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.954391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:337.52, Y:34.51, Z:7.55 [[ 9.99954012e-01 -1.78501181e-03 -9.42276189e-03 3.37516535e+02] [ 1.78695855e-03 9.99998384e-01 1.98184187e-04 3.45052337e+01] [ 9.42239290e-03 -2.15013158e-04 9.99955585e-01 7.54536489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984391418 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:337.54, Y:34.50, Z:7.55 [[ 9.99948016e-01 -3.36456949e-03 -9.62520428e-03 3.37544873e+02] [ 3.36666197e-03 9.99994313e-01 2.01201004e-04 3.45037285e+01] [ 9.62447258e-03 -2.33595354e-04 9.99953656e-01 7.54560149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.014391418 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:337.57, Y:34.50, Z:7.55 [[ 9.99934415e-01 -4.97213909e-03 -1.03171008e-02 3.37572643e+02] [ 4.97461678e-03 9.99987604e-01 2.14505205e-04 3.45023572e+01] [ 1.03159063e-02 -2.65814759e-04 9.99946754e-01 7.54589244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044391418 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:337.60, Y:34.50, Z:7.55 [[ 9.99898955e-01 -8.04055461e-03 -1.17230207e-02 3.37601066e+02] [ 8.04395773e-03 9.99967617e-01 2.43170291e-04 3.45000787e+01] [ 1.17206859e-02 -3.37445203e-04 9.99931253e-01 7.54573340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.074391418 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:337.63, Y:34.50, Z:7.55 [[ 9.99876781e-01 -9.77100241e-03 -1.22862057e-02 3.37629016e+02] [ 9.77480287e-03 9.99952194e-01 2.49314235e-04 3.44985638e+01] [ 1.22831823e-02 -3.69378753e-04 9.99924491e-01 7.54509513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104391418 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:337.66, Y:34.50, Z:7.54 [[ 9.99851042e-01 -1.14647084e-02 -1.29017003e-02 3.37657983e+02] [ 1.14689975e-02 9.99934195e-01 2.58504540e-04 3.44973752e+01] [ 1.28978876e-02 -4.06435603e-04 9.99916736e-01 7.54481051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.134391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:337.69, Y:34.50, Z:7.54 [[ 9.99801502e-01 -1.39815602e-02 -1.41940906e-02 3.37686702e+02] [ 1.39869511e-02 9.99902138e-01 2.80591489e-04 3.44962302e+01] [ 1.41887784e-02 -4.79067843e-04 9.99899219e-01 7.54459821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:337.71, Y:34.50, Z:7.54 [[ 9.99767837e-01 -1.50919266e-02 -1.53787799e-02 3.37714804e+02] [ 1.50983825e-02 9.99885967e-01 3.03771464e-04 3.44955160e+01] [ 1.53724418e-02 -5.35895642e-04 9.99881693e-01 7.54475956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.194391418 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:337.74, Y:34.50, Z:7.54 [[ 9.99749510e-01 -1.57042444e-02 -1.59465909e-02 3.37743331e+02] [ 1.57111740e-02 9.99876524e-01 3.09354418e-04 3.44953488e+01] [ 1.59397637e-02 -5.59816591e-04 9.99872797e-01 7.54490187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:337.77, Y:34.50, Z:7.54 [[ 9.99743638e-01 -1.60331545e-02 -1.59873735e-02 3.37771514e+02] [ 1.60401545e-02 9.99871300e-01 3.09702786e-04 3.44953622e+01] [ 1.59803504e-02 -5.66063330e-04 9.99872146e-01 7.54479502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.254391418 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:337.80, Y:34.50, Z:7.54 [[ 9.99738807e-01 -1.65587607e-02 -1.57519901e-02 3.37800493e+02] [ 1.65655345e-02 9.99862737e-01 2.99642249e-04 3.44953754e+01] [ 1.57448662e-02 -5.60504120e-04 9.99875885e-01 7.54482064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284391418 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:337.83, Y:34.50, Z:7.54 [[ 9.99738844e-01 -1.77635284e-02 -1.43770883e-02 3.37829572e+02] [ 1.77692362e-02 9.99842078e-01 2.69348895e-04 3.44950813e+01] [ 1.43700332e-02 -5.24748430e-04 9.99896608e-01 7.54476898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.314391418 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:337.86, Y:34.49, Z:7.54 [[ 9.99733793e-01 -1.85675271e-02 -1.36963396e-02 3.37858707e+02] [ 1.85728054e-02 9.99827477e-01 2.58271899e-04 3.44948645e+01] [ 1.36891812e-02 -5.12582596e-04 9.99906167e-01 7.54494600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:337.89, Y:34.49, Z:7.55 [[ 9.99731193e-01 -1.93791966e-02 -1.27275086e-02 3.37888739e+02] [ 1.93838201e-02 9.99812087e-01 2.39998904e-04 3.44946091e+01] [ 1.27204659e-02 -4.86642127e-04 9.99918973e-01 7.54523732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.374391418 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:337.92, Y:34.49, Z:7.55 [[ 9.99728290e-01 -2.00808459e-02 -1.18366336e-02 3.37919603e+02] [ 2.00848938e-02 9.99798253e-01 2.23199936e-04 3.44943378e+01] [ 1.18297635e-02 -4.60876819e-04 9.99929920e-01 7.54558071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.404391418 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:337.95, Y:34.49, Z:7.55 [[ 9.99729245e-01 -2.10462777e-02 -9.92427497e-03 3.37950271e+02] [ 2.10491739e-02 9.99778424e-01 1.87451251e-04 3.44946097e+01] [ 9.91813084e-03 -3.96298287e-04 9.99950736e-01 7.54568304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.434391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:337.98, Y:34.49, Z:7.55 [[ 9.99730111e-01 -2.11054023e-02 -9.70912194e-03 3.37981110e+02] [ 2.11081847e-02 9.99777180e-01 1.84183368e-04 3.44948947e+01] [ 9.70307129e-03 -3.89075599e-04 9.99952848e-01 7.54579829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.464391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:338.01, Y:34.50, Z:7.55 [[ 9.99746201e-01 -2.04227191e-02 -9.51033944e-03 3.38012549e+02] [ 2.04253602e-02 9.99791364e-01 1.80655100e-04 3.44973152e+01] [ 9.50466578e-03 -3.74861359e-04 9.99954759e-01 7.54593446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.494391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:338.04, Y:34.50, Z:7.55 [[ 9.99756149e-01 -1.97616096e-02 -9.85496600e-03 3.38043425e+02] [ 1.97644174e-02 9.99804647e-01 1.87587445e-04 3.44982435e+01] [ 9.84933378e-03 -3.82319363e-04 9.99951421e-01 7.54633964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.524391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:338.07, Y:34.50, Z:7.55 [[ 9.99765204e-01 -1.91481465e-02 -1.01432429e-02 3.38074370e+02] [ 1.91510966e-02 9.99816582e-01 1.93782442e-04 3.44988681e+01] [ 1.01376719e-02 -3.87991166e-04 9.99948537e-01 7.54595429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.554391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:338.11, Y:34.50, Z:7.55 [[ 9.99774005e-01 -1.81521647e-02 -1.10651430e-02 3.38105271e+02] [ 1.81556175e-02 9.99835151e-01 2.11661604e-04 3.45009381e+01] [ 1.10594768e-02 -4.12508273e-04 9.99938757e-01 7.54594480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.584391418 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:338.14, Y:34.50, Z:7.55 [[ 9.99775121e-01 -1.80415727e-02 -1.11448756e-02 3.38136342e+02] [ 1.80450733e-02 9.99837152e-01 2.13610736e-04 3.45017371e+01] [ 1.11392068e-02 -4.14672797e-04 9.99937871e-01 7.54601680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.614391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:338.17, Y:34.50, Z:7.55 [[ 9.99776904e-01 -1.76451398e-02 -1.16099553e-02 3.38166434e+02] [ 1.76489130e-02 9.99844221e-01 2.22613936e-04 3.45036054e+01] [ 1.16042186e-02 -4.27467362e-04 9.99932577e-01 7.54548379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.644391418 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:338.20, Y:34.50, Z:7.55 [[ 9.99783141e-01 -1.71327326e-02 -1.18380621e-02 3.38198008e+02] [ 1.71366263e-02 9.99853131e-01 2.27551271e-04 3.45041088e+01] [ 1.18324249e-02 -4.30366371e-04 9.99929902e-01 7.54557160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.674391418 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:338.23, Y:34.50, Z:7.55 [[ 9.99797016e-01 -1.61950070e-02 -1.19853832e-02 3.38228028e+02] [ 1.61989281e-02 9.99868762e-01 2.30142084e-04 3.45046683e+01] [ 1.19800831e-02 -4.24245730e-04 9.99928146e-01 7.54521354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.704391418 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:338.26, Y:34.51, Z:7.55 [[ 9.99808815e-01 -1.52531924e-02 -1.22340845e-02 3.38258246e+02] [ 1.52572075e-02 9.99883574e-01 2.34917620e-04 3.45054540e+01] [ 1.22290769e-02 -4.21530672e-04 9.99925133e-01 7.54516793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.734391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:338.29, Y:34.51, Z:7.55 [[ 9.99842036e-01 -1.26637937e-02 -1.24712460e-02 3.38288855e+02] [ 1.26677648e-02 9.99919732e-01 2.39471570e-04 3.45077326e+01] [ 1.24672123e-02 -3.97416553e-04 9.99922202e-01 7.54507708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.764391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:338.32, Y:34.51, Z:7.55 [[ 9.99865974e-01 -1.09380429e-02 -1.21816946e-02 3.38317729e+02] [ 1.09416906e-02 9.99940111e-01 2.32836321e-04 3.45086560e+01] [ 1.21784182e-02 -3.66093448e-04 9.99925773e-01 7.54518996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.794391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:338.35, Y:34.51, Z:7.55 [[ 9.99911857e-01 -7.45254878e-03 -1.09880796e-02 3.38346052e+02] [ 7.45529671e-03 9.99972187e-01 2.09142092e-04 3.45113311e+01] [ 1.09862154e-02 -2.91043052e-04 9.99939607e-01 7.54553315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.824391418 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:338.38, Y:34.51, Z:7.55 [[ 9.99924761e-01 -6.40676588e-03 -1.04606741e-02 3.38375104e+02] [ 6.40915928e-03 9.99979442e-01 1.95292458e-04 3.45122181e+01] [ 1.04592079e-02 -2.62321891e-04 9.99945267e-01 7.54581838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.854391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:338.40, Y:34.51, Z:7.55 [[ 9.99933152e-01 -5.65835056e-03 -1.00834323e-02 3.38403643e+02] [ 5.66051042e-03 9.99983962e-01 1.85671880e-04 3.45129383e+01] [ 1.00822200e-02 -2.42736841e-04 9.99949144e-01 7.54567291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.884391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:338.43, Y:34.51, Z:7.55 [[ 9.99943490e-01 -4.92974767e-03 -9.41881694e-03 3.38431299e+02] [ 4.93156589e-03 9.99987825e-01 1.69824950e-04 3.45139637e+01] [ 9.41786507e-03 -2.16264870e-04 9.99955628e-01 7.54536541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.914391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:338.46, Y:34.51, Z:7.54 [[ 9.99945309e-01 -4.98978538e-03 -9.19136138e-03 3.38459332e+02] [ 4.99152341e-03 9.99987528e-01 1.66163918e-04 3.45141979e+01] [ 9.19041763e-03 -2.12033726e-04 9.99957745e-01 7.54482860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.944391418 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:338.49, Y:34.52, Z:7.54 [[ 9.99948768e-01 -4.99708361e-03 -8.80285407e-03 3.38488261e+02] [ 4.99864654e-03 9.99987495e-01 1.55554858e-04 3.45152283e+01] [ 8.80196666e-03 -1.99549244e-04 9.99961242e-01 7.54363532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.974391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:338.52, Y:34.52, Z:7.54 [[ 9.99951871e-01 -4.18696124e-03 -8.87269203e-03 3.38516441e+02] [ 4.18851963e-03 9.99991216e-01 1.57063565e-04 3.45154810e+01] [ 8.87195647e-03 -1.94219451e-04 9.99960625e-01 7.54324779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.004391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:338.54, Y:34.52, Z:7.54 [[ 9.99955936e-01 -3.26638071e-03 -8.80094812e-03 3.38544887e+02] [ 3.26784731e-03 9.99994649e-01 1.52266689e-04 3.45159428e+01] [ 8.80040366e-03 -1.81020134e-04 9.99961259e-01 7.54282901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.034391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:338.57, Y:34.52, Z:7.54 [[ 9.99959686e-01 -2.02814177e-03 -8.74719526e-03 3.38572310e+02] [ 2.02951701e-03 9.99997930e-01 1.48346665e-04 3.45165855e+01] [ 8.74687628e-03 -1.66093266e-04 9.99961732e-01 7.54255309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.064391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:338.60, Y:34.52, Z:7.54 [[ 9.99961709e-01 1.26584995e-03 -8.65901127e-03 3.38600684e+02] [-1.26464986e-03 9.99999190e-01 1.44067630e-04 3.45184417e+01] [ 8.65918662e-03 -1.33111496e-04 9.99962500e-01 7.54253812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.094391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:338.63, Y:34.52, Z:7.54 [[ 9.99960137e-01 2.63132844e-03 -8.53231651e-03 3.38628233e+02] [-2.63023594e-03 9.99996531e-01 1.39261039e-04 3.45191973e+01] [ 8.53265335e-03 -1.16813482e-04 9.99963589e-01 7.54202351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.124391418 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:338.66, Y:34.52, Z:7.54 [[ 9.99955783e-01 4.98422611e-03 -7.97433448e-03 3.38655818e+02] [-4.98336780e-03 9.99987575e-01 1.27500060e-04 3.45202617e+01] [ 7.97487088e-03 -8.77553805e-05 9.99968196e-01 7.54145452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.154391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:338.68, Y:34.52, Z:7.54 [[ 9.99953318e-01 5.90864294e-03 -7.64524596e-03 3.38683710e+02] [-5.90787907e-03 9.99982541e-01 1.22493500e-04 3.45205235e+01] [ 7.64583625e-03 -7.73205928e-05 9.99970767e-01 7.54117705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.184391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:338.71, Y:34.52, Z:7.54 [[ 9.99947549e-01 7.90551963e-03 -6.51164347e-03 3.38710236e+02] [-7.90501512e-03 9.99968750e-01 1.03212522e-04 3.45213125e+01] [ 6.51225593e-03 -5.17324686e-05 9.99978794e-01 7.54063934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.214391418 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:338.74, Y:34.52, Z:7.54 [[ 9.99940507e-01 8.82186966e-03 -6.41539422e-03 3.38737779e+02] [-8.82140115e-03 9.99961086e-01 1.01322336e-04 3.45218084e+01] [ 6.41603842e-03 -4.47235418e-05 9.99979416e-01 7.54064648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.244391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:338.77, Y:34.52, Z:7.54 [[ 9.99932524e-01 9.61469808e-03 -6.51954592e-03 3.38765804e+02] [-9.61423723e-03 9.99953777e-01 1.02024714e-04 3.45222421e+01] [ 6.52022550e-03 -3.93373686e-05 9.99978742e-01 7.54052405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.274391418 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:338.79, Y:34.52, Z:7.54 [[ 9.99928211e-01 1.00104699e-02 -6.58516013e-03 3.38793515e+02] [-1.00100135e-02 9.99949893e-01 1.02265822e-04 3.45221883e+01] [ 6.58585390e-03 -3.63409383e-05 9.99978312e-01 7.53997740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.304391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:338.82, Y:34.52, Z:7.54 [[ 9.99919214e-01 1.03491131e-02 -7.37977663e-03 3.38821420e+02] [-1.03485550e-02 9.99946446e-01 1.13811948e-04 3.45221275e+01] [ 7.38055927e-03 -3.74327288e-05 9.99972763e-01 7.53921598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.334391418 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:338.85, Y:34.52, Z:7.54 [[ 9.99917751e-01 1.00595434e-02 -7.95589745e-03 3.38849122e+02] [-1.00588927e-02 9.99949401e-01 1.21802653e-04 3.45219732e+01] [ 7.95672017e-03 -4.17651157e-05 9.99968344e-01 7.53901508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.364391418 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:338.88, Y:34.52, Z:7.54 [[ 9.99917826e-01 9.74788670e-03 -8.32585152e-03 3.38876794e+02] [-9.74717116e-03 9.99952487e-01 1.26516776e-04 3.45217065e+01] [ 8.32668921e-03 -4.53528799e-05 9.99965331e-01 7.53857518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.394391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:338.90, Y:34.52, Z:7.54 [[ 9.99911502e-01 9.19415697e-03 -9.61542569e-03 3.38903589e+02] [-9.19318975e-03 9.99957731e-01 1.44785846e-04 3.45213125e+01] [ 9.61635045e-03 -5.63765997e-05 9.99953760e-01 7.53821992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.424391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:338.93, Y:34.52, Z:7.54 [[ 9.99914152e-01 8.76721225e-03 -9.73780077e-03 3.38931516e+02] [-8.76621021e-03 9.99961565e-01 1.45581417e-04 3.45214689e+01] [ 9.73870284e-03 -6.02053104e-05 9.99952576e-01 7.53785460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.454391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:338.96, Y:34.52, Z:7.54 [[ 9.99910681e-01 8.43706796e-03 -1.03656427e-02 3.38958832e+02] [-8.43593722e-03 9.99964405e-01 1.52804704e-04 3.45216974e+01] [ 1.03665629e-02 -6.53471444e-05 9.99946264e-01 7.53800460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484391418 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:338.99, Y:34.52, Z:7.54 [[ 9.99911500e-01 8.33935636e-03 -1.03656501e-02 3.38987290e+02] [-8.33822562e-03 9.99965225e-01 1.52298006e-04 3.45213881e+01] [ 1.03665597e-02 -6.58533979e-05 9.99946264e-01 7.53782493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.514391418 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:339.01, Y:34.52, Z:7.54 [[ 9.99923463e-01 7.46307401e-03 -9.86763625e-03 3.39014714e+02] [-7.46202252e-03 9.99972148e-01 1.43373223e-04 3.45219753e+01] [ 9.86843142e-03 -6.97297262e-05 9.99951303e-01 7.53736266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:339.04, Y:34.52, Z:7.54 [[ 9.99928687e-01 7.40611705e-03 -9.36862619e-03 3.39042450e+02] [-7.40517681e-03 9.99972572e-01 1.35045856e-04 3.45216533e+01] [ 9.36936940e-03 -6.56598921e-05 9.99956104e-01 7.53728036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.574391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:339.07, Y:34.52, Z:7.54 [[ 9.99924736e-01 8.77963514e-03 -8.56970077e-03 3.39069056e+02] [-8.77891068e-03 9.99961457e-01 1.22152188e-04 3.45220203e+01] [ 8.57044292e-03 -4.69103566e-05 9.99963272e-01 7.53757792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604391418 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:339.10, Y:34.52, Z:7.54 [[ 9.99906148e-01 1.11150519e-02 -8.00942748e-03 3.39096302e+02] [-1.11081723e-02 9.99937895e-01 9.02909991e-04 3.45219347e+01] [ 8.01896595e-03 -8.13855151e-04 9.99967516e-01 7.53803043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.634391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:339.12, Y:34.52, Z:7.54 [[ 9.99904111e-01 1.17516101e-02 -7.32584219e-03 3.39124722e+02] [-1.17572235e-02 9.99930620e-01 -7.23649132e-04 3.45232441e+01] [ 7.31682988e-03 8.09711306e-04 9.99972904e-01 7.53921359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:339.15, Y:34.52, Z:7.54 [[ 9.99865596e-01 1.51741338e-02 -6.20766957e-03 3.39152789e+02] [-1.51738873e-02 9.99884866e-01 8.68000539e-05 3.45236446e+01] [ 6.20827198e-03 7.40609108e-06 9.99980728e-01 7.54074068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.694391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:339.18, Y:34.52, Z:7.54 [[ 9.99855708e-01 1.61080502e-02 -5.39382006e-03 3.39180959e+02] [-1.61078818e-02 9.99870257e-01 7.46808806e-05 3.45234702e+01] [ 5.39432321e-03 1.22129109e-05 9.99985450e-01 7.54091380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724391418 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:339.21, Y:34.52, Z:7.54 [[ 9.99847171e-01 1.67062129e-02 -5.15144599e-03 3.39208656e+02] [-1.67060705e-02 9.99860441e-01 7.06882141e-05 3.45229084e+01] [ 5.15190800e-03 1.53830090e-05 9.99986729e-01 7.54150545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.754391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:339.24, Y:34.52, Z:7.54 [[ 9.99846792e-01 1.68595415e-02 -4.70628937e-03 3.39236521e+02] [-1.68594272e-02 9.99857868e-01 6.39580300e-05 3.45223078e+01] [ 4.70669876e-03 1.53971121e-05 9.99988923e-01 7.54145879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:339.26, Y:34.52, Z:7.54 [[ 9.99862069e-01 1.55625821e-02 -5.80078801e-03 3.39263297e+02] [-1.55623941e-02 9.99878896e-01 7.75505763e-05 3.45205512e+01] [ 5.80129240e-03 1.27342692e-05 9.99983172e-01 7.54091822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.814391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:339.29, Y:34.52, Z:7.54 [[ 9.99876409e-01 1.41786953e-02 -6.79194980e-03 3.39291644e+02] [-1.41784068e-02 9.99899477e-01 9.06314127e-05 3.45192251e+01] [ 6.79255209e-03 5.67881544e-06 9.99976930e-01 7.54031361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844391418 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:339.32, Y:34.52, Z:7.54 [[ 9.99897023e-01 1.21548015e-02 -7.62913251e-03 3.39319384e+02] [-1.21543852e-02 9.99926128e-01 1.00932122e-04 3.45177918e+01] [ 7.62979573e-03 -8.19431312e-06 9.99970893e-01 7.53941582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.874391418 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:339.35, Y:34.51, Z:7.54 [[ 9.99928050e-01 7.88966844e-03 -9.03591664e-03 3.39345954e+02] [-7.88892157e-03 9.99968875e-01 1.18295622e-04 3.45145918e+01] [ 9.03656871e-03 -4.70034732e-05 9.99959168e-01 7.53818784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.904391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:339.37, Y:34.51, Z:7.54 [[ 9.99938281e-01 5.53718367e-03 -9.63188437e-03 3.39373608e+02] [-5.53623540e-03 9.99984667e-01 1.25111249e-04 3.45126546e+01] [ 9.63242945e-03 -7.17791481e-05 9.99953605e-01 7.53747553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.934391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:339.40, Y:34.51, Z:7.54 [[ 9.99942101e-01 1.47435341e-03 -1.06593027e-02 3.39401989e+02] [-1.47297394e-03 9.99998906e-01 1.37264104e-04 3.45095081e+01] [ 1.06594934e-02 -1.21555281e-04 9.99943179e-01 7.53676786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.964391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:339.43, Y:34.51, Z:7.54 [[ 9.99942605e-01 6.85799947e-05 -1.07136473e-02 3.39429525e+02] [-6.71193808e-05 9.99999988e-01 1.36691579e-04 3.45081810e+01] [ 1.07136566e-02 -1.35964640e-04 9.99942598e-01 7.53664505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.994391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:339.46, Y:34.51, Z:7.54 [[ 9.99941487e-01 -1.23990590e-03 -1.07464374e-02 3.39457042e+02] [ 1.24143736e-03 9.99999220e-01 1.35839605e-04 3.45072335e+01] [ 1.07462606e-02 -1.49172685e-04 9.99942246e-01 7.53677736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.024391418 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:339.49, Y:34.51, Z:7.54 [[ 9.99945867e-01 -2.26021961e-03 -1.01565322e-02 3.39485466e+02] [ 2.26162738e-03 9.99997434e-01 1.27123175e-04 3.45064532e+01] [ 1.01562188e-02 -1.50086585e-04 9.99948413e-01 7.53646604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.054391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:339.51, Y:34.51, Z:7.54 [[ 9.99951090e-01 -3.54676825e-03 -9.23249572e-03 3.39513651e+02] [ 3.54797566e-03 9.99993699e-01 1.14403029e-04 3.45052223e+01] [ 9.23203179e-03 -1.47154104e-04 9.99957373e-01 7.53697850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.084391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:339.54, Y:34.50, Z:7.54 [[ 9.99955598e-01 -4.20897561e-03 -8.43125593e-03 3.39541979e+02] [ 4.20997273e-03 9.99991133e-01 1.00520242e-04 3.45041552e+01] [ 8.43075808e-03 -1.36011136e-04 9.99964451e-01 7.53711008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.114391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:339.57, Y:34.50, Z:7.54 [[ 9.99969827e-01 -4.58762607e-03 -6.26893628e-03 3.39570597e+02] [ 4.58817240e-03 9.99989472e-01 7.27698976e-05 3.45022078e+01] [ 6.26853644e-03 -1.01530662e-04 9.99980347e-01 7.53751994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.144391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:339.60, Y:34.50, Z:7.54 [[ 9.99972896e-01 -4.44961807e-03 -5.86590205e-03 3.39599506e+02] [ 4.45009936e-03 9.99990096e-01 6.89993917e-05 3.45011969e+01] [ 5.86553694e-03 -9.51013685e-05 9.99982793e-01 7.53746062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.174391418 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:339.63, Y:34.50, Z:7.54 [[ 9.99976684e-01 -4.17347531e-03 -5.40487459e-03 3.39629022e+02] [ 4.17387928e-03 9.99991287e-01 6.34650693e-05 3.45003714e+01] [ 5.40456263e-03 -8.60228837e-05 9.99985392e-01 7.53739509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.204391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:339.66, Y:34.50, Z:7.54 [[ 9.99974566e-01 -4.11372176e-03 -5.82629129e-03 3.39658502e+02] [ 4.11419035e-03 9.99991534e-01 6.84432644e-05 3.44997486e+01] [ 5.82596041e-03 -9.24119950e-05 9.99983025e-01 7.53798874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.234391418 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:339.69, Y:34.50, Z:7.54 [[ 9.99972689e-01 -4.37355409e-03 -5.95768425e-03 3.39688165e+02] [ 4.37404651e-03 9.99990431e-01 6.96254368e-05 3.44992599e+01] [ 5.95732273e-03 -9.56827232e-05 9.99982250e-01 7.53807881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.264391418 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:339.72, Y:34.50, Z:7.54 [[ 9.99964164e-01 -6.08312088e-03 -5.88785102e-03 3.39717611e+02] [ 6.08363004e-03 9.99981492e-01 6.85702326e-05 3.44973682e+01] [ 5.88732493e-03 -1.04387283e-04 9.99982664e-01 7.53756219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.294391418 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:339.75, Y:34.50, Z:7.54 [[ 9.99957511e-01 -7.04071390e-03 -5.95021886e-03 3.39746616e+02] [ 7.04125092e-03 9.99975208e-01 6.93083343e-05 3.44953785e+01] [ 5.94958336e-03 -1.11202373e-04 9.99982295e-01 7.53686818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.324391418 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:339.78, Y:34.49, Z:7.54 [[ 9.99944980e-01 -8.58268163e-03 -6.03107597e-03 3.39776260e+02] [ 8.58326069e-03 9.99963161e-01 7.01362581e-05 3.44934953e+01] [ 6.03025184e-03 -1.21898697e-04 9.99981810e-01 7.53636542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.354391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:339.81, Y:34.49, Z:7.54 [[ 9.99929613e-01 -1.02029717e-02 -6.05546813e-03 3.39806914e+02] [ 1.02035859e-02 9.99947940e-01 7.05430358e-05 3.44915343e+01] [ 6.05443313e-03 -1.32325560e-04 9.99981663e-01 7.53622318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.384391418 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:339.84, Y:34.49, Z:7.54 [[ 9.99893776e-01 -1.33689200e-02 -5.80598106e-03 3.39838553e+02] [ 1.33695407e-02 9.99910621e-01 6.81074729e-05 3.44886883e+01] [ 5.80455160e-03 -1.45723538e-04 9.99983143e-01 7.53605698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.414391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:339.87, Y:34.49, Z:7.54 [[ 9.99867868e-01 -1.51013534e-02 -6.01624831e-03 3.39870537e+02] [ 1.51020557e-02 9.99885955e-01 7.13235608e-05 3.44870227e+01] [ 6.01448511e-03 -1.62171854e-04 9.99981900e-01 7.53600941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.444391418 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:339.90, Y:34.48, Z:7.54 [[ 9.99826098e-01 -1.75903873e-02 -6.19290189e-03 3.39901882e+02] [ 1.75911806e-02 9.99845261e-01 7.36479309e-05 3.44842132e+01] [ 6.19064811e-03 -1.82575579e-04 9.99980821e-01 7.53542057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.474391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:339.93, Y:34.48, Z:7.54 [[ 9.99813318e-01 -1.81021837e-02 -6.75581402e-03 3.39934050e+02] [ 1.81031434e-02 9.99836121e-01 8.09291432e-05 3.44825807e+01] [ 6.75324189e-03 -2.03215505e-04 9.99977176e-01 7.53522088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.504391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:339.97, Y:34.48, Z:7.53 [[ 9.99809059e-01 -1.81711194e-02 -7.18717208e-03 3.39965870e+02] [ 1.81722115e-02 9.99834868e-01 8.66670858e-05 3.44808558e+01] [ 7.18441041e-03 -2.17257349e-04 9.99974168e-01 7.53460702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.534391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:340.00, Y:34.48, Z:7.53 [[ 9.99810074e-01 -1.78398964e-02 -7.84563883e-03 3.39997421e+02] [ 1.78411975e-02 9.99840829e-01 9.58677519e-05 3.44786483e+01] [ 7.84267976e-03 -2.35825136e-04 9.99969218e-01 7.53436020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.564391418 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:340.03, Y:34.48, Z:7.53 [[ 9.99816339e-01 -1.74215637e-02 -7.98605040e-03 3.40029404e+02] [ 1.74229012e-02 9.99848205e-01 9.79353142e-05 3.44776897e+01] [ 7.98313197e-03 -2.37057494e-04 9.99968106e-01 7.53466159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.594391418 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:340.06, Y:34.48, Z:7.53 [[ 9.99829728e-01 -1.68355475e-02 -7.55509042e-03 3.40061210e+02] [ 1.68367327e-02 9.99858248e-01 9.32982978e-05 3.44767415e+01] [ 7.55244874e-03 -2.20485450e-04 9.99971456e-01 7.53443972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.624391418 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:340.09, Y:34.48, Z:7.53 [[ 9.99840948e-01 -1.64508451e-02 -6.88833544e-03 3.40092692e+02] [ 1.64518235e-02 9.99864656e-01 8.53996786e-05 3.44758081e+01] [ 6.88599825e-03 -1.98711775e-04 9.99976271e-01 7.53437846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.654391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:340.13, Y:34.47, Z:7.53 [[ 9.99866932e-01 -1.53615154e-02 -5.49026542e-03 3.40125305e+02] [ 1.53621240e-02 9.99881993e-01 6.87047527e-05 3.44740011e+01] [ 5.48856212e-03 -1.53037749e-04 9.99984926e-01 7.53399876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.684391418 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:340.16, Y:34.47, Z:7.53 [[ 9.99880763e-01 -1.46433763e-02 -4.90211036e-03 3.40157239e+02] [ 1.46438551e-02 9.99892771e-01 6.17922382e-05 3.44724122e+01] [ 4.90067986e-03 -1.33570664e-04 9.99987983e-01 7.53336260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.714391418 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:340.19, Y:34.47, Z:7.53 [[ 9.99912112e-01 -1.26137152e-02 -4.08199262e-03 3.40188902e+02] [ 1.26140311e-02 9.99920439e-01 5.16535020e-05 3.44708221e+01] [ 4.08101631e-03 -1.03139344e-04 9.99991667e-01 7.53323696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.744391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:340.22, Y:34.47, Z:7.53 [[ 9.99932133e-01 -1.10417000e-02 -3.71627822e-03 3.40220684e+02] [ 1.10419527e-02 9.99939035e-01 4.74916567e-05 3.44701353e+01] [ 3.71552727e-03 -8.85234018e-05 9.99993093e-01 7.53351575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.774391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:340.25, Y:34.47, Z:7.53 [[ 9.99953086e-01 -9.14971427e-03 -3.17941063e-03 3.40253361e+02] [ 9.14989074e-03 9.99958138e-01 4.09628715e-05 3.44696581e+01] [ 3.17890274e-03 -7.00522097e-05 9.99994945e-01 7.53363724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.804391418 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:340.29, Y:34.47, Z:7.53 [[ 9.99982296e-01 -5.34193381e-03 -2.62121508e-03 3.40286031e+02] [ 5.34204148e-03 9.99985731e-01 3.40765979e-05 3.44681965e+01] [ 2.62099564e-03 -4.80786343e-05 9.99996564e-01 7.53399141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.834391418 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:340.32, Y:34.47, Z:7.53 [[ 9.99990055e-01 -3.60723547e-03 -2.62271738e-03 3.40316629e+02] [ 3.60733642e-03 9.99993493e-01 3.37620585e-05 3.44666221e+01] [ 2.62257853e-03 -4.32227467e-05 9.99996560e-01 7.53369758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.864391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:340.35, Y:34.47, Z:7.53 [[ 9.99993466e-01 -2.45126036e-03 -2.65711493e-03 3.40347029e+02] [ 2.45135956e-03 9.99996995e-01 3.40768401e-05 3.44650673e+01] [ 2.65702341e-03 -4.05901615e-05 9.99996469e-01 7.53320286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.894391418 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:340.38, Y:34.46, Z:7.53 [[ 9.99994338e-01 -7.38714515e-04 -3.28300508e-03 3.40376649e+02] [ 7.38856081e-04 9.99999726e-01 4.19082339e-05 3.44628250e+01] [ 3.28297322e-03 -4.43336649e-05 9.99994610e-01 7.53319841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92439141799997 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:340.41, Y:34.46, Z:7.53 [[ 9.99990839e-01 -7.40615349e-04 -4.21573848e-03 3.40405980e+02] [ 7.40847743e-04 9.99999724e-01 5.35640130e-05 3.44619246e+01] [ 4.21569764e-03 -5.66867427e-05 9.99991112e-01 7.53320286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.954391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:340.43, Y:34.46, Z:7.53 [[ 9.99988886e-01 -9.80247021e-04 -4.61168812e-03 3.40434315e+02] [ 9.80524815e-04 9.99999518e-01 5.79762885e-05 3.44605007e+01] [ 4.61162907e-03 -6.24975187e-05 9.99989364e-01 7.53267494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:340.46, Y:34.46, Z:7.53 [[ 9.99984805e-01 -1.93574311e-03 -5.16166183e-03 3.40463477e+02] [ 1.93610202e-03 9.99998124e-01 6.45375690e-05 3.44573145e+01] [ 5.16152721e-03 -7.45300922e-05 9.99986676e-01 7.53179067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.014391418 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:340.49, Y:34.46, Z:7.53 [[ 9.99980461e-01 -2.75446370e-03 -5.61170994e-03 3.40492157e+02] [ 2.75490034e-03 9.99996203e-01 7.00811609e-05 3.44554169e+01] [ 5.61149559e-03 -8.55394932e-05 9.99984252e-01 7.53120319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044391418 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:340.52, Y:34.45, Z:7.53 [[ 9.99976122e-01 -3.82189204e-03 -5.75753917e-03 3.40520909e+02] [ 3.82235175e-03 9.99992692e-01 6.88429899e-05 3.44534703e+01] [ 5.75723398e-03 -9.08486860e-05 9.99983423e-01 7.53068611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.074391418 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:340.55, Y:34.45, Z:7.53 [[ 9.99972561e-01 -4.71345768e-03 -5.71500638e-03 3.40550749e+02] [ 4.71393251e-03 9.99988887e-01 6.96178788e-05 3.44507761e+01] [ 5.71461473e-03 -9.65561228e-05 9.99983667e-01 7.53060320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:340.58, Y:34.45, Z:7.53 [[ 9.99972479e-01 -4.91695289e-03 -5.55564198e-03 3.40580490e+02] [ 4.91740349e-03 9.99987907e-01 6.74501121e-05 3.44498200e+01] [ 5.55524315e-03 -9.47675891e-05 9.99984565e-01 7.53051518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.134391418 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:340.61, Y:34.45, Z:7.53 [[ 9.99969140e-01 -5.60617983e-03 -5.50370537e-03 3.40609643e+02] [ 5.60663257e-03 9.99984280e-01 6.68352783e-05 3.44483311e+01] [ 5.50324416e-03 -9.76904694e-05 9.99984852e-01 7.53140479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164391418 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:340.64, Y:34.45, Z:7.53 [[ 9.99968527e-01 -5.96211389e-03 -5.23426038e-03 3.40638811e+02] [ 5.96252651e-03 9.99982222e-01 6.32293119e-05 3.44472551e+01] [ 5.23379035e-03 -9.44367382e-05 9.99986299e-01 7.53100554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.194391418 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:340.67, Y:34.45, Z:7.53 [[ 9.99968009e-01 -6.27394846e-03 -4.96180060e-03 3.40669420e+02] [ 6.27432424e-03 9.99980314e-01 6.01723335e-05 3.44460701e+01] [ 4.96132541e-03 -9.13023543e-05 9.99987688e-01 7.53073849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:340.70, Y:34.45, Z:7.53 [[ 9.99968327e-01 -6.53754134e-03 -4.53941251e-03 3.40699223e+02] [ 6.53785878e-03 9.99978626e-01 5.50937385e-05 3.44450020e+01] [ 4.53895531e-03 -8.47700315e-05 9.99989695e-01 7.53046609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.254391418 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:340.73, Y:34.44, Z:7.53 [[ 9.99966474e-01 -7.59167700e-03 -3.06865244e-03 3.40729970e+02] [ 7.59182697e-03 9.99971181e-01 3.72262876e-05 3.44434176e+01] [ 3.06828140e-03 -6.05217180e-05 9.99995291e-01 7.53059630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284391418 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:340.76, Y:34.44, Z:7.53 [[ 9.99962820e-01 -8.32132697e-03 -2.26124752e-03 3.40759880e+02] [ 8.32141065e-03 9.99965376e-01 2.76004517e-05 3.44423878e+01] [ 2.26093956e-03 -4.64161947e-05 9.99997443e-01 7.53021408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.314391418 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:340.79, Y:34.44, Z:7.53 [[ 9.99955061e-01 -9.29539980e-03 -1.86300223e-03 3.40791639e+02] [ 9.29545929e-03 9.99956796e-01 2.32764894e-05 3.44414007e+01] [ 1.86270538e-03 -4.05929047e-05 9.99998264e-01 7.52949992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:340.82, Y:34.44, Z:7.53 [[ 9.99929563e-01 -1.16765618e-02 -2.12772419e-03 3.40822347e+02] [ 1.16766458e-02 9.99931825e-01 2.70579231e-05 3.44395232e+01] [ 2.12726319e-03 -5.19006990e-05 9.99997736e-01 7.52840945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.374391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:340.85, Y:34.44, Z:7.53 [[ 9.99911949e-01 -1.30639991e-02 -2.32927622e-03 3.40853646e+02] [ 1.30641027e-02 9.99914661e-01 2.92704252e-05 3.44383474e+01] [ 2.32869505e-03 -5.96977518e-05 9.99997287e-01 7.52780538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.404391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:340.89, Y:34.44, Z:7.53 [[ 9.99913197e-01 -1.29681738e-02 -2.32927043e-03 3.40886343e+02] [ 1.29682782e-02 9.99915908e-01 2.97337248e-05 3.44378582e+01] [ 2.32868896e-03 -5.99377707e-05 9.99997287e-01 7.52759932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.434391418 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:340.92, Y:34.44, Z:7.53 [[ 9.99864128e-01 -1.62968721e-02 -2.47743098e-03 3.40918351e+02] [ 1.62970005e-02 9.99867195e-01 3.16508360e-05 3.44359780e+01] [ 2.47658615e-03 -7.20212294e-05 9.99996931e-01 7.52654767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.464391418 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:340.95, Y:34.43, Z:7.53 [[ 9.99837311e-01 -1.78248245e-02 -2.76166080e-03 3.40950962e+02] [ 1.78249903e-02 9.99841122e-01 3.54352328e-05 3.44349091e+01] [ 2.76059041e-03 -8.46560449e-05 9.99996186e-01 7.52642723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.494391418 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:340.98, Y:34.43, Z:7.53 [[ 9.99808914e-01 -1.93586600e-02 -2.71608464e-03 3.40982908e+02] [ 1.93588266e-02 9.99812600e-01 3.50651879e-05 3.44338694e+01] [ 2.71489683e-03 -8.76386990e-05 9.99996311e-01 7.52603512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.524391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:341.01, Y:34.43, Z:7.53 [[ 9.99775261e-01 -2.10001654e-02 -2.90168461e-03 3.41014745e+02] [ 2.10003630e-02 9.99779467e-01 3.76440225e-05 3.44326735e+01] [ 2.90025416e-03 -9.85719924e-05 9.99995789e-01 7.52545062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.554391418 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:341.05, Y:34.43, Z:7.52 [[ 9.99699590e-01 -2.43506627e-02 -2.78843599e-03 3.41047279e+02] [ 2.43508590e-02 9.99703473e-01 3.64673464e-05 3.44307102e+01] [ 2.78672114e-03 -1.04357203e-04 9.99996112e-01 7.52460787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.584391418 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:341.08, Y:34.43, Z:7.52 [[ 9.99660256e-01 -2.58826264e-02 -3.07601147e-03 3.41079795e+02] [ 2.58828731e-02 9.99664982e-01 4.04238666e-05 3.44297206e+01] [ 3.07393467e-03 -1.20026147e-04 9.99995268e-01 7.52452598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.614391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:341.11, Y:34.43, Z:7.52 [[ 9.99615337e-01 -2.75743602e-02 -2.97205605e-03 3.41111785e+02] [ 2.75746018e-02 9.99619748e-01 4.03376884e-05 3.44282816e+01] [ 2.96981364e-03 -1.22275434e-04 9.99995583e-01 7.52460520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.644391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:341.14, Y:34.43, Z:7.52 [[ 9.99613210e-01 -2.76679668e-02 -2.81331559e-03 3.41144510e+02] [ 2.76681835e-02 9.99617162e-01 3.81579173e-05 3.44272162e+01] [ 2.81118280e-03 -1.15982490e-04 9.99996042e-01 7.52448356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67439141799997 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:341.18, Y:34.43, Z:7.52 [[ 9.99615544e-01 -2.75343920e-02 -3.25919453e-03 3.41177545e+02] [ 2.75346831e-02 9.99620848e-01 4.44751240e-05 3.44264271e+01] [ 3.25673420e-03 -1.34198914e-04 9.99994688e-01 7.52440348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.704391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:341.21, Y:34.43, Z:7.52 [[ 9.99638100e-01 -2.65857587e-02 -4.10692055e-03 3.41210708e+02] [ 2.65862142e-02 9.99646523e-01 5.63566355e-05 3.44261469e+01] [ 4.10397056e-03 -1.65523709e-04 9.99991565e-01 7.52445061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.734391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:341.24, Y:34.43, Z:7.52 [[ 9.99659709e-01 -2.56162679e-02 -4.92667035e-03 3.41243197e+02] [ 2.56169116e-02 9.99671831e-01 6.75860879e-05 3.44258689e+01] [ 4.92332227e-03 -1.93769168e-04 9.99987862e-01 7.52472905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.764391418 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:341.27, Y:34.43, Z:7.52 [[ 9.99695822e-01 -2.42943261e-02 -4.24834759e-03 3.41274835e+02] [ 2.42947936e-02 9.99704836e-01 5.84763007e-05 3.44257769e+01] [ 4.24567298e-03 -1.61671241e-04 9.99990974e-01 7.52484735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.794391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:341.31, Y:34.43, Z:7.53 [[ 9.99718838e-01 -2.34130419e-02 -3.75169927e-03 3.41307173e+02] [ 2.34134021e-02 9.99725867e-01 5.21139816e-05 3.44252590e+01] [ 3.74945066e-03 -1.39939373e-04 9.99992961e-01 7.52524148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.824391418 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:341.34, Y:34.42, Z:7.53 [[ 9.99742198e-01 -2.25504258e-02 -2.64858733e-03 3.41337932e+02] [ 2.25506028e-02 9.99745702e-01 3.69699286e-05 3.44247108e+01] [ 2.64708011e-03 -9.66876385e-05 9.99996492e-01 7.52525312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.854391418 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:341.37, Y:34.42, Z:7.53 [[ 9.99780019e-01 -2.09468450e-02 -1.06954159e-03 3.41368758e+02] [ 2.09468733e-02 9.99780590e-01 1.52135400e-05 3.44239596e+01] [ 1.06898824e-03 -3.76137454e-05 9.99999428e-01 7.52558618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.884391418 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:341.40, Y:34.42, Z:7.53 [[ 9.99790046e-01 -2.04698403e-02 -9.21484640e-04 3.41400699e+02] [ 2.04698613e-02 9.99790470e-01 1.33485645e-05 3.44236207e+01] [ 9.21018318e-04 -3.22084247e-05 9.99999575e-01 7.52567963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.914391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:341.43, Y:34.42, Z:7.53 [[ 9.99819283e-01 -1.89826913e-02 -1.02928194e-03 3.41432887e+02] [ 1.89827168e-02 9.99819812e-01 1.49350844e-05 3.44226796e+01] [ 1.02881297e-03 -3.44709528e-05 9.99999470e-01 7.52527716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.944391418 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:341.46, Y:34.42, Z:7.53 [[ 9.99827635e-01 -1.85365724e-02 -1.04701563e-03 3.41464635e+02] [ 1.85365986e-02 9.99828182e-01 1.52940547e-05 3.44217995e+01] [ 1.04655223e-03 -3.46995269e-05 9.99999452e-01 7.52506220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.974391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:341.50, Y:34.42, Z:7.53 [[ 9.99832373e-01 -1.82502678e-02 -1.46726265e-03 3.41495624e+02] [ 1.82503194e-02 9.99833449e-01 2.17547141e-05 3.44208750e+01] [ 1.46662125e-03 -4.85290794e-05 9.99998923e-01 7.52508052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.004391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:341.53, Y:34.42, Z:7.52 [[ 9.99830061e-01 -1.83705535e-02 -1.54019242e-03 3.41526541e+02] [ 1.83706106e-02 9.99831246e-01 2.29445033e-05 3.44200036e+01] [ 1.53951100e-03 -5.12348792e-05 9.99998814e-01 7.52469950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.034391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:341.56, Y:34.42, Z:7.52 [[ 9.99802341e-01 -1.97090589e-02 -2.61395638e-03 3.41559073e+02] [ 1.97092263e-02 9.99805754e-01 3.82713894e-05 3.44189569e+01] [ 2.61269434e-03 -8.97828825e-05 9.99996583e-01 7.52361034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.064391418 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:341.59, Y:34.42, Z:7.52 [[ 9.99779606e-01 -2.06726469e-02 -3.65802314e-03 3.41591591e+02] [ 2.06729814e-02 9.99786290e-01 5.36413016e-05 3.44183472e+01] [ 3.65613247e-03 -1.29251724e-04 9.99993308e-01 7.52298863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.094391418 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:341.62, Y:34.42, Z:7.52 [[ 9.99754915e-01 -2.16975932e-02 -4.39592210e-03 3.41622397e+02] [ 2.16980862e-02 9.99764567e-01 6.44927550e-05 3.44177138e+01] [ 4.39348782e-03 -1.59860046e-04 9.99990336e-01 7.52256658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.124391418 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:341.65, Y:34.42, Z:7.52 [[ 9.99700626e-01 -2.40152501e-02 -4.68250093e-03 3.41654109e+02] [ 2.40158372e-02 9.99711576e-01 6.91959201e-05 3.44170164e+01] [ 4.67948863e-03 -1.81629385e-04 9.99989035e-01 7.52223381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.154391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:341.69, Y:34.42, Z:7.52 [[ 9.99667056e-01 -2.54060966e-02 -4.50626774e-03 3.41686227e+02] [ 2.54066564e-02 9.99677197e-01 6.70023720e-05 3.44161819e+01] [ 4.50311083e-03 -1.81469260e-04 9.99989844e-01 7.52185419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.184391418 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:341.72, Y:34.42, Z:7.52 [[ 9.99597152e-01 -2.79977687e-02 -4.65383084e-03 3.41717599e+02] [ 2.79983944e-02 9.99607966e-01 6.93333960e-05 3.44154893e+01] [ 4.65006520e-03 -1.99605257e-04 9.99989168e-01 7.52150316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.214391418 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:341.75, Y:34.42, Z:7.52 [[ 9.99565558e-01 -2.91231250e-02 -4.53208087e-03 3.41749785e+02] [ 2.91237322e-02 9.99575812e-01 6.80297071e-05 3.44154497e+01] [ 4.52817718e-03 -1.99991262e-04 9.99989728e-01 7.52175814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.244391418 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:341.78, Y:34.42, Z:7.52 [[ 9.99532884e-01 -3.02355481e-02 -4.45251051e-03 3.41781512e+02] [ 3.02361526e-02 9.99542781e-01 6.85039453e-05 3.44156745e+01] [ 4.44840348e-03 -2.03098733e-04 9.99990085e-01 7.52224827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.274391418 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:341.81, Y:34.42, Z:7.52 [[ 9.99511546e-01 -3.10389703e-02 -3.64019357e-03 3.41814746e+02] [ 3.10393804e-02 9.99518161e-01 5.61911951e-05 3.44158089e+01] [ 3.63669547e-03 -1.69153101e-04 9.99993373e-01 7.52207929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.304391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:341.85, Y:34.42, Z:7.52 [[ 9.99444448e-01 -3.31931725e-02 -3.00141107e-03 3.41847467e+02] [ 3.31934624e-02 9.99448944e-01 4.68351587e-05 3.44159868e+01] [ 2.99820252e-03 -1.46436365e-04 9.99995495e-01 7.52242738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.334391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:341.88, Y:34.42, Z:7.52 [[ 9.99408363e-01 -3.42888742e-02 -2.68277949e-03 3.41880112e+02] [ 3.42891110e-02 9.99411955e-01 4.22762791e-05 3.44156285e+01] [ 2.67975229e-03 -1.34241390e-04 9.99996400e-01 7.52244524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.364391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:341.91, Y:34.42, Z:7.52 [[ 9.99322997e-01 -3.66577950e-02 -3.12297038e-03 3.41913206e+02] [ 3.66581281e-02 9.99327864e-01 4.94647634e-05 3.44162958e+01] [ 3.11905805e-03 -1.63913524e-04 9.99995122e-01 7.52303583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.394391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:341.95, Y:34.42, Z:7.52 [[ 9.99266802e-01 -3.81340854e-02 -3.41308229e-03 3.41945819e+02] [ 3.81344930e-02 9.99272614e-01 5.44041828e-05 3.44167703e+01] [ 3.40852501e-03 -1.84520457e-04 9.99994174e-01 7.52318568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42439141799997 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:341.98, Y:34.42, Z:7.52 [[ 9.99204971e-01 -3.96548779e-02 -4.11306186e-03 3.41978666e+02] [ 3.96554842e-02 9.99213410e-01 6.59347407e-05 3.44169056e+01] [ 4.10721193e-03 -2.28987780e-04 9.99991539e-01 7.52303918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.454391418 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:342.01, Y:34.42, Z:7.52 [[ 9.99076707e-01 -4.26526631e-02 -5.14621269e-03 3.42011793e+02] [ 4.26536543e-02 9.99089915e-01 8.29477570e-05 3.44166999e+01] [ 5.13799126e-03 -3.02375949e-04 9.99986755e-01 7.52216710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:342.04, Y:34.42, Z:7.52 [[ 9.99025030e-01 -4.37885740e-02 -5.61703297e-03 3.42043683e+02] [ 4.37897816e-02 9.99040763e-01 9.21356844e-05 3.44164538e+01] [ 5.60761042e-03 -3.38014502e-04 9.99984220e-01 7.52161464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.514391418 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:342.08, Y:34.42, Z:7.52 [[ 9.98934905e-01 -4.57599053e-02 -5.92346797e-03 3.42076256e+02] [ 4.57612893e-02 9.98952399e-01 9.82564760e-05 3.44169978e+01] [ 5.91276633e-03 -3.69217355e-04 9.99982451e-01 7.52132454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544391418 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:342.11, Y:34.42, Z:7.52 [[ 9.98895257e-01 -4.66649744e-02 -5.53578031e-03 3.42108848e+02] [ 4.66661981e-02 9.98910535e-01 9.20278445e-05 3.44171340e+01] [ 5.52545479e-03 -3.50259998e-04 9.99984673e-01 7.52098756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.574391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:342.14, Y:34.42, Z:7.52 [[ 9.98832122e-01 -4.80586121e-02 -4.97619916e-03 3.42141211e+02] [ 4.80544600e-02 9.98844265e-01 -9.50688213e-04 3.44190097e+01] [ 5.01613674e-03 7.10449362e-04 9.99987167e-01 7.52107609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604391418 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:342.17, Y:34.42, Z:7.52 [[ 9.98860375e-01 -4.74271415e-02 -5.34953669e-03 3.42173232e+02] [ 4.74338294e-02 9.98873743e-01 1.13024284e-03 3.44175171e+01] [ 5.28990755e-03 -1.38270379e-03 9.99985052e-01 7.52091001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.634391418 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:342.21, Y:34.42, Z:7.52 [[ 9.98836629e-01 -4.79427911e-02 -5.18440540e-03 3.42206522e+02] [ 4.79438942e-02 9.98850026e-01 8.86237219e-05 3.44198152e+01] [ 5.17419460e-03 -3.37081204e-04 9.99986557e-01 7.52102989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:342.24, Y:34.42, Z:7.52 [[ 9.98799060e-01 -4.87882132e-02 -4.48865520e-03 3.42238285e+02] [ 4.87759114e-02 9.98805793e-01 -2.81053280e-03 3.44230144e+01] [ 4.62041569e-03 2.58821927e-03 9.99985976e-01 7.52086194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.694391418 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:342.27, Y:34.42, Z:7.52 [[ 9.98868578e-01 -4.72579702e-02 -5.31490445e-03 3.42270210e+02] [ 4.72744500e-02 9.98877376e-01 3.01894035e-03 3.44206702e+01] [ 5.16626882e-03 -3.26678384e-03 9.99981319e-01 7.51965947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724391418 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:342.30, Y:34.42, Z:7.52 [[ 9.98900822e-01 -4.65532046e-02 -5.47234134e-03 3.42303052e+02] [ 4.65544287e-02 9.98915750e-01 9.64555308e-05 3.44225271e+01] [ 5.46191764e-03 -3.51111234e-04 9.99985022e-01 7.52061211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.754391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:342.34, Y:34.42, Z:7.52 [[ 9.98934691e-01 -4.58159562e-02 -5.51187416e-03 3.42336431e+02] [ 4.58171905e-02 9.98949836e-01 9.78142918e-05 3.44236759e+01] [ 5.50160434e-03 -3.50248678e-04 9.99984805e-01 7.52114313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:342.37, Y:34.43, Z:7.52 [[ 9.99024621e-01 -4.37890931e-02 -5.68528952e-03 3.42369798e+02] [ 4.37903775e-02 9.99040736e-01 1.01575300e-04 3.44266693e+01] [ 5.67538794e-03 -3.50437200e-04 9.99983833e-01 7.52137204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.814391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:342.40, Y:34.43, Z:7.52 [[ 9.99067424e-01 -4.28006706e-02 -5.69078512e-03 3.42402513e+02] [ 4.28019456e-02 9.99083572e-01 1.02394119e-04 3.44277517e+01] [ 5.68118738e-03 -3.45875304e-04 9.99983802e-01 7.52107184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844391418 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:342.43, Y:34.43, Z:7.52 [[ 9.99133337e-01 -4.12441271e-02 -5.61222096e-03 3.42434482e+02] [ 4.12453521e-02 9.99149043e-01 1.02651687e-04 3.44285010e+01] [ 5.60321143e-03 -3.34040752e-04 9.99984246e-01 7.52066964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.874391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:342.47, Y:34.43, Z:7.52 [[ 9.99217468e-01 -3.91833103e-02 -5.39627916e-03 3.42466700e+02] [ 3.91844187e-02 9.99231991e-01 9.97917589e-05 3.44305178e+01] [ 5.38822459e-03 -3.11163731e-04 9.99985435e-01 7.52001948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.904391418 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:342.50, Y:34.43, Z:7.52 [[ 9.99241477e-01 -3.85024624e-02 -5.83364912e-03 3.42500045e+02] [ 3.85037469e-02 9.99258450e-01 1.07989206e-04 3.44310073e+01] [ 5.82516532e-03 -3.32524643e-04 9.99982978e-01 7.51998626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.934391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:342.53, Y:34.43, Z:7.52 [[ 9.99254801e-01 -3.81589329e-02 -5.80849862e-03 3.42532044e+02] [ 3.81602032e-02 9.99271628e-01 1.07976617e-04 3.44329391e+01] [ 5.80014760e-03 -3.29549640e-04 9.99983125e-01 7.51992958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.964391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:342.56, Y:34.43, Z:7.52 [[ 9.99253151e-01 -3.81798681e-02 -5.95299857e-03 3.42564651e+02] [ 3.81812078e-02 9.99270826e-01 1.11516683e-04 3.44336337e+01] [ 5.94440011e-03 -3.38726072e-04 9.99982275e-01 7.52000652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.994391418 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:342.60, Y:34.43, Z:7.52 [[ 9.99245449e-01 -3.84155713e-02 -5.72505288e-03 3.42597748e+02] [ 3.84168184e-02 9.99261796e-01 1.07967615e-04 3.44342207e+01] [ 5.71667898e-03 -3.27824464e-04 9.99983606e-01 7.51992487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.024391418 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:342.63, Y:34.43, Z:7.52 [[ 9.99231525e-01 -3.87524228e-02 -5.88289049e-03 3.42630709e+02] [ 3.87537495e-02 9.99248785e-01 1.11639768e-04 3.44348357e+01] [ 5.87414486e-03 -3.39538040e-04 9.99982689e-01 7.52049558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.054391418 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:342.66, Y:34.44, Z:7.52 [[ 9.99224082e-01 -3.90646109e-02 -5.01897186e-03 3.42663716e+02] [ 3.90655839e-02 9.99236644e-01 9.59567407e-05 3.44364023e+01] [ 5.01139209e-03 -2.91951353e-04 9.99987400e-01 7.52089385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.084391418 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:342.70, Y:34.44, Z:7.52 [[ 9.99217809e-01 -3.92704179e-02 -4.64807553e-03 3.42695749e+02] [ 3.92712565e-02 9.99228583e-01 8.92555371e-05 3.44368216e+01] [ 4.64098482e-03 -2.71721488e-04 9.99989194e-01 7.52096244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.114391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:342.73, Y:34.44, Z:7.52 [[ 9.99232872e-01 -3.89529399e-02 -4.04179450e-03 3.42729019e+02] [ 3.89535744e-02 9.99241018e-01 7.83409030e-05 3.44384215e+01] [ 4.03567524e-03 -2.35723148e-04 9.99991829e-01 7.52178422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.144391418 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:342.76, Y:34.44, Z:7.52 [[ 9.99233358e-01 -3.89407114e-02 -4.03957718e-03 3.42760944e+02] [ 3.89413462e-02 9.99241495e-01 7.85762014e-05 3.44393435e+01] [ 4.03345333e-03 -2.35822535e-04 9.99991838e-01 7.52206403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17439141799997 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:342.79, Y:34.44, Z:7.52 [[ 9.99227985e-01 -3.90135136e-02 -4.62388531e-03 3.42794160e+02] [ 3.90143489e-02 9.99238646e-01 9.05565581e-05 3.44413222e+01] [ 4.61683197e-03 -2.70884522e-04 9.99989306e-01 7.52233598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.204391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:342.83, Y:34.44, Z:7.52 [[ 9.99208976e-01 -3.95540044e-02 -4.11142110e-03 3.42827319e+02] [ 3.95546717e-02 9.99217404e-01 8.11075602e-05 3.44412100e+01] [ 4.10499539e-03 -2.43669314e-04 9.99991545e-01 7.52170868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.234391418 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:342.86, Y:34.44, Z:7.52 [[ 9.99196679e-01 -3.98735288e-02 -4.01222848e-03 3.42860555e+02] [ 3.98741691e-02 9.99204706e-01 7.96688767e-05 3.44408639e+01] [ 4.00586090e-03 -2.39589154e-04 9.99991948e-01 7.52152247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.264391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:342.89, Y:34.45, Z:7.52 [[ 9.99146441e-01 -4.12394998e-02 -2.38607338e-03 3.42892190e+02] [ 4.12060989e-02 9.99070322e-01 -1.26707612e-02 3.44481777e+01] [ 2.90639096e-03 1.25616252e-02 9.99916876e-01 7.52249701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.294391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:342.92, Y:34.44, Z:7.52 [[ 9.99151824e-01 -4.11089021e-02 -2.38558463e-03 3.42924741e+02] [ 4.11090553e-02 9.99154665e-01 1.52008094e-05 3.44417452e+01] [ 2.38294312e-03 -1.13257047e-04 9.99997154e-01 7.51800380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.324391418 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:342.96, Y:34.43, Z:7.52 [[ 9.99159206e-01 -4.08428585e-02 -3.56968815e-03 3.42957272e+02] [ 4.08860700e-02 9.99079090e-01 1.30115856e-02 3.44341587e+01] [ 3.03497044e-03 -1.31465960e-02 9.99908974e-01 7.51718580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.354391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:342.99, Y:34.45, Z:7.52 [[ 9.99101912e-01 -4.23108974e-02 -2.27084043e-03 3.42987905e+02] [ 4.22798911e-02 9.99030054e-01 -1.23029585e-02 3.44476423e+01] [ 2.78918705e-03 1.21958984e-02 9.99921737e-01 7.52287312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.384391418 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:343.02, Y:34.44, Z:7.52 [[ 9.99146715e-01 -4.10919264e-02 -4.15888699e-03 3.43020974e+02] [ 4.11412962e-02 9.99074171e-01 1.25775516e-02 3.44350733e+01] [ 3.63820074e-03 -1.27379213e-02 9.99912251e-01 7.51803082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.414391418 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:343.05, Y:34.44, Z:7.52 [[ 9.99166287e-01 -4.04775100e-02 -5.31997491e-03 3.43053761e+02] [ 4.04786693e-02 9.99180397e-01 1.10367759e-04 3.44403434e+01] [ 5.31114723e-03 -3.25621249e-04 9.99985843e-01 7.52236270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.444391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:343.09, Y:34.44, Z:7.52 [[ 9.99179523e-01 -4.00181877e-02 -6.23104788e-03 3.43085453e+02] [ 4.00197715e-02 9.99198880e-01 1.29653337e-04 3.44401483e+01] [ 6.22086757e-03 -3.78912072e-04 9.99980578e-01 7.52213163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.474391418 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:343.12, Y:34.44, Z:7.52 [[ 9.99234523e-01 -3.82913739e-02 -8.00863848e-03 3.43118960e+02] [ 3.82939424e-02 9.99266504e-01 1.67558103e-04 3.44404286e+01] [ 7.99634814e-03 -4.74112182e-04 9.99967916e-01 7.52219004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.504391418 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:343.15, Y:34.44, Z:7.52 [[ 9.99279589e-01 -3.70152629e-02 -8.37698092e-03 3.43151153e+02] [ 3.70180341e-02 9.99314582e-01 1.75948375e-04 3.44406905e+01] [ 8.36472641e-03 -4.85920985e-04 9.99964897e-01 7.52227466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.534391418 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:343.18, Y:34.44, Z:7.52 [[ 9.99344784e-01 -3.52205435e-02 -8.33764620e-03 3.43183718e+02] [ 3.52232356e-02 9.99379454e-01 1.76219905e-04 3.44407878e+01] [ 8.32626574e-03 -4.69783319e-04 9.99965226e-01 7.52248991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.564391418 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:343.22, Y:34.44, Z:7.52 [[ 9.99478236e-01 -3.12744304e-02 -8.07249665e-03 3.43216535e+02] [ 3.12768338e-02 9.99510745e-01 1.71620960e-04 3.44424119e+01] [ 8.06317980e-03 -4.24013551e-04 9.99967402e-01 7.52313581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.594391418 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:343.25, Y:34.44, Z:7.52 [[ 9.99558975e-01 -2.86489445e-02 -7.81629215e-03 3.43247302e+02] [ 2.86511188e-02 9.99589459e-01 1.66310626e-04 3.44427071e+01] [ 7.80831862e-03 -3.90182793e-04 9.99969438e-01 7.52312473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.624391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:343.28, Y:34.44, Z:7.52 [[ 9.99634737e-01 -2.59450509e-02 -7.56614925e-03 3.43279370e+02] [ 2.59470161e-02 9.99663306e-01 1.61683081e-04 3.44430395e+01] [ 7.55940690e-03 -3.57943020e-04 9.99971363e-01 7.52305608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.654391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:343.31, Y:34.44, Z:7.52 [[ 9.99707506e-01 -2.31420607e-02 -7.02474469e-03 3.43312051e+02] [ 2.31436897e-02 9.99732138e-01 1.50678944e-04 3.44433191e+01] [ 7.01937600e-03 -3.13213382e-04 9.99975315e-01 7.52311408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.684391418 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:343.34, Y:34.45, Z:7.52 [[ 9.99820008e-01 -1.76763184e-02 -6.89196967e-03 3.43344489e+02] [ 1.76777604e-02 9.99843725e-01 1.48360951e-04 3.44455471e+01] [ 6.88827016e-03 -2.70168836e-04 9.99976239e-01 7.52476146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.714391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:343.38, Y:34.45, Z:7.53 [[ 9.99862216e-01 -1.52912449e-02 -6.45958881e-03 3.43376958e+02] [ 1.52924655e-02 9.99883054e-01 1.39612517e-04 3.44461612e+01] [ 6.45669854e-03 -2.38376320e-04 9.99979127e-01 7.52537274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.744391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:343.41, Y:34.45, Z:7.53 [[ 9.99892636e-01 -1.35907364e-02 -5.47799377e-03 3.43407032e+02] [ 1.35554998e-02 9.99887516e-01 -6.41900579e-03 3.44522359e+01] [ 5.56461660e-03 6.34405967e-03 9.99964393e-01 7.52636527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.774391418 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:343.44, Y:34.44, Z:7.52 [[ 9.99923782e-01 -1.05552849e-02 -6.40440792e-03 3.43439564e+02] [ 1.05980475e-02 9.99921525e-01 6.68026225e-03 3.44433302e+01] [ 6.33339326e-03 -6.74762731e-03 9.99957178e-01 7.52308865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.804391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:343.47, Y:34.45, Z:7.53 [[ 9.99934462e-01 -9.26079873e-03 -6.73127050e-03 3.43470840e+02] [ 9.26199509e-03 9.99957096e-01 1.46578540e-04 3.44456522e+01] [ 6.72962426e-03 -2.08913928e-04 9.99977334e-01 7.52554701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.834391418 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:343.50, Y:34.45, Z:7.53 [[ 9.99955072e-01 -6.36883658e-03 -7.02083702e-03 3.43501023e+02] [ 6.37006696e-03 9.99979699e-01 1.52898475e-04 3.44458930e+01] [ 7.01972071e-03 -1.97614808e-04 9.99975342e-01 7.52586689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.864391418 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:343.53, Y:34.45, Z:7.53 [[ 9.99959852e-01 -4.63225032e-03 -7.67045351e-03 3.43530293e+02] [ 4.63366274e-03 9.99989251e-01 1.66376367e-04 3.44459847e+01] [ 7.66960036e-03 -2.01911982e-04 9.99970568e-01 7.52620474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.894391418 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:343.56, Y:34.45, Z:7.53 [[ 9.99966746e-01 -3.07847500e-03 -7.55185702e-03 3.43559420e+02] [ 3.07979546e-03 9.99995244e-01 1.63228918e-04 3.44462240e+01] [ 7.55131861e-03 -1.86481665e-04 9.99971471e-01 7.52606037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92439141799997 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:343.59, Y:34.45, Z:7.53 [[ 9.99965636e-01 5.02991650e-04 -8.27489011e-03 3.43587731e+02] [-5.01558541e-04 9.99999859e-01 1.75262022e-04 3.44463433e+01] [ 8.27497710e-03 -1.71105657e-04 9.99965747e-01 7.52665620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.954391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:343.62, Y:34.45, Z:7.53 [[ 9.99962407e-01 2.14985371e-03 -8.40020834e-03 3.43615704e+02] [-2.14845977e-03 9.99997677e-01 1.74961460e-04 3.44456701e+01] [ 8.40056496e-03 -1.56907373e-04 9.99964702e-01 7.52640380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:343.64, Y:34.44, Z:7.53 [[ 9.99950029e-01 5.41612542e-03 -8.40265621e-03 3.43643642e+02] [-5.41486891e-03 9.99985325e-01 1.72279746e-04 3.44448554e+01] [ 8.40346598e-03 -1.26771855e-04 9.99964682e-01 7.52611327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.014391418 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:343.67, Y:34.44, Z:7.53 [[ 9.99940795e-01 6.64168581e-03 -8.61944503e-03 3.43670379e+02] [-6.64041013e-03 9.99977937e-01 1.76611697e-04 3.44444997e+01] [ 8.62042785e-03 -1.19364591e-04 9.99962836e-01 7.52624795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:343.70, Y:34.44, Z:7.53 [[ 9.99932310e-01 7.84748808e-03 -8.59022494e-03 3.43698248e+02] [-7.84627324e-03 9.99969202e-01 1.75114262e-04 3.44441421e+01] [ 8.59133459e-03 -1.07701157e-04 9.99963088e-01 7.52631059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.074391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:343.73, Y:34.44, Z:7.53 [[ 9.99920520e-01 9.16408968e-03 -8.65871110e-03 3.43726494e+02] [-9.16291360e-03 9.99958004e-01 1.75486611e-04 3.44427986e+01] [ 8.65995564e-03 -9.61336418e-05 9.99962497e-01 7.52615491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104391418 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:343.75, Y:34.44, Z:7.53 [[ 9.99921583e-01 9.12268658e-03 -8.57930545e-03 3.43754041e+02] [-9.12153926e-03 9.99958383e-01 1.72851557e-04 3.44414911e+01] [ 8.58052528e-03 -9.45815308e-05 9.99963182e-01 7.52594228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.134391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:343.78, Y:34.44, Z:7.53 [[ 9.99926518e-01 8.34386060e-03 -8.79424177e-03 3.43782001e+02] [-8.34263398e-03 9.99965184e-01 1.76155411e-04 3.44400649e+01] [ 8.79540541e-03 -1.02775327e-04 9.99961314e-01 7.52614348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164391418 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:343.81, Y:34.44, Z:7.53 [[ 9.99947321e-01 5.80674031e-03 -8.46382551e-03 3.43810050e+02] [-5.80551951e-03 9.99983134e-01 1.68799313e-04 3.44369046e+01] [ 8.46466293e-03 -1.19653517e-04 9.99964167e-01 7.52593136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.194391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:343.84, Y:34.44, Z:7.53 [[ 9.99956322e-01 3.94538854e-03 -8.47274954e-03 3.43838251e+02] [-3.94410789e-03 9.99992208e-01 1.67853168e-04 3.44350541e+01] [ 8.47334576e-03 -1.34428398e-04 9.99964092e-01 7.52612529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224391418 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:343.87, Y:34.43, Z:7.53 [[ 9.99966429e-01 1.70569262e-03 -8.01451612e-03 3.43866659e+02] [-1.70447870e-03 9.99998535e-01 1.58293234e-04 3.44332969e+01] [ 8.01477438e-03 -1.44627348e-04 9.99967871e-01 7.52590170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.254391418 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:343.89, Y:34.43, Z:7.53 [[ 9.99965356e-01 -2.77797583e-03 -7.84659567e-03 3.43894700e+02] [ 2.77927021e-03 9.99996126e-01 1.54060488e-04 3.44301093e+01] [ 7.84613730e-03 -1.75862960e-04 9.99969203e-01 7.52626736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:343.92, Y:34.43, Z:7.53 [[ 9.99953618e-01 -5.15955450e-03 -8.13266311e-03 3.43922250e+02] [ 5.16101728e-03 9.99986669e-01 1.58888328e-04 3.44281657e+01] [ 8.13173490e-03 -2.00853773e-04 9.99966917e-01 7.52627881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.314391418 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:343.95, Y:34.42, Z:7.53 [[ 9.99924672e-01 -9.68686919e-03 -7.53755695e-03 3.43950744e+02] [ 9.68825026e-03 9.99953057e-01 1.46733240e-04 3.44246505e+01] [ 7.53578173e-03 -2.19747925e-04 9.99971581e-01 7.52615270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344391418 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:343.98, Y:34.42, Z:7.53 [[ 9.99907221e-01 -1.17318712e-02 -6.92191613e-03 3.43981116e+02] [ 1.17330877e-02 9.99931156e-01 1.35166769e-04 3.44227083e+01] [ 6.91985384e-03 -2.16369677e-04 9.99976034e-01 7.52596116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.374391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:344.01, Y:34.42, Z:7.53 [[ 9.99884540e-01 -1.34789129e-02 -7.01603356e-03 3.44012474e+02] [ 1.34802093e-02 9.99909128e-01 1.37515734e-04 3.44203963e+01] [ 7.01354244e-03 -2.32077458e-04 9.99975378e-01 7.52614993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.404391418 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:344.04, Y:34.42, Z:7.53 [[ 9.99822241e-01 -1.76104312e-02 -6.73498587e-03 3.44044567e+02] [ 1.76117247e-02 9.99844893e-01 1.32785954e-04 3.44164559e+01] [ 6.73160281e-03 -2.51377067e-04 9.99977311e-01 7.52527033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.434391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:344.08, Y:34.41, Z:7.52 [[ 9.99778532e-01 -1.97263617e-02 -7.33200841e-03 3.44075219e+02] [ 1.97279535e-02 9.99805375e-01 1.44838943e-04 3.44141538e+01] [ 7.32772427e-03 -2.89452387e-04 9.99973110e-01 7.52467838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.464391418 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:344.11, Y:34.41, Z:7.52 [[ 9.99662739e-01 -2.44889787e-02 -8.64277982e-03 3.44106887e+02] [ 2.44913745e-02 9.99700027e-01 1.71455827e-04 3.44106560e+01] [ 8.63598843e-03 -3.83071559e-04 9.99962636e-01 7.52422200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.494391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:344.14, Y:34.41, Z:7.52 [[ 9.99600086e-01 -2.68324683e-02 -8.92676221e-03 3.44139194e+02] [ 2.68351236e-02 9.99639857e-01 1.77787746e-04 3.44082416e+01] [ 8.91877682e-03 -4.17267413e-04 9.99960140e-01 7.52347791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.524391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:344.17, Y:34.40, Z:7.52 [[ 9.99459676e-01 -3.12666232e-02 -1.01367372e-02 3.44170756e+02] [ 3.12702790e-02 9.99510945e-01 2.02308174e-04 3.44047110e+01] [ 1.01254543e-02 -5.19177462e-04 9.99948601e-01 7.52294675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.554391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:344.20, Y:34.40, Z:7.52 [[ 9.99347316e-01 -3.43371947e-02 -1.12205023e-02 3.44202540e+02] [ 3.43418776e-02 9.99410118e-01 2.24893828e-04 3.44022423e+01] [ 1.12061613e-02 -6.10080159e-04 9.99937023e-01 7.52313473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.584391418 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:344.23, Y:34.40, Z:7.52 [[ 9.99305569e-01 -3.54027243e-02 -1.16201152e-02 3.44234528e+02] [ 3.54078328e-02 9.99372919e-01 2.34134113e-04 3.44010595e+01] [ 1.16045394e-02 -6.45414619e-04 9.99932457e-01 7.52327916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.614391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:344.27, Y:34.40, Z:7.52 [[ 9.99282437e-01 -3.60695762e-02 -1.15584058e-02 3.44266645e+02] [ 3.60746853e-02 9.99349069e-01 2.33773512e-04 3.43999918e+01] [ 1.15424499e-02 -6.50571615e-04 9.99933172e-01 7.52372165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.644391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:344.30, Y:34.40, Z:7.52 [[ 9.99275321e-01 -3.63677230e-02 -1.12348749e-02 3.44298711e+02] [ 3.63726029e-02 9.99338271e-01 2.30267304e-04 3.43987049e+01] [ 1.12190662e-02 -6.38742077e-04 9.99936860e-01 7.52325317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67439141799997 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:344.33, Y:34.40, Z:7.52 [[ 9.99276132e-01 -3.65042662e-02 -1.07074677e-02 3.44329804e+02] [ 3.65087047e-02 9.99333311e-01 2.19281121e-04 3.43975745e+01] [ 1.06923245e-02 -6.10038166e-04 9.99942649e-01 7.52269158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.704391418 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:344.36, Y:34.40, Z:7.52 [[ 9.99320211e-01 -3.54065746e-02 -1.02708137e-02 3.44361910e+02] [ 3.54106097e-02 9.99372825e-01 2.11225633e-04 3.43967501e+01] [ 1.02568933e-02 -5.74777819e-04 9.99947231e-01 7.52282495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.734391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:344.39, Y:34.40, Z:7.52 [[ 9.99363874e-01 -3.42781352e-02 -9.84155618e-03 3.44394148e+02] [ 3.42817934e-02 9.99412186e-01 2.03204744e-04 3.43963323e+01] [ 9.82880569e-03 -5.40461675e-04 9.99951550e-01 7.52271172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.764391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:344.43, Y:34.40, Z:7.52 [[ 9.99408413e-01 -3.30577806e-02 -9.48716384e-03 3.44426436e+02] [ 3.30611329e-02 9.99453312e-01 1.96697320e-04 3.43962296e+01] [ 9.47547495e-03 -5.10237341e-04 9.99954977e-01 7.52289227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.794391418 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:344.46, Y:34.40, Z:7.52 [[ 9.99502736e-01 -3.05380619e-02 -7.85539539e-03 3.44457219e+02] [ 3.05402860e-02 9.99533523e-01 1.63304410e-04 3.43967853e+01] [ 7.84674403e-03 -4.03129226e-04 9.99969133e-01 7.52358485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.824391418 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:344.49, Y:34.40, Z:7.52 [[ 9.99549015e-01 -2.91986958e-02 -7.01444042e-03 3.44490292e+02] [ 2.92004451e-02 9.99573565e-01 1.47083317e-04 3.43962933e+01] [ 7.00715458e-03 -3.51841767e-04 9.99975388e-01 7.52353471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.854391418 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:344.52, Y:34.40, Z:7.52 [[ 9.99582856e-01 -2.81835488e-02 -6.30881895e-03 3.44523489e+02] [ 2.81849491e-02 9.99602717e-01 1.33135630e-04 3.43956275e+01] [ 6.30256033e-03 -3.10893834e-04 9.99980090e-01 7.52367958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.884391418 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:344.56, Y:34.39, Z:7.52 [[ 9.99616234e-01 -2.70963559e-02 -5.75951664e-03 3.44556376e+02] [ 2.70975094e-02 9.99632788e-01 1.22322014e-04 3.43947690e+01] [ 5.75408720e-03 -2.78343627e-04 9.99983406e-01 7.52372448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.914391418 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:344.59, Y:34.39, Z:7.52 [[ 9.99674352e-01 -2.47807164e-02 -6.09151031e-03 3.44588402e+02] [ 2.47819666e-02 9.99692871e-01 1.29833407e-04 3.43941941e+01] [ 6.08642207e-03 -2.80750732e-04 9.99981438e-01 7.52396042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.944391418 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:344.62, Y:34.39, Z:7.52 [[ 9.99701388e-01 -2.34671926e-02 -6.81365289e-03 3.44620911e+02] [ 2.34687289e-02 9.99724561e-01 1.45581885e-04 3.43939718e+01] [ 6.80835974e-03 -3.05446184e-04 9.99976776e-01 7.52432354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.974391418 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:344.65, Y:34.39, Z:7.52 [[ 9.99758983e-01 -2.01792480e-02 -8.64723427e-03 3.44653180e+02] [ 2.01816044e-02 9.99796314e-01 1.85326579e-04 3.43945708e+01] [ 8.64173319e-03 -3.59796973e-04 9.99962595e-01 7.52486347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.004391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:344.68, Y:34.39, Z:7.52 [[ 9.99789765e-01 -1.81209232e-02 -9.59469683e-03 3.44684273e+02] [ 1.81237336e-02 9.99835730e-01 2.06039212e-04 3.43942579e+01] [ 9.58938709e-03 -3.79887624e-04 9.99953949e-01 7.52459687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.034391418 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:344.72, Y:34.39, Z:7.52 [[ 9.99821397e-01 -1.59127031e-02 -1.01960972e-02 3.44715853e+02] [ 1.59157652e-02 9.99873312e-01 2.19245807e-04 3.43941273e+01] [ 1.01913166e-02 -3.81485337e-04 9.99947994e-01 7.52428685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.064391418 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:344.75, Y:34.39, Z:7.52 [[ 9.99888553e-01 -1.06628450e-02 -1.04491612e-02 3.44747009e+02] [ 1.06657790e-02 9.99943094e-01 2.25104238e-04 3.43944264e+01] [ 1.04461664e-02 -3.36527596e-04 9.99945381e-01 7.52389787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.094391418 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:344.78, Y:34.40, Z:7.52 [[ 9.99875666e-01 -1.07123706e-02 -1.15714421e-02 3.44776003e+02] [ 1.07649327e-02 9.99931977e-01 4.48970401e-03 3.43958574e+01] [ 1.15225596e-02 -4.61371158e-03 9.99922969e-01 7.52400205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.124391418 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:344.81, Y:34.40, Z:7.53 [[ 9.99940508e-01 -3.43842798e-03 -1.03516810e-02 3.44806619e+02] [ 3.39574287e-03 9.99985672e-01 -4.13825135e-03 3.43957414e+01] [ 1.03657618e-02 4.10285351e-03 9.99937857e-01 7.52562070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.154391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:344.83, Y:34.39, Z:7.52 [[ 9.99954781e-01 -1.24732258e-03 -9.42760439e-03 3.44833468e+02] [ 1.24926223e-03 9.99999200e-01 1.99855535e-04 3.43935816e+01] [ 9.42734756e-03 -2.11624048e-04 9.99955539e-01 7.52435885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.184391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:344.86, Y:34.39, Z:7.53 [[ 9.99940800e-01 2.07603675e-03 -1.06811498e-02 3.44860478e+02] [-2.12090753e-03 9.99988967e-01 -4.19132052e-03 3.43949585e+01] [ 1.06723306e-02 4.21372612e-03 9.99934171e-01 7.52643986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.214391418 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:344.89, Y:34.39, Z:7.52 [[ 9.99941272e-01 1.97210105e-03 -1.06566056e-02 3.44887922e+02] [-1.97064764e-03 9.99998047e-01 1.46885196e-04 3.43926170e+01] [ 1.06568745e-02 -1.25876155e-04 9.99943206e-01 7.52484025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.244391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:344.92, Y:34.39, Z:7.52 [[ 9.99955885e-01 3.60855365e-03 -8.67213851e-03 3.44917693e+02] [-3.56997640e-03 9.99983683e-01 4.45978260e-03 3.43898818e+01] [ 8.68809037e-03 -4.42862653e-03 9.99952451e-01 7.52296430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.274391418 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:344.95, Y:34.39, Z:7.52 [[ 9.99929571e-01 8.90511319e-03 -7.84545235e-03 3.44945029e+02] [-8.90411644e-03 9.99960344e-01 1.61968763e-04 3.43894194e+01] [ 7.84658359e-03 -9.21005349e-05 9.99969211e-01 7.52443191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.304391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:344.97, Y:34.39, Z:7.52 [[ 9.99902337e-01 1.14788457e-02 -7.97198224e-03 3.44973302e+02] [-1.14779013e-02 9.99934113e-01 1.64206892e-04 3.43879282e+01] [ 7.97334190e-03 -7.26892293e-05 9.99968210e-01 7.52432016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.334391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:345.00, Y:34.39, Z:7.52 [[ 9.99826012e-01 1.61919224e-02 -9.26106262e-03 3.45001393e+02] [-1.61908596e-02 9.99868901e-01 1.89729526e-04 3.43855624e+01] [ 9.26292059e-03 -3.97519511e-05 9.99957097e-01 7.52411390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.364391418 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:345.03, Y:34.38, Z:7.52 [[ 9.99782311e-01 1.83518068e-02 -9.92679495e-03 3.45028371e+02] [-1.83507066e-02 9.99831591e-01 2.01917566e-04 3.43840971e+01] [ 9.92882875e-03 -1.97099089e-05 9.99950708e-01 7.52366619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.394391418 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:345.06, Y:34.38, Z:7.52 [[ 9.99698010e-01 2.20320596e-02 -1.08847368e-02 3.45056312e+02] [-2.20309676e-02 9.99757265e-01 2.20231065e-04 3.43810264e+01] [ 1.08869468e-02 1.96367264e-05 9.99940735e-01 7.52327576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42439141799997 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:345.08, Y:34.38, Z:7.52 [[ 9.99661681e-01 2.36333695e-02 -1.08621619e-02 3.45082977e+02] [-2.36323945e-02 9.99720692e-01 2.18119783e-04 3.43790485e+01] [ 1.08642830e-02 3.86529078e-05 9.99940981e-01 7.52308806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.454391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:345.11, Y:34.38, Z:7.52 [[ 9.99619963e-01 2.51751479e-02 -1.12312908e-02 3.45111232e+02] [-2.51742164e-02 9.99683054e-01 2.24330480e-04 3.43770561e+01] [ 1.12333787e-02 5.84937195e-05 9.99936902e-01 7.52327607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:345.14, Y:34.37, Z:7.52 [[ 9.99539116e-01 2.81536282e-02 -1.13546717e-02 3.45139573e+02] [-2.81528845e-02 9.99603604e-01 2.25361609e-04 3.43735093e+01] [ 1.13565155e-02 9.44090164e-05 9.99935508e-01 7.52388392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.514391418 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:345.17, Y:34.37, Z:7.52 [[ 9.99511729e-01 2.92908365e-02 -1.08788935e-02 3.45166904e+02] [-2.92902398e-02 9.99570926e-01 2.14211470e-04 3.43714413e+01] [ 1.08805001e-02 1.04538523e-04 9.99940800e-01 7.52390485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:345.20, Y:34.37, Z:7.52 [[ 9.99493987e-01 2.99790980e-02 -1.06312378e-02 3.45195271e+02] [-2.99785798e-02 9.99550520e-01 2.08135823e-04 3.43693634e+01] [ 1.06326990e-02 1.10678908e-04 9.99943465e-01 7.52424095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.574391418 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:345.22, Y:34.36, Z:7.52 [[ 9.99464585e-01 3.13634342e-02 -9.32083083e-03 3.45222141e+02] [-3.13631101e-02 9.99508040e-01 1.80975204e-04 3.43646672e+01] [ 9.32192136e-03 1.11451936e-04 9.99956544e-01 7.52442480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604391418 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:345.25, Y:34.36, Z:7.52 [[ 9.99460602e-01 3.16219958e-02 -8.86310115e-03 3.45250491e+02] [-3.16217218e-02 9.99499894e-01 1.71086140e-04 3.43618416e+01] [ 8.86407874e-03 1.09272662e-04 9.99960707e-01 7.52465081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.634391418 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:345.28, Y:34.36, Z:7.53 [[ 9.99483116e-01 3.11463229e-02 -7.96288712e-03 3.45278086e+02] [-3.11460949e-02 9.99514831e-01 1.52669429e-04 3.43572630e+01] [ 7.96377887e-03 9.54223215e-05 9.99968284e-01 7.52500317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664391418 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:345.31, Y:34.35, Z:7.53 [[ 9.99519085e-01 3.01515217e-02 -7.24468636e-03 3.45306212e+02] [-3.01513137e-02 9.99545336e-01 1.37953324e-04 3.43546509e+01] [ 7.24555197e-03 8.05498307e-05 9.99973747e-01 7.52512867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.694391418 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:345.33, Y:34.35, Z:7.52 [[ 9.99607449e-01 2.71711438e-02 -6.83198983e-03 3.45333025e+02] [-2.71708968e-02 9.99630795e-01 1.28991496e-04 3.43490389e+01] [ 6.83297227e-03 5.66904302e-05 9.99976653e-01 7.52480228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724391418 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:345.36, Y:34.35, Z:7.52 [[ 9.99654260e-01 2.52515584e-02 -7.32937509e-03 3.45361105e+02] [-2.52512277e-02 9.99681127e-01 1.37658617e-04 3.43456593e+01] [ 7.33051405e-03 4.74646971e-05 9.99973130e-01 7.52495359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.754391418 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:345.39, Y:34.34, Z:7.52 [[ 9.99701716e-01 2.30707263e-02 -8.01372424e-03 3.45388844e+02] [-2.30702682e-02 9.99733835e-01 1.49608156e-04 3.43421754e+01] [ 8.01504283e-03 3.53152375e-05 9.99967878e-01 7.52484912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784391418 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:345.42, Y:34.34, Z:7.52 [[ 9.99783155e-01 1.85512213e-02 -9.46023206e-03 3.45415191e+02] [-1.85503930e-02 9.99827911e-01 1.75305941e-04 3.43361158e+01] [ 9.46185620e-03 2.23096451e-07 9.99955236e-01 7.52428752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.814391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:345.44, Y:34.33, Z:7.52 [[ 9.99808712e-01 1.63857276e-02 -1.06792612e-02 3.45442925e+02] [-1.63845597e-02 9.99865745e-01 1.96843369e-04 3.43331148e+01] [ 1.06810529e-02 -2.18307221e-05 9.99942956e-01 7.52421182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844391418 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:345.47, Y:34.33, Z:7.52 [[ 9.99833255e-01 1.42836844e-02 -1.13771363e-02 3.45470861e+02] [-1.42822376e-02 9.99897982e-01 2.08403497e-04 3.43305837e+01] [ 1.13789524e-02 -4.58777831e-05 9.99935257e-01 7.52420279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.874391418 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:345.50, Y:34.33, Z:7.52 [[ 9.99861841e-01 1.25309803e-02 -1.09212816e-02 3.45497891e+02] [-1.25295604e-02 9.99921482e-01 1.98429983e-04 3.43277551e+01] [ 1.09229106e-02 -6.15637105e-05 9.99940341e-01 7.52408884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.904391418 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:345.52, Y:34.32, Z:7.52 [[ 9.99905862e-01 9.74655038e-03 -9.65771489e-03 3.45524252e+02] [-9.74532354e-03 9.99952498e-01 1.74084984e-04 3.43222114e+01] [ 9.65895286e-03 -7.99510398e-05 9.99953348e-01 7.52381395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.934391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:345.55, Y:34.32, Z:7.52 [[ 9.99917425e-01 8.48571175e-03 -9.65068310e-03 3.45551720e+02] [-8.48443763e-03 9.99963992e-01 1.72958212e-04 3.43192938e+01] [ 9.65180326e-03 -9.10633111e-05 9.99953416e-01 7.52381044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.964391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:345.58, Y:34.31, Z:7.52 [[ 9.99936419e-01 6.66392727e-03 -9.09672067e-03 3.45579457e+02] [-6.66272964e-03 9.99977791e-01 1.61954023e-04 3.43145849e+01] [ 9.09759789e-03 -1.01334735e-04 9.99958611e-01 7.52418361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.994391418 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:345.61, Y:34.31, Z:7.52 [[ 9.99947877e-01 5.45926267e-03 -8.62783736e-03 3.45607512e+02] [-5.45815023e-03 9.99985093e-01 1.52477308e-04 3.43126128e+01] [ 8.62854116e-03 -1.05377328e-04 9.99962768e-01 7.52465335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.024391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:345.64, Y:34.31, Z:7.53 [[ 9.99960081e-01 4.34716879e-03 -7.80629501e-03 3.45635047e+02] [-4.34622997e-03 9.99990546e-01 1.37224548e-04 3.43105098e+01] [ 7.80681774e-03 -1.03291116e-04 9.99969521e-01 7.52509382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.054391418 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:345.66, Y:34.31, Z:7.53 [[ 9.99970564e-01 1.01641853e-03 -7.60511145e-03 3.45663490e+02] [-1.01543512e-03 9.99999476e-01 1.33169786e-04 3.43064752e+01] [ 7.60524282e-03 -1.25443369e-04 9.99971072e-01 7.52587285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.084391418 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:345.69, Y:34.30, Z:7.53 [[ 9.99966141e-01 -9.81361004e-04 -8.17035785e-03 3.45691401e+02] [ 9.82554518e-04 9.99999507e-01 1.42065818e-04 3.43040581e+01] [ 8.17021441e-03 -1.50088829e-04 9.99966612e-01 7.52608237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.114391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:345.72, Y:34.30, Z:7.53 [[ 9.99944453e-01 -5.56506538e-03 -8.95107613e-03 3.45719786e+02] [ 5.56667658e-03 9.99984494e-01 1.55096047e-04 3.43000005e+01] [ 8.95007422e-03 -2.04915178e-04 9.99959926e-01 7.52592780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.144391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:345.75, Y:34.30, Z:7.53 [[ 9.99921444e-01 -8.50706690e-03 -9.20518745e-03 3.45747773e+02] [ 8.50888480e-03 9.99963786e-01 1.58340139e-04 3.42980410e+01] [ 9.20350708e-03 -2.36653580e-04 9.99957619e-01 7.52574190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17439141799997 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:345.78, Y:34.30, Z:7.53 [[ 9.99887669e-01 -1.18582177e-02 -9.16688261e-03 3.45776392e+02] [ 1.18601559e-02 9.99929654e-01 1.57098456e-04 3.42958651e+01] [ 9.16437484e-03 -2.65801466e-04 9.99957971e-01 7.52528439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.204391418 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:345.81, Y:34.29, Z:7.53 [[ 9.99795108e-01 -1.81222729e-02 -9.01803456e-03 3.45805616e+02] [ 1.81244018e-02 9.99835728e-01 1.54392121e-04 3.42918627e+01] [ 9.01375521e-03 -3.17806969e-04 9.99959325e-01 7.52504027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.234391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:345.84, Y:34.29, Z:7.53 [[ 9.99733135e-01 -2.13436827e-02 -8.83774158e-03 3.45837041e+02] [ 2.13458602e-02 9.99772140e-01 1.52119387e-04 3.42900571e+01] [ 8.83248102e-03 -3.40727988e-04 9.99960935e-01 7.52523862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.264391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:345.87, Y:34.29, Z:7.53 [[ 9.99601651e-01 -2.68862068e-02 -8.58313706e-03 3.45867717e+02] [ 2.68884701e-02 9.99638429e-01 1.48387528e-04 3.42879887e+01] [ 8.57604407e-03 -3.79115842e-04 9.99963153e-01 7.52551116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.294391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:345.90, Y:34.29, Z:7.53 [[ 9.99541542e-01 -2.91949287e-02 -8.02262476e-03 3.45898874e+02] [ 2.91969842e-02 9.99573668e-01 1.39182778e-04 3.42868563e+01] [ 8.01514103e-03 -3.73355417e-04 9.99967809e-01 7.52591924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.324391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:345.93, Y:34.29, Z:7.53 [[ 9.99487736e-01 -3.10611158e-02 -7.71181133e-03 3.45931422e+02] [ 3.10630765e-02 9.99517417e-01 1.34567785e-04 3.42855489e+01] [ 7.70390991e-03 -3.74051436e-04 9.99970254e-01 7.52620746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.354391418 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:345.96, Y:34.28, Z:7.53 [[ 9.99429293e-01 -3.31584513e-02 -6.45015935e-03 3.45962505e+02] [ 3.31598688e-02 9.99450054e-01 1.12907226e-04 3.42845178e+01] [ 6.44286828e-03 -3.26729227e-04 9.99979191e-01 7.52667690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.384391418 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:345.99, Y:34.28, Z:7.53 [[ 9.99319808e-01 -3.63904000e-02 -5.97164373e-03 3.45994282e+02] [ 3.63916762e-02 9.99337598e-01 1.05158123e-04 3.42826063e+01] [ 5.96386135e-03 -3.22404721e-04 9.99982164e-01 7.52791482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.414391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:346.03, Y:34.28, Z:7.53 [[ 9.99240038e-01 -3.84049341e-02 -6.66391914e-03 3.46026824e+02] [ 3.84065715e-02 9.99262189e-01 1.17865233e-04 3.42810675e+01] [ 6.65447581e-03 -3.73713947e-04 9.99977789e-01 7.52854033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.444391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:346.06, Y:34.28, Z:7.53 [[ 9.99202458e-01 -3.92743049e-02 -7.20950236e-03 3.46059206e+02] [ 3.92762499e-02 9.99228382e-01 1.28343407e-04 3.42802702e+01] [ 7.19889878e-03 -4.11403264e-04 9.99974003e-01 7.52851767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.474391418 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:346.09, Y:34.28, Z:7.53 [[ 9.99175320e-01 -3.99029592e-02 -7.51230104e-03 3.46091745e+02] [ 3.99050923e-02 9.99203466e-01 1.34216866e-04 3.42794844e+01] [ 7.50096158e-03 -4.33885247e-04 9.99971773e-01 7.52819179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.504391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:346.12, Y:34.28, Z:7.53 [[ 9.99146163e-01 -4.05276824e-02 -8.02818900e-03 3.46124019e+02] [ 4.05301437e-02 9.99178306e-01 1.44067220e-04 3.42791400e+01] [ 8.01575357e-03 -4.69327864e-04 9.99967763e-01 7.52766660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.534391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:346.15, Y:34.28, Z:7.53 [[ 9.99108525e-01 -4.13648735e-02 -8.43222362e-03 3.46154838e+02] [ 4.13676307e-02 9.99143982e-01 1.52759099e-04 3.42792154e+01] [ 8.41868662e-03 -5.01444032e-04 9.99964437e-01 7.52678718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.564391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:346.19, Y:34.28, Z:7.53 [[ 9.99114263e-01 -4.12624809e-02 -8.25207704e-03 3.46187323e+02] [ 4.12651212e-02 9.99148221e-01 1.49873917e-04 3.42784034e+01] [ 8.23886392e-03 -4.90264127e-04 9.99965940e-01 7.52619213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.594391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:346.22, Y:34.28, Z:7.53 [[ 9.99120984e-01 -4.12668186e-02 -7.36939951e-03 3.46219864e+02] [ 4.12689292e-02 9.99148066e-01 1.34488321e-04 3.42779329e+01] [ 7.35757136e-03 -4.38497331e-04 9.99972837e-01 7.52648806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.624391418 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:346.25, Y:34.28, Z:7.53 [[ 9.99138852e-01 -4.09603570e-02 -6.61842622e-03 3.46251570e+02] [ 4.09620564e-02 9.99160695e-01 1.21364092e-04 3.42777584e+01] [ 6.60790023e-03 -3.92363928e-04 9.99978091e-01 7.52616890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.654391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:346.28, Y:34.28, Z:7.53 [[ 9.99148040e-01 -4.08142769e-02 -6.11460527e-03 3.46283369e+02] [ 4.08157280e-02 9.99166685e-01 1.12670065e-04 3.42777936e+01] [ 6.10491133e-03 -3.62146141e-04 9.99981299e-01 7.52614664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.684391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:346.32, Y:34.28, Z:7.53 [[ 9.99176482e-01 -4.01418094e-02 -5.91551838e-03 3.46315985e+02] [ 4.01431589e-02 9.99193933e-01 1.09517600e-04 3.42795535e+01] [ 5.90635384e-03 -3.46895004e-04 9.99982497e-01 7.52696634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.714391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:346.35, Y:34.28, Z:7.53 [[ 9.99206375e-01 -3.93864212e-02 -5.94391096e-03 3.46347675e+02] [ 3.93877718e-02 9.99223995e-01 1.10293533e-04 3.42802904e+01] [ 5.93495439e-03 -3.44323410e-04 9.99982329e-01 7.52713966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.744391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:346.38, Y:34.28, Z:7.53 [[ 9.99231117e-01 -3.86499078e-02 -6.58482911e-03 3.46379259e+02] [ 3.86515518e-02 9.99252742e-01 1.22540532e-04 3.42807257e+01] [ 6.57517236e-03 -3.76960176e-04 9.99978312e-01 7.52739834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.774391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:346.41, Y:34.28, Z:7.53 [[ 9.99264663e-01 -3.75431778e-02 -7.78740174e-03 3.46411870e+02] [ 3.75454492e-02 9.99294910e-01 1.45634465e-04 3.42815744e+01] [ 7.77644334e-03 -4.37908871e-04 9.99969667e-01 7.52651059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.804391418 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:346.44, Y:34.28, Z:7.53 [[ 9.99290678e-01 -3.66567027e-02 -8.62711138e-03 3.46442706e+02] [ 3.66594606e-02 9.99327803e-01 1.61707217e-04 3.42816149e+01] [ 8.61538461e-03 -4.77857764e-04 9.99962773e-01 7.52646361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.834391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:346.47, Y:34.28, Z:7.53 [[ 9.99371083e-01 -3.43163887e-02 -8.93446308e-03 3.46474959e+02] [ 3.43192607e-02 9.99410907e-01 1.68284627e-04 3.42837086e+01] [ 8.92342493e-03 -4.74802958e-04 9.99960073e-01 7.52664424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.864391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:346.51, Y:34.28, Z:7.53 [[ 9.99433752e-01 -3.25776174e-02 -8.41862520e-03 3.46507090e+02] [ 3.25801119e-02 9.99469115e-01 1.59299667e-04 3.42847098e+01] [ 8.40896627e-03 -4.33489215e-04 9.99964550e-01 7.52702659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.894391418 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:346.54, Y:34.29, Z:7.53 [[ 9.99498470e-01 -3.06512217e-02 -7.95687082e-03 3.46539351e+02] [ 3.06533946e-02 9.99530063e-01 1.51244640e-04 3.42858569e+01] [ 7.94849576e-03 -3.95073888e-04 9.99968332e-01 7.52723470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92439141799997 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:346.57, Y:34.29, Z:7.53 [[ 9.99623390e-01 -2.65081203e-02 -7.09907524e-03 3.46570138e+02] [ 2.65097483e-02 9.99648546e-01 1.35308725e-04 3.42886333e+01] [ 7.09299346e-03 -3.23452464e-04 9.99974792e-01 7.52802725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.954391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:346.60, Y:34.29, Z:7.53 [[ 9.99677155e-01 -2.43873923e-02 -7.13024785e-03 3.46601963e+02] [ 2.43889858e-02 9.99702535e-01 1.36606080e-04 3.42893274e+01] [ 7.12479539e-03 -3.10461491e-04 9.99974570e-01 7.52835140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984391418 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:346.63, Y:34.29, Z:7.53 [[ 9.99775001e-01 -2.01980628e-02 -6.47959413e-03 3.46634367e+02] [ 2.01992947e-02 9.99795966e-01 1.24731755e-04 3.42904249e+01] [ 6.47575273e-03 -2.55586922e-04 9.99978999e-01 7.52872731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.014391418 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:346.67, Y:34.29, Z:7.53 [[ 9.99811975e-01 -1.81620992e-02 -6.79360656e-03 3.46665473e+02] [ 1.81634084e-02 9.99835023e-01 1.31057907e-04 3.42911571e+01] [ 6.79010548e-03 -2.54428315e-04 9.99976915e-01 7.52949574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044391418 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:346.70, Y:34.29, Z:7.53 [[ 9.99850609e-01 -1.58973011e-02 -6.78493863e-03 3.46697091e+02] [ 1.58985577e-02 9.99873601e-01 1.31305149e-04 3.42918810e+01] [ 6.78199362e-03 -2.39156271e-04 9.99976973e-01 7.52995207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.074391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:346.73, Y:34.29, Z:7.53 [[ 9.99901398e-01 -1.19981928e-02 -7.29647802e-03 3.46728179e+02] [ 1.19995435e-02 9.99927993e-01 1.41364571e-04 3.42939718e+01] [ 7.29425650e-03 -2.28905038e-04 9.99973370e-01 7.53051630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104391418 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:346.76, Y:34.29, Z:7.53 [[ 9.99901643e-01 -1.19777352e-02 -7.29647730e-03 3.46759180e+02] [ 1.19790856e-02 9.99928238e-01 1.41401372e-04 3.42933699e+01] [ 7.29426003e-03 -2.28792591e-04 9.99973370e-01 7.53034589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.134391418 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:346.79, Y:34.29, Z:7.53 [[ 9.99925031e-01 -1.00324613e-02 -7.02010096e-03 3.46789564e+02] [ 1.00336645e-02 9.99949652e-01 1.36191144e-04 3.42936248e+01] [ 7.01838118e-03 -2.06618271e-04 9.99975350e-01 7.53052436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:346.82, Y:34.29, Z:7.53 [[ 9.99936274e-01 -8.20924105e-03 -7.74963769e-03 3.46819815e+02] [ 8.21065163e-03 9.99966281e-01 1.50221141e-04 3.42941584e+01] [ 7.74814317e-03 -2.13841143e-04 9.99969960e-01 7.53072238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.194391418 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:346.85, Y:34.30, Z:7.53 [[ 9.99953133e-01 -4.83490259e-03 -8.38779033e-03 3.46849524e+02] [ 4.83643162e-03 9.99988291e-01 1.62017839e-04 3.42953303e+01] [ 8.38690878e-03 -2.02577221e-04 9.99964809e-01 7.53027213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224391418 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:346.88, Y:34.30, Z:7.53 [[ 9.99959341e-01 -4.19322984e-03 -7.98331919e-03 3.46877041e+02] [ 4.19457968e-03 9.99991191e-01 1.52346222e-04 3.42954391e+01] [ 7.98261004e-03 -1.85826696e-04 9.99968121e-01 7.53084539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.254391418 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:346.91, Y:34.30, Z:7.53 [[ 9.99970947e-01 -2.61985040e-03 -7.15827724e-03 3.46905305e+02] [ 2.62087566e-03 9.99996557e-01 1.33849381e-04 3.42950348e+01] [ 7.15790193e-03 -1.52606446e-04 9.99974370e-01 7.53054298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284391418 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:346.93, Y:34.29, Z:7.53 [[ 9.99972910e-01 -2.56084163e-03 -6.90075279e-03 3.46933825e+02] [ 2.56177886e-03 9.99996711e-01 1.26980099e-04 3.42946821e+01] [ 6.90040492e-03 -1.44654862e-04 9.99976181e-01 7.53075236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.314391418 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:346.96, Y:34.29, Z:7.53 [[ 9.99974054e-01 -2.58897717e-03 -6.72222020e-03 3.46963011e+02] [ 2.58985371e-03 9.99996639e-01 1.21692653e-04 3.42943931e+01] [ 6.72188255e-03 -1.39099063e-04 9.99977398e-01 7.53065714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344391418 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:346.99, Y:34.29, Z:7.53 [[ 9.99973567e-01 -3.07552834e-03 -6.58838530e-03 3.46992127e+02] [ 3.07636816e-03 9.99995261e-01 1.17338880e-04 3.42938936e+01] [ 6.58799320e-03 -1.37604077e-04 9.99978289e-01 7.53078506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.374391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:347.02, Y:34.29, Z:7.53 [[ 9.99965852e-01 -4.37870915e-03 -7.00863079e-03 3.47020663e+02] [ 4.37969797e-03 9.99990401e-01 1.25744527e-04 3.42922460e+01] [ 7.00801291e-03 -1.56435919e-04 9.99975431e-01 7.52973860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.404391418 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:347.05, Y:34.29, Z:7.53 [[ 9.99958269e-01 -5.55832404e-03 -7.25019062e-03 3.47049435e+02] [ 5.55938876e-03 9.99984538e-01 1.26708791e-04 3.42908358e+01] [ 7.24937423e-03 -1.67010132e-04 9.99973709e-01 7.52916209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.434391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:347.08, Y:34.29, Z:7.53 [[ 9.99946323e-01 -7.87568783e-03 -6.73233763e-03 3.47077714e+02] [ 7.87666432e-03 9.99968972e-01 1.18541518e-04 3.42884099e+01] [ 6.73119514e-03 -1.71563519e-04 9.99977331e-01 7.52856118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.464391418 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:347.11, Y:34.29, Z:7.53 [[ 9.99933415e-01 -9.51691640e-03 -6.52643496e-03 3.47107647e+02] [ 9.51786753e-03 9.99954698e-01 1.14690283e-04 3.42871305e+01] [ 6.52504780e-03 -1.76800389e-04 9.99978696e-01 7.52873614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.494391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:347.14, Y:34.29, Z:7.53 [[ 9.99918879e-01 -1.12109404e-02 -6.04560878e-03 3.47137748e+02] [ 1.12117887e-02 9.99937140e-01 1.06447971e-04 3.42857708e+01] [ 6.04403537e-03 -1.74221424e-04 9.99981719e-01 7.52901996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.524391418 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:347.17, Y:34.28, Z:7.53 [[ 9.99871435e-01 -1.50818096e-02 -5.44545954e-03 3.47169132e+02] [ 1.50825577e-02 9.99886247e-01 9.63318516e-05 3.42829538e+01] [ 5.44338725e-03 -1.78450924e-04 9.99985169e-01 7.52912821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.554391418 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:347.20, Y:34.28, Z:7.53 [[ 9.99840491e-01 -1.71442386e-02 -5.00670881e-03 3.47201564e+02] [ 1.71449001e-02 9.99853011e-01 8.92416912e-05 3.42808987e+01] [ 5.00444290e-03 -1.75066979e-04 9.99987462e-01 7.52878917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.584391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:347.23, Y:34.28, Z:7.53 [[ 9.99748298e-01 -2.18621893e-02 -5.03835152e-03 3.47233102e+02] [ 2.18629201e-02 9.99760974e-01 8.99994082e-05 3.42773275e+01] [ 5.03517964e-03 -2.00129832e-04 9.99987303e-01 7.52873788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.614391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:347.26, Y:34.28, Z:7.53 [[ 9.99695716e-01 -2.40987256e-02 -5.26569379e-03 3.47263919e+02] [ 2.40995564e-02 9.99709559e-01 9.43680353e-05 3.42755948e+01] [ 5.26189027e-03 -2.21240205e-04 9.99986132e-01 7.52867173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.644391418 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:347.30, Y:34.27, Z:7.53 [[ 9.99647399e-01 -2.60090480e-02 -5.34862388e-03 3.47295775e+02] [ 2.60099354e-02 9.99661680e-01 9.64091203e-05 3.42739195e+01] [ 5.34430682e-03 -2.35492488e-04 9.99985691e-01 7.52839176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67439141799997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:347.33, Y:34.27, Z:7.53 [[ 9.99540399e-01 -2.96586720e-02 -6.27321749e-03 3.47328417e+02] [ 2.96599672e-02 9.99560040e-01 1.13503097e-04 3.42710748e+01] [ 6.26709117e-03 -2.99514356e-04 9.99980317e-01 7.52770419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.704391418 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:347.36, Y:34.27, Z:7.53 [[ 9.99489885e-01 -3.13126718e-02 -6.28386731e-03 3.47359454e+02] [ 3.13140056e-02 9.99509590e-01 1.13962744e-04 3.42695614e+01] [ 6.27721716e-03 -3.10677666e-04 9.99980250e-01 7.52687661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.734391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:347.39, Y:34.27, Z:7.53 [[ 9.99363796e-01 -3.49700375e-02 -7.00705588e-03 3.47391445e+02] [ 3.49717901e-02 9.99388292e-01 1.27712618e-04 3.42666653e+01] [ 6.99830349e-03 -3.72680654e-04 9.99975442e-01 7.52577917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.764391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:347.42, Y:34.26, Z:7.53 [[ 9.99312410e-01 -3.64787979e-02 -6.63359188e-03 3.47423822e+02] [ 3.64804055e-02 9.99334361e-01 1.21465351e-04 3.42645910e+01] [ 6.62474540e-03 -3.63377955e-04 9.99977990e-01 7.52560579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.794391418 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:347.46, Y:34.26, Z:7.53 [[ 9.99277793e-01 -3.75520427e-02 -5.80836706e-03 3.47455813e+02] [ 3.75532976e-02 9.99294620e-01 1.07104075e-04 3.42630746e+01] [ 5.80024798e-03 -3.25150061e-04 9.99983126e-01 7.52555205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.824391418 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:347.49, Y:34.26, Z:7.53 [[ 9.99238700e-01 -3.87621376e-02 -4.41792276e-03 3.47487920e+02] [ 3.87628771e-02 9.99248434e-01 8.18330663e-05 3.42618071e+01] [ 4.41143038e-03 -2.53022164e-04 9.99990238e-01 7.52546125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.854391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:347.52, Y:34.26, Z:7.53 [[ 9.99147429e-01 -4.11582755e-02 -3.22674627e-03 3.47519506e+02] [ 4.11586842e-02 9.99152621e-01 6.03148898e-05 3.42600120e+01] [ 3.22152954e-03 -1.93072098e-04 9.99994792e-01 7.52611325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.884391418 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:347.55, Y:34.26, Z:7.53 [[ 9.99103430e-01 -4.22420909e-02 -2.81810355e-03 3.47552618e+02] [ 4.22424083e-02 9.99107390e-01 5.31730994e-05 3.42587661e+01] [ 2.81334194e-03 -1.72168907e-04 9.99996028e-01 7.52613898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.914391418 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:347.58, Y:34.26, Z:7.53 [[ 9.99043488e-01 -4.36357242e-02 -2.83431078e-03 3.47584742e+02] [ 4.36360533e-02 9.99047492e-01 5.43621250e-05 3.42572929e+01] [ 2.82923895e-03 -1.77988263e-04 9.99995982e-01 7.52652769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.944391418 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:347.62, Y:34.26, Z:7.53 [[ 9.99015888e-01 -4.42776961e-02 -2.59639593e-03 3.47617368e+02] [ 4.42779745e-02 9.99019248e-01 4.98056923e-05 3.42565483e+01] [ 2.59164423e-03 -1.64719831e-04 9.99996628e-01 7.52631133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.974391418 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:347.65, Y:34.26, Z:7.53 [[ 9.98990748e-01 -4.48255263e-02 -2.85606740e-03 3.47650882e+02] [ 4.48258661e-02 9.98994814e-01 5.50468590e-05 3.42558151e+01] [ 2.85072901e-03 -1.83016998e-04 9.99995920e-01 7.52623727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.004391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:347.68, Y:34.25, Z:7.53 [[ 9.98968035e-01 -4.52943010e-02 -3.36030615e-03 3.47683524e+02] [ 4.52947749e-02 9.98973663e-01 6.50334708e-05 3.42549682e+01] [ 3.35391169e-03 -2.17170669e-04 9.99994352e-01 7.52579619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.034391418 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:347.72, Y:34.25, Z:7.53 [[ 9.98903120e-01 -4.66328877e-02 -4.23448794e-03 3.47715613e+02] [ 4.66336528e-02 9.98912056e-01 8.20792430e-05 3.42543141e+01] [ 4.22605346e-03 -2.79458852e-04 9.99991031e-01 7.52553489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.064391418 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:347.75, Y:34.25, Z:7.53 [[ 9.98871943e-01 -4.72785673e-02 -4.42476917e-03 3.47748718e+02] [ 4.72794115e-02 9.98881700e-01 8.63303496e-05 3.42541381e+01] [ 4.41573937e-03 -2.95433447e-04 9.99990207e-01 7.52522328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.094391418 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:347.78, Y:34.25, Z:7.52 [[ 9.98807196e-01 -4.87210390e-02 -3.23210928e-03 3.47781729e+02] [ 4.87214990e-02 9.98812401e-01 6.37024794e-05 3.42541367e+01] [ 3.22516718e-03 -2.21099704e-04 9.99994775e-01 7.52483129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.124391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:347.81, Y:34.25, Z:7.53 [[ 9.98891547e-01 -4.70301064e-02 -1.96130870e-03 3.47810668e+02] [ 4.70196068e-02 9.98880978e-01 -5.09399860e-03 3.42546063e+01] [ 2.19868525e-03 4.99613218e-03 9.99985102e-01 7.52569615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.154391418 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:347.84, Y:34.25, Z:7.52 [[ 9.98720692e-01 -5.05423764e-02 -1.56464760e-03 3.47844720e+02] [ 5.05498177e-02 9.98708254e-01 5.15162973e-03 3.42510883e+01] [ 1.30225086e-03 -5.22413185e-03 9.99985506e-01 7.52437535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.184391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:347.88, Y:34.25, Z:7.53 [[ 9.98700790e-01 -5.09382417e-02 -1.42376163e-03 3.47878026e+02] [ 5.09383344e-02 9.98701800e-01 2.88865104e-05 3.42531382e+01] [ 1.42044187e-03 -1.01373027e-04 9.99998986e-01 7.52533419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.214391418 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:347.91, Y:34.25, Z:7.53 [[ 9.98690104e-01 -5.11190382e-02 -2.21806105e-03 3.47910600e+02] [ 5.11192634e-02 9.98692555e-01 4.48911977e-05 3.42530490e+01] [ 2.21286626e-03 -1.58218042e-04 9.99997539e-01 7.52564085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.244391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:347.94, Y:34.25, Z:7.53 [[ 9.98707163e-01 -5.07360226e-02 -3.13980580e-03 3.47942933e+02] [ 5.07364743e-02 9.98712074e-01 6.43285904e-05 3.42538837e+01] [ 3.13249818e-03 -2.23548100e-04 9.99995069e-01 7.52509304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.274391418 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:347.98, Y:34.25, Z:7.53 [[ 9.98749975e-01 -4.98390013e-02 -3.81602638e-03 3.47975926e+02] [ 4.98396614e-02 9.98757229e-01 7.80248731e-05 3.42541252e+01] [ 3.80739525e-03 -2.68116803e-04 9.99992716e-01 7.52523214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.304391418 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:348.00, Y:34.25, Z:7.52 [[ 9.98681593e-01 -5.05691450e-02 -8.82251593e-03 3.48004337e+02] [ 5.08070990e-02 9.98280510e-01 2.92345980e-02 3.42491604e+01] [ 7.32897708e-03 -2.96443014e-02 9.99533642e-01 7.52461693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.334391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:348.04, Y:34.26, Z:7.53 [[ 9.98801057e-01 -4.79646221e-02 -9.78994601e-03 3.48036095e+02] [ 4.80153453e-02 9.98834016e-01 5.01345690e-03 3.42598416e+01] [ 9.53806253e-03 -5.47751369e-03 9.99939509e-01 7.53175141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.364391418 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:348.07, Y:34.26, Z:7.53 [[ 9.98939661e-01 -4.50918265e-02 -9.28874739e-03 3.48068185e+02] [ 4.51168613e-02 9.98978579e-01 2.50339471e-03 3.42609914e+01] [ 9.16637703e-03 -2.91981939e-03 9.99953725e-01 7.53251067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.394391418 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:348.10, Y:34.26, Z:7.53 [[ 9.99063649e-01 -4.23809316e-02 -8.69954344e-03 3.48100774e+02] [ 4.23369355e-02 9.99089958e-01 -5.18072074e-03 3.42640855e+01] [ 8.91119026e-03 4.80755776e-03 9.99948738e-01 7.53419739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42439141799997 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:348.14, Y:34.27, Z:7.53 [[ 9.99424708e-01 -3.38298796e-02 -2.40656372e-03 3.48135130e+02] [ 3.37338795e-02 9.98901747e-01 -3.25165292e-02 3.42732386e+01] [ 3.50395097e-03 3.24166400e-02 9.99468301e-01 7.53395746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.454391418 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:348.17, Y:34.26, Z:7.53 [[ 9.99498817e-01 -3.16399900e-02 -1.01279266e-03 3.48167383e+02] [ 3.16400287e-02 9.99499329e-01 2.21718677e-05 3.42608440e+01] [ 1.01158406e-03 -5.42055443e-05 9.99999487e-01 7.52553799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484391418 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:348.20, Y:34.26, Z:7.53 [[ 9.99645453e-01 -2.66239388e-02 3.66140574e-04 3.48199388e+02] [ 2.66239433e-02 9.99645520e-01 -7.16218229e-06 3.42624866e+01] [-3.65820100e-04 1.69077488e-05 9.99999933e-01 7.52611521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.514391418 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:348.23, Y:34.26, Z:7.53 [[ 9.99718211e-01 -2.37224011e-02 8.64362864e-04 3.48231378e+02] [ 2.37224250e-02 9.99718584e-01 -1.73458668e-05 3.42630191e+01] [-8.63708133e-04 3.78457621e-05 9.99999626e-01 7.52600598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544391418 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:348.26, Y:34.27, Z:7.53 [[ 9.99826846e-01 -1.85984469e-02 6.13291246e-04 3.48263544e+02] [ 1.85984582e-02 9.99827034e-01 -1.27826513e-05 3.42652927e+01] [-6.12947430e-04 2.41867095e-05 9.99999812e-01 7.52546424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.574391418 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:348.30, Y:34.27, Z:7.52 [[ 9.99867937e-01 -1.62507174e-02 -1.51439320e-04 3.48295812e+02] [ 1.62507181e-02 9.99867948e-01 3.83555883e-06 3.42655631e+01] [ 1.51356992e-04 -6.29605000e-06 9.99999989e-01 7.52481839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604391418 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:348.33, Y:34.27, Z:7.52 [[ 9.99902959e-01 -1.39142952e-02 -6.82317329e-04 3.48327535e+02] [ 1.39143090e-02 9.99903191e-01 1.54806463e-05 3.42655495e+01] [ 6.82035872e-04 -2.49731182e-05 9.99999767e-01 7.52396327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.634391418 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:348.36, Y:34.26, Z:7.52 [[ 9.99931708e-01 -1.16558250e-02 -8.49620974e-04 3.48359459e+02] [ 1.16558455e-02 9.99932068e-01 1.92108301e-05 3.42648256e+01] [ 8.49339339e-04 -2.91125689e-05 9.99999639e-01 7.52274172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664391418 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:348.39, Y:34.26, Z:7.52 [[ 9.99962516e-01 -8.65245103e-03 -3.17423735e-04 3.48391384e+02] [ 8.65245386e-03 9.99962567e-01 7.56573477e-06 3.42648775e+01] [ 3.17346391e-04 -1.03119454e-05 9.99999950e-01 7.52172558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.694391418 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:348.42, Y:34.26, Z:7.52 [[ 9.99974259e-01 -7.15662520e-03 5.14290376e-04 3.48422966e+02] [ 7.15663177e-03 9.99974391e-01 -1.09393041e-05 3.42649800e+01] [-5.14198917e-04 1.46196093e-05 9.99999868e-01 7.52136501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724391418 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:348.45, Y:34.26, Z:7.52 [[ 9.99926340e-01 -1.10541456e-02 -5.01202072e-03 3.48447023e+02] [ 1.12637421e-02 9.98971480e-01 4.39216448e-02 3.42558879e+01] [ 4.52134950e-03 -4.39748636e-02 9.99022407e-01 7.52056242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.754391418 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:348.48, Y:34.28, Z:7.54 [[ 9.99937169e-01 -8.02562566e-03 -7.82606326e-03 3.48480282e+02] [ 7.91177232e-03 9.99863973e-01 -1.44719946e-02 3.42763887e+01] [ 7.94114552e-03 1.44091672e-02 9.99864648e-01 7.53669464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784391418 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:348.51, Y:34.28, Z:7.53 [[ 9.99990317e-01 -4.39824779e-03 -1.44118994e-04 3.48512770e+02] [ 4.39229286e-03 9.99577673e-01 -2.87260152e-02 3.42772591e+01] [ 2.70402261e-04 2.87251040e-02 9.99587312e-01 7.52880370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.814391418 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:348.54, Y:34.25, Z:7.52 [[ 9.99948510e-01 -7.77531553e-03 -6.52086294e-03 3.48537278e+02] [ 8.07874989e-03 9.98820650e-01 4.78752904e-02 3.42506263e+01] [ 6.14092707e-03 -4.79255058e-02 9.98832035e-01 7.51874647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844391418 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:348.57, Y:34.28, Z:7.54 [[ 9.99979308e-01 -4.48724593e-03 -4.60968014e-03 3.48571332e+02] [ 4.33382655e-03 9.99453539e-01 -3.27695100e-02 3.42804256e+01] [ 4.75420598e-03 3.27488544e-02 9.99452305e-01 7.53563059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.874391418 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:348.60, Y:34.26, Z:7.52 [[ 9.99979044e-01 -4.53981753e-03 -4.61533252e-03 3.48599922e+02] [ 4.62023984e-03 9.99835025e-01 1.75663281e-02 3.42604256e+01] [ 4.53482319e-03 -1.75872839e-02 9.99835048e-01 7.52474654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.904391418 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:348.63, Y:34.26, Z:7.53 [[ 9.99984646e-01 -3.86124311e-03 -3.97480183e-03 3.48628759e+02] [ 3.90734271e-03 9.99924429e-01 1.16562790e-02 3.42627386e+01] [ 3.92949372e-03 -1.16716309e-02 9.99924163e-01 7.52579552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.934391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:348.66, Y:34.27, Z:7.53 [[ 9.99998583e-01 -1.41142496e-03 -9.17486595e-04 3.48659943e+02] [ 1.39512087e-03 9.99845285e-01 -1.75345332e-02 3.42728149e+01] [ 9.42093324e-04 1.75332284e-02 9.99845837e-01 7.53192072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.964391418 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:348.69, Y:34.27, Z:7.53 [[ 9.99999933e-01 -2.72536949e-04 2.45225349e-04 3.48690534e+02] [ 2.77749025e-04 9.99768565e-01 -2.15113623e-02 3.42714663e+01] [-2.39305954e-04 2.15114290e-02 9.99768574e-01 7.52615800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.994391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:348.72, Y:34.26, Z:7.52 [[ 9.99999808e-01 -6.18470878e-04 -3.63690971e-05 3.48720836e+02] [ 6.18470906e-04 9.99999809e-01 7.70646385e-07 3.42619124e+01] [ 3.63686134e-05 -7.93139460e-07 9.99999999e-01 7.51937235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.024391418 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:348.75, Y:34.26, Z:7.52 [[ 9.99999820e-01 -5.98812072e-04 -3.63662885e-05 3.48751835e+02] [ 5.98812105e-04 9.99999821e-01 9.03131759e-07 3.42612526e+01] [ 3.63657410e-05 -9.24908165e-07 9.99999999e-01 7.51916448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.054391418 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:348.78, Y:34.26, Z:7.52 [[ 9.99999777e-01 -5.86471108e-04 3.19342720e-04 3.48782099e+02] [ 5.84846957e-04 9.99987015e-01 5.06247963e-03 3.42590332e+01] [-3.22307572e-04 -5.06229174e-03 9.99987135e-01 7.51941595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.084391418 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:348.81, Y:34.26, Z:7.52 [[ 9.99999121e-01 -8.06988836e-04 -1.05230067e-03 3.48811592e+02] [ 8.19724884e-04 9.99925737e-01 1.21593170e-02 3.42559816e+01] [ 1.04241009e-03 -1.21601689e-02 9.99925519e-01 7.51898644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.114391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:348.84, Y:34.27, Z:7.52 [[ 9.99999939e-01 5.75781432e-06 -3.50679820e-04 3.48842203e+02] [-1.24532703e-05 9.99817659e-01 -1.90957813e-02 3.42669878e+01] [ 3.50505926e-04 1.90957845e-02 9.99817597e-01 7.52217255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.144391418 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:348.87, Y:34.25, Z:7.52 [[ 9.99991746e-01 -1.80068214e-03 -3.64216020e-03 3.48872208e+02] [ 1.86916608e-03 9.99819860e-01 1.88879361e-02 3.42527825e+01] [ 3.60749293e-03 -1.88945880e-02 9.99814973e-01 7.51671720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17439141799997 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:348.90, Y:34.27, Z:7.52 [[ 9.99999453e-01 -1.62586394e-06 -1.04587524e-03 3.48901891e+02] [-1.82314599e-05 9.99819749e-01 -1.89860321e-02 3.42666623e+01] [ 1.04571759e-03 1.89860408e-02 9.99819202e-01 7.52163149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.204391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:348.93, Y:34.26, Z:7.52 [[ 9.99999855e-01 4.93103724e-05 -5.35502462e-04 3.48932123e+02] [-4.93040754e-05 9.99999999e-01 1.17722061e-05 3.42583492e+01] [ 5.35503041e-04 -1.17458019e-05 9.99999857e-01 7.51607301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.234391418 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:348.96, Y:34.25, Z:7.52 [[ 9.99998741e-01 -1.64659794e-04 -1.57826498e-03 3.48960838e+02] [ 1.88573873e-04 9.99885002e-01 1.51639790e-02 3.42522317e+01] [ 1.57558659e-03 -1.51642576e-02 9.99883775e-01 7.51719552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.264391418 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:348.99, Y:34.26, Z:7.52 [[ 9.99998850e-01 -4.67388769e-04 -1.44244993e-03 3.48990789e+02] [ 4.60737636e-04 9.99989277e-01 -4.60789008e-03 3.42596722e+01] [ 1.44458814e-03 4.60722019e-03 9.99988343e-01 7.52235000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.294391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:349.02, Y:34.26, Z:7.52 [[ 9.99997844e-01 -1.28921383e-03 -1.62772755e-03 3.49020901e+02] [ 1.27400895e-03 9.99955869e-01 -9.30790962e-03 3.42602951e+01] [ 1.63965560e-03 9.30581581e-03 9.99955356e-01 7.52114106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.324391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:349.05, Y:34.26, Z:7.52 [[ 9.99990944e-01 -3.80629534e-03 -1.90373828e-03 3.49051659e+02] [ 3.80638120e-03 9.99992755e-01 4.14806929e-05 3.42560022e+01] [ 1.90356660e-03 -4.87266709e-05 9.99998187e-01 7.51960404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.354391418 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:349.08, Y:34.25, Z:7.52 [[ 9.99983313e-01 -5.32176696e-03 -2.24799484e-03 3.49082400e+02] [ 5.32189206e-03 9.99985837e-01 4.96748732e-05 3.42549606e+01] [ 2.24769864e-03 -6.16376301e-05 9.99997472e-01 7.51968736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.384391418 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:349.11, Y:34.25, Z:7.52 [[ 9.99969126e-01 -7.27572322e-03 -2.96839160e-03 3.49113801e+02] [ 7.27594918e-03 9.99973528e-01 6.53293522e-05 3.42534648e+01] [ 2.96783770e-03 -8.69252016e-05 9.99995592e-01 7.51967403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.414391418 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:349.15, Y:34.25, Z:7.52 [[ 9.99912826e-01 -1.22571489e-02 -4.90944158e-03 3.49145161e+02] [ 1.22578269e-02 9.99924864e-01 1.08034733e-04 3.42504156e+01] [ 4.90774851e-03 -1.68204400e-04 9.99987943e-01 7.51892997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.444391418 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:349.18, Y:34.25, Z:7.52 [[ 9.99876055e-01 -1.47922260e-02 -5.39121879e-03 3.49175841e+02] [ 1.47930829e-02 9.99890569e-01 1.19099037e-04 3.42487627e+01] [ 5.38886709e-03 -1.98837021e-04 9.99985460e-01 7.51897241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.474391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:349.21, Y:34.25, Z:7.52 [[ 9.99787783e-01 -1.95930593e-02 -6.36408296e-03 3.49207012e+02] [ 1.95943588e-02 9.99808002e-01 1.41913893e-04 3.42477136e+01] [ 6.36008054e-03 -2.66583902e-04 9.99979739e-01 7.52034164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.504391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:349.24, Y:34.25, Z:7.52 [[ 9.99743472e-01 -2.16806256e-02 -6.55286488e-03 3.49239114e+02] [ 2.16820485e-02 9.99764906e-01 1.46170575e-04 3.42467495e+01] [ 6.54815527e-03 -2.88212612e-04 9.99978519e-01 7.52081667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.534391418 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:349.27, Y:34.25, Z:7.52 [[ 9.99697153e-01 -2.36783181e-02 -6.70376797e-03 3.49271485e+02] [ 2.36798559e-02 9.99719582e-01 1.50105854e-04 3.42453883e+01] [ 6.69833385e-03 -3.08804655e-04 9.99977518e-01 7.52085554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.564391418 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:349.30, Y:34.24, Z:7.52 [[ 9.99643550e-01 -2.57923429e-02 -6.89410461e-03 3.49302431e+02] [ 2.57940211e-02 9.99667267e-01 1.54600060e-04 3.42438627e+01] [ 6.88782321e-03 -3.32371632e-04 9.99976223e-01 7.52080601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.594391418 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:349.33, Y:34.24, Z:7.52 [[ 9.99527258e-01 -2.98652398e-02 -7.30258406e-03 3.49333197e+02] [ 2.98672341e-02 9.99553861e-01 1.64161810e-04 3.42420002e+01] [ 7.29442336e-03 -3.82192191e-04 9.99973322e-01 7.52070528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.624391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:349.36, Y:34.24, Z:7.52 [[ 9.99467935e-01 -3.18414743e-02 -7.06879165e-03 3.49364866e+02] [ 3.18433952e-02 9.99492858e-01 1.59335019e-04 3.42409284e+01] [ 7.06013331e-03 -3.84344568e-04 9.99975003e-01 7.52081967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.654391418 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:349.40, Y:34.24, Z:7.52 [[ 9.99409703e-01 -3.36883099e-02 -6.73377902e-03 3.49397087e+02] [ 3.36900995e-02 9.99432316e-01 1.52484532e-04 3.42396793e+01] [ 6.72481941e-03 -3.79256206e-04 9.99977316e-01 7.52089420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.684391418 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:349.43, Y:34.24, Z:7.52 [[ 9.99290534e-01 -3.70943070e-02 -6.51464907e-03 3.49429650e+02] [ 3.70960577e-02 9.99311693e-01 1.48061782e-04 3.42385379e+01] [ 6.50467274e-03 -3.89624535e-04 9.99978768e-01 7.52153835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.714391418 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:349.46, Y:34.24, Z:7.52 [[ 9.99238564e-01 -3.84720261e-02 -6.49580573e-03 3.49461414e+02] [ 3.84738101e-02 9.99259598e-01 1.49848473e-04 3.42377503e+01] [ 6.48523124e-03 -3.99652769e-04 9.99978891e-01 7.52184181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.744391418 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:349.49, Y:34.24, Z:7.52 [[ 9.99136175e-01 -4.10257915e-02 -6.61734419e-03 3.49494248e+02] [ 4.10276994e-02 9.99157998e-01 1.52770256e-04 3.42370702e+01] [ 6.60550485e-03 -4.24132698e-04 9.99978093e-01 7.52247527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.774391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:349.53, Y:34.24, Z:7.52 [[ 9.99103037e-01 -4.18328799e-02 -6.56750269e-03 3.49527414e+02] [ 4.18347824e-02 9.99124531e-01 1.52503535e-04 3.42357978e+01] [ 6.55537338e-03 -4.27116791e-04 9.99978422e-01 7.52247461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.804391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:349.56, Y:34.23, Z:7.52 [[ 9.98865686e-01 -4.64941733e-02 -1.02777664e-02 3.49556357e+02] [ 4.67495877e-02 9.98563214e-01 2.61912800e-02 3.42290661e+01] [ 9.04525751e-03 -2.66420522e-02 9.99604114e-01 7.52116243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.834391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:349.59, Y:34.24, Z:7.53 [[ 9.98820414e-01 -4.72979002e-02 -1.09858916e-02 3.49588645e+02] [ 4.72626365e-02 9.98876547e-01 -3.44779932e-03 3.42410220e+01] [ 1.11366231e-02 2.92451015e-03 9.99933709e-01 7.52907102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.864391418 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:349.62, Y:34.24, Z:7.53 [[ 9.99002283e-01 -4.39009795e-02 -8.19410068e-03 3.49623249e+02] [ 4.37031300e-02 9.98781225e-01 -2.29369131e-02 3.42435837e+01] [ 9.19106686e-03 2.25559207e-02 9.99703333e-01 7.52878107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.894391418 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:349.65, Y:34.23, Z:7.52 [[ 9.98986722e-01 -4.43113895e-02 -7.87585606e-03 3.49654911e+02] [ 4.43142327e-02 9.99017624e-01 1.86777603e-04 3.42341415e+01] [ 7.85984264e-03 -5.35600863e-04 9.99968968e-01 7.52186196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92439141799997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:349.69, Y:34.23, Z:7.52 [[ 9.98993607e-01 -4.40047012e-02 -8.68097220e-03 3.49688400e+02] [ 4.40081538e-02 9.99031150e-01 2.07006550e-04 3.42344652e+01] [ 8.66345238e-03 -5.88831780e-04 9.99962298e-01 7.52160773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.954391418 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:349.72, Y:34.23, Z:7.52 [[ 9.98810930e-01 -4.74052868e-02 -1.13783087e-02 3.49716509e+02] [ 4.76108231e-02 9.98694087e-01 1.85291915e-02 3.42316421e+01] [ 1.04850680e-02 -1.90488896e-02 9.99763574e-01 7.52145016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:349.75, Y:34.24, Z:7.53 [[ 9.98843298e-01 -4.67008273e-02 -1.14498121e-02 3.49749839e+02] [ 4.66913664e-02 9.98908766e-01 -1.09236495e-03 3.42386217e+01] [ 1.14883320e-02 5.56494038e-04 9.99933852e-01 7.52665577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.014391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:349.79, Y:34.24, Z:7.53 [[ 9.99052431e-01 -4.26425692e-02 -8.70926532e-03 3.49785542e+02] [ 4.24896880e-02 9.98951528e-01 -1.70431904e-02 3.42417627e+01] [ 9.42689933e-03 1.66569868e-02 9.99816822e-01 7.52596023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044391418 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:349.82, Y:34.24, Z:7.52 [[ 9.99036406e-01 -4.32047337e-02 -7.72074803e-03 3.49817448e+02] [ 4.32074932e-02 9.99066102e-01 1.90884139e-04 3.42355813e+01] [ 7.70529054e-03 -5.24294372e-04 9.99970176e-01 7.52151241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.074391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:349.85, Y:34.24, Z:7.52 [[ 9.99012064e-01 -4.37745829e-02 -7.66045061e-03 3.49850170e+02] [ 4.37773252e-02 9.99041295e-01 1.90599253e-04 3.42365171e+01] [ 7.64476309e-03 -5.25764991e-04 9.99970640e-01 7.52190798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104391418 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:349.88, Y:34.24, Z:7.52 [[ 9.98994159e-01 -4.42377595e-02 -7.32746182e-03 3.49882432e+02] [ 4.42402980e-02 9.99020902e-01 1.84623756e-04 3.42361352e+01] [ 7.31212018e-03 -5.08607148e-04 9.99973137e-01 7.52177909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.134391418 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:349.92, Y:34.24, Z:7.52 [[ 9.98986496e-01 -4.43330624e-02 -7.78200199e-03 3.49915237e+02] [ 4.43359285e-02 9.99016660e-01 1.96097034e-04 3.42359470e+01] [ 7.76565605e-03 -5.40920573e-04 9.99969701e-01 7.52065148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164391418 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:349.95, Y:34.23, Z:7.52 [[ 9.98994066e-01 -4.41621770e-02 -7.78195642e-03 3.49948780e+02] [ 4.41650520e-02 9.99024228e-01 1.97905573e-04 3.42349788e+01] [ 7.76562307e-03 -5.41397003e-04 9.99969701e-01 7.52033640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.194391418 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:349.98, Y:34.24, Z:7.52 [[ 9.98807583e-01 -4.81741861e-02 -7.91577306e-03 3.49978403e+02] [ 4.82353149e-02 9.98806151e-01 7.72190833e-03 3.42389371e+01] [ 7.53432617e-03 -8.09452040e-03 9.99938854e-01 7.52243495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:350.01, Y:34.24, Z:7.53 [[ 9.98989034e-01 -4.43553760e-02 -7.31508496e-03 3.50013976e+02] [ 4.43003343e-02 9.98989938e-01 -7.52228774e-03 3.42406373e+01] [ 7.64135017e-03 7.19062225e-03 9.99944951e-01 7.52539957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.254391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:350.05, Y:34.24, Z:7.52 [[ 9.99030112e-01 -4.33997844e-02 -7.43601745e-03 3.50045452e+02] [ 4.34024058e-02 9.99057653e-01 1.91448568e-04 3.42384099e+01] [ 7.42070131e-03 -5.14003932e-04 9.99972334e-01 7.52319586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:350.08, Y:34.24, Z:7.52 [[ 9.99064348e-01 -4.26418820e-02 -7.21796308e-03 3.50078285e+02] [ 4.26443402e-02 9.99090299e-01 1.86931946e-04 3.42384113e+01] [ 7.20342576e-03 -4.94562316e-04 9.99973933e-01 7.52291961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.314391418 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:350.11, Y:34.24, Z:7.52 [[ 9.99086315e-01 -4.20293560e-02 -7.75037244e-03 3.50110665e+02] [ 4.20321757e-02 9.99116237e-01 2.01216490e-04 3.42388051e+01] [ 7.73506595e-03 -5.26797657e-04 9.99969945e-01 7.52317693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344391418 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:350.14, Y:34.24, Z:7.52 [[ 9.99181249e-01 -3.96923149e-02 -7.83273332e-03 3.50142338e+02] [ 3.96951292e-02 9.99211817e-01 2.04113925e-04 3.42405929e+01] [ 7.81845793e-03 -5.14868168e-04 9.99969303e-01 7.52400429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.374391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:350.18, Y:34.24, Z:7.52 [[ 9.99242410e-01 -3.80777664e-02 -8.04300418e-03 3.50175595e+02] [ 3.80806910e-02 9.99274645e-01 2.10744179e-04 3.42405112e+01] [ 8.02914548e-03 -5.16867679e-04 9.99967632e-01 7.52389718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.404391418 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:350.21, Y:34.24, Z:7.52 [[ 9.99308902e-01 -3.62655149e-02 -8.15670250e-03 3.50207689e+02] [ 3.62684650e-02 9.99342060e-01 2.14003537e-04 3.42401765e+01] [ 8.14357493e-03 -5.09686718e-04 9.99966711e-01 7.52369861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.434391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:350.24, Y:34.24, Z:7.52 [[ 9.99379016e-01 -3.43042984e-02 -8.04966643e-03 3.50239674e+02] [ 3.43071136e-02 9.99411315e-01 2.11868861e-04 3.42401110e+01] [ 8.03765970e-03 -4.87898114e-04 9.99967578e-01 7.52375317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.464391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:350.27, Y:34.24, Z:7.52 [[ 9.99521951e-01 -2.99663611e-02 -7.60838567e-03 3.50270846e+02] [ 2.99687532e-02 9.99550816e-01 2.00561989e-04 3.42416935e+01] [ 7.59895800e-03 -4.28479942e-04 9.99971036e-01 7.52431909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.494391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:350.30, Y:34.24, Z:7.52 [[ 9.99606140e-01 -2.71155166e-02 -7.23287750e-03 3.50303319e+02] [ 2.71176097e-02 9.99632232e-01 1.91450169e-04 3.42417622e+01] [ 7.22502621e-03 -3.87513114e-04 9.99973824e-01 7.52450525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.524391418 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:350.34, Y:34.24, Z:7.53 [[ 9.99762223e-01 -2.08546335e-02 -6.37034861e-03 3.50335494e+02] [ 2.08561344e-02 9.99782473e-01 1.69271603e-04 3.42436824e+01] [ 6.36543278e-03 -3.02092201e-04 9.99979695e-01 7.52521785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.554391418 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:350.37, Y:34.24, Z:7.53 [[ 9.99826495e-01 -1.75381450e-02 -6.27636998e-03 3.50366632e+02] [ 1.75395380e-02 9.99846157e-01 1.66973217e-04 3.42444354e+01] [ 6.27247600e-03 -2.77028876e-04 9.99980289e-01 7.52548834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.584391418 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:350.40, Y:34.24, Z:7.53 [[ 9.99885298e-01 -1.38924163e-02 -6.03258187e-03 3.50398828e+02] [ 1.38936413e-02 9.99903466e-01 1.61193754e-04 3.42449505e+01] [ 6.02976014e-03 -2.44989793e-04 9.99981791e-01 7.52543141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.614391418 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:350.43, Y:34.25, Z:7.53 [[ 9.99956555e-01 -7.12877643e-03 -6.00570655e-03 3.50430422e+02] [ 7.12986782e-03 9.99974569e-01 1.60335410e-04 3.42464323e+01] [ 6.00441082e-03 -2.03148338e-04 9.99981953e-01 7.52615917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.644391418 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:350.46, Y:34.25, Z:7.53 [[ 9.99975050e-01 -4.10919036e-03 -5.74580040e-03 3.50460829e+02] [ 4.11013740e-03 9.99991542e-01 1.53025469e-04 3.42469778e+01] [ 5.74512299e-03 -1.76637681e-04 9.99983481e-01 7.52659272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67439141799997 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:350.49, Y:34.25, Z:7.53 [[ 9.99991090e-01 1.43710138e-03 -3.96919852e-03 3.50490784e+02] [-1.43669419e-03 9.99998962e-01 1.05438962e-04 3.42489182e+01] [ 3.96934593e-03 -9.97354981e-05 9.99992117e-01 7.52750132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.704391418 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:350.52, Y:34.25, Z:7.53 [[ 9.99988896e-01 3.10470097e-03 -3.54534339e-03 3.50519351e+02] [-3.10439899e-03 9.99995177e-01 9.06752747e-05 3.42494141e+01] [ 3.54560781e-03 -7.96681073e-05 9.99993711e-01 7.52749498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.734391418 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:350.55, Y:34.25, Z:7.53 [[ 9.99985380e-01 4.26679366e-03 -3.32165659e-03 3.50547497e+02] [-4.26653091e-03 9.99990895e-01 8.61839793e-05 3.42495672e+01] [ 3.32199408e-03 -7.20107688e-05 9.99994480e-01 7.52699906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.764391418 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:350.58, Y:34.25, Z:7.53 [[ 9.99974838e-01 5.58969152e-03 -4.36792810e-03 3.50576637e+02] [-5.58924924e-03 9.99984374e-01 1.13457447e-04 3.42490257e+01] [ 4.36849403e-03 -8.90411535e-05 9.99990454e-01 7.52539244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.794391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:350.60, Y:34.25, Z:7.52 [[ 9.99975526e-01 5.31087054e-03 -4.55442314e-03 3.50604562e+02] [-5.31038955e-03 9.99985893e-01 1.17695793e-04 3.42481902e+01] [ 4.55498396e-03 -9.35071518e-05 9.99989622e-01 7.52418356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.824391418 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:350.63, Y:34.25, Z:7.52 [[ 9.99981717e-01 4.01696657e-03 -4.51990307e-03 3.50633021e+02] [-4.01648033e-03 9.99991927e-01 1.16647833e-04 3.42473266e+01] [ 4.52033515e-03 -9.84915987e-05 9.99989778e-01 7.52336846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.854391418 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:350.66, Y:34.25, Z:7.52 [[ 9.99986506e-01 3.12982700e-03 -4.14621181e-03 3.50661646e+02] [-3.12941185e-03 9.99995098e-01 1.06611141e-04 3.42464176e+01] [ 4.14652515e-03 -9.36344977e-05 9.99991399e-01 7.52268322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.884391418 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:350.69, Y:34.25, Z:7.52 [[ 9.99990535e-01 1.81644585e-03 -3.95350674e-03 3.50690768e+02] [-1.81605949e-03 9.99998346e-01 1.01313225e-04 3.42454321e+01] [ 3.95368423e-03 -9.41324622e-05 9.99992180e-01 7.52230400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.914391418 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:350.72, Y:34.24, Z:7.52 [[ 9.99990640e-01 1.75758360e-03 -3.95350791e-03 3.50720070e+02] [-1.75719696e-03 9.99998451e-01 1.01266703e-04 3.42447509e+01] [ 3.95367977e-03 -9.43186630e-05 9.99992180e-01 7.52202553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.944391418 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:350.75, Y:34.24, Z:7.52 [[ 9.99992337e-01 3.01778085e-04 -3.90319713e-03 3.50748392e+02] [-3.01392075e-04 9.99999950e-01 9.94837377e-05 3.42435431e+01] [ 3.90322696e-03 -9.83065826e-05 9.99992378e-01 7.52151213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.974391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:350.78, Y:34.24, Z:7.52 [[ 9.99986577e-01 -3.83838362e-03 -3.48040057e-03 3.50777577e+02] [ 3.83871435e-03 9.99992628e-01 8.83493825e-05 3.42416734e+01] [ 3.48003579e-03 -1.01708460e-04 9.99993939e-01 7.52094952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.004391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:350.81, Y:34.24, Z:7.52 [[ 9.99975248e-01 -6.08574049e-03 -3.53088842e-03 3.50807433e+02] [ 6.08609665e-03 9.99981475e-01 9.01336559e-05 3.42402600e+01] [ 3.53027449e-03 -1.11620753e-04 9.99993762e-01 7.52056188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.034391418 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:350.84, Y:34.24, Z:7.52 [[ 9.99938427e-01 -1.06138079e-02 -3.23877995e-03 3.50838602e+02] [ 1.06141334e-02 9.99943665e-01 8.33368519e-05 3.42378336e+01] [ 3.23771297e-03 -1.17708563e-04 9.99994752e-01 7.51962685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.064391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:350.87, Y:34.24, Z:7.52 [[ 9.99911958e-01 -1.27560729e-02 -3.65495108e-03 3.50869365e+02] [ 1.27565030e-02 9.99918628e-01 9.43917556e-05 3.42365614e+01] [ 3.65344960e-03 -1.41007840e-04 9.99993316e-01 7.51942824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.094391418 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:350.90, Y:34.24, Z:7.52 [[ 9.99882842e-01 -1.48669390e-02 -3.64364836e-03 3.50901930e+02] [ 1.48673822e-02 9.99889470e-01 9.45631299e-05 3.42355652e+01] [ 3.64183977e-03 -1.48723564e-04 9.99993357e-01 7.51922470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.124391418 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:350.93, Y:34.23, Z:7.52 [[ 9.99814389e-01 -1.89389118e-02 -3.53637069e-03 3.50932709e+02] [ 1.89393548e-02 9.99820630e-01 9.18169047e-05 3.42341836e+01] [ 3.53399746e-03 -1.58776442e-04 9.99993743e-01 7.51853957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.154391418 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:350.96, Y:34.23, Z:7.52 [[ 9.99773675e-01 -2.09360227e-02 -3.77918877e-03 3.50964897e+02] [ 2.09365444e-02 9.99780802e-01 9.85390539e-05 3.42326948e+01] [ 3.77629736e-03 -1.77639906e-04 9.99992854e-01 7.51823653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.184391418 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:351.00, Y:34.23, Z:7.52 [[ 9.99729885e-01 -2.29825890e-02 -3.45789492e-03 3.50997409e+02] [ 2.29830392e-02 9.99735851e-01 9.05177387e-05 3.42312482e+01] [ 3.45490118e-03 -1.69966223e-04 9.99994017e-01 7.51737820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.214391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:351.03, Y:34.23, Z:7.52 [[ 9.99652992e-01 -2.62318997e-02 -2.40486328e-03 3.51029462e+02] [ 2.62321278e-02 9.99655877e-01 6.33588871e-05 3.42296742e+01] [ 2.40237369e-03 -1.26421582e-04 9.99997106e-01 7.51668146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.244391418 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:351.06, Y:34.23, Z:7.52 [[ 9.99611706e-01 -2.77917677e-02 -2.01383611e-03 3.51061922e+02] [ 2.77919318e-02 9.99613728e-01 5.35520710e-05 3.42284075e+01] [ 2.01156992e-03 -1.09499673e-04 9.99997971e-01 7.51567498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.274391418 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:351.09, Y:34.23, Z:7.52 [[ 9.99548993e-01 -2.99944281e-02 -1.46481004e-03 3.51094580e+02] [ 2.99945183e-02 9.99550062e-01 3.96616289e-05 3.42279284e+01] [ 1.46296134e-03 -8.35800129e-05 9.99998926e-01 7.51612412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.304391418 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:351.13, Y:34.23, Z:7.52 [[ 9.99430057e-01 -3.37086078e-02 -1.81396409e-03 3.51127011e+02] [ 3.37087517e-02 9.99431697e-01 4.88140414e-05 3.42267495e+01] [ 1.81128775e-03 -1.09932685e-04 9.99998354e-01 7.51555110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.334391418 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:351.16, Y:34.23, Z:7.52 [[ 9.99361455e-01 -3.56576055e-02 -2.28402714e-03 3.51160482e+02] [ 3.56578393e-02 9.99364055e-01 6.16818476e-05 3.42251537e+01] [ 2.28037520e-03 -1.43085934e-04 9.99997390e-01 7.51535968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.364391418 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:351.19, Y:34.22, Z:7.51 [[ 9.99279958e-01 -3.78784890e-02 -2.18780649e-03 3.51193268e+02] [ 3.78787095e-02 9.99282342e-01 5.94133723e-05 3.42234917e+01] [ 2.18398590e-03 -1.42241879e-04 9.99997605e-01 7.51450088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.394391418 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:351.23, Y:34.22, Z:7.51 [[ 9.99103075e-01 -4.22156795e-02 -3.29876360e-03 3.51226225e+02] [ 4.22162036e-02 9.99108495e-01 8.93802721e-05 3.42216803e+01] [ 3.29204949e-03 -2.28561381e-04 9.99994555e-01 7.51413728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42439141799997 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:351.26, Y:34.22, Z:7.51 [[ 9.99030592e-01 -4.38904589e-02 -3.39162974e-03 3.51259566e+02] [ 4.38910240e-02 9.99036320e-01 9.23224688e-05 3.42207715e+01] [ 3.38430922e-03 -2.41095073e-04 9.99994244e-01 7.51392094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.454391418 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:351.29, Y:34.22, Z:7.51 [[ 9.98882185e-01 -4.71001330e-02 -3.99482600e-03 3.51291414e+02] [ 4.71009425e-02 9.98890129e-01 1.08737227e-04 3.42205421e+01] [ 3.98527071e-03 -2.96775748e-04 9.99992015e-01 7.51416993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484391418 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:351.32, Y:34.22, Z:7.51 [[ 9.98822237e-01 -4.83986783e-02 -3.42146767e-03 3.51324916e+02] [ 4.83992822e-02 9.98828064e-01 9.38990706e-05 3.42194551e+01] [ 3.41291333e-03 -2.59385059e-04 9.99994142e-01 7.51309696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.514391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:351.36, Y:34.22, Z:7.51 [[ 9.98777103e-01 -4.93439849e-02 -3.07726552e-03 3.51357220e+02] [ 4.93444787e-02 9.98781816e-01 8.46865174e-05 3.42176559e+01] [ 3.06933807e-03 -2.36429017e-04 9.99995262e-01 7.51279748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544391418 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:351.39, Y:34.22, Z:7.51 [[ 9.98705987e-01 -5.07800933e-02 -2.78079300e-03 3.51390432e+02] [ 5.07805037e-02 9.98709835e-01 7.71291792e-05 3.42165966e+01] [ 2.77328869e-03 -2.18239442e-04 9.99996131e-01 7.51279482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.574391418 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:351.42, Y:34.22, Z:7.51 [[ 9.98721494e-01 -5.05045088e-02 -2.16142450e-03 3.51422559e+02] [ 5.05047617e-02 9.98723818e-01 6.25536502e-05 3.42161111e+01] [ 2.15550689e-03 -1.71635905e-04 9.99997662e-01 7.51339548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604391418 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:351.46, Y:34.22, Z:7.51 [[ 9.98756425e-01 -4.98401833e-02 -1.24859501e-03 3.51455809e+02] [ 4.98402667e-02 9.98757201e-01 3.57619976e-05 3.42169568e+01] [ 1.24526087e-03 -9.79478332e-05 9.99999220e-01 7.51484879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.634391418 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:351.49, Y:34.22, Z:7.52 [[ 9.98805704e-01 -4.88179471e-02 -1.99366731e-03 3.51488276e+02] [ 4.88111577e-02 9.98802498e-01 -3.32291143e-03 3.42175910e+01] [ 2.15349760e-03 3.22162968e-03 9.99992492e-01 7.51668502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664391418 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:351.52, Y:34.21, Z:7.51 [[ 9.98839194e-01 -4.81558085e-02 -1.13212120e-03 3.51520641e+02] [ 4.81594386e-02 9.98833758e-01 3.43398965e-03 3.42138919e+01] [ 9.65434324e-04 -3.48452578e-03 9.99993463e-01 7.51391106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.694391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:351.55, Y:34.21, Z:7.51 [[ 9.98862470e-01 -4.76593413e-02 -1.53377973e-03 3.51552560e+02] [ 4.76594651e-02 9.98863641e-01 4.42371653e-05 3.42138508e+01] [ 1.52992850e-03 -1.17285966e-04 9.99998823e-01 7.51429042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:351.58, Y:34.21, Z:7.51 [[ 9.98915133e-01 -4.65077213e-02 -2.36424039e-03 3.51584397e+02] [ 4.65080142e-02 9.98917914e-01 6.90363408e-05 3.42121860e+01] [ 2.35847135e-03 -1.78917571e-04 9.99997203e-01 7.51344815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.754391418 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:351.62, Y:34.21, Z:7.51 [[ 9.98958089e-01 -4.55711329e-02 -2.45099898e-03 3.51617240e+02] [ 4.55714440e-02 9.98961080e-01 7.11958691e-05 3.42111628e+01] [ 2.44520811e-03 -1.82817252e-04 9.99996994e-01 7.51339065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784391418 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:351.65, Y:34.21, Z:7.51 [[ 9.99063413e-01 -4.31932914e-02 -2.57618061e-03 3.51650518e+02] [ 4.31936279e-02 9.99066717e-01 7.50962831e-05 3.42113592e+01] [ 2.57053265e-03 -1.86300536e-04 9.99996679e-01 7.51414619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.814391418 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:351.68, Y:34.21, Z:7.51 [[ 9.99132509e-01 -4.15390229e-02 -2.95621734e-03 3.51682524e+02] [ 4.15394586e-02 9.99136860e-01 8.60977935e-05 3.42108744e+01] [ 2.95008929e-03 -2.08822772e-04 9.99995627e-01 7.51403996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:351.72, Y:34.21, Z:7.51 [[ 9.99177962e-01 -4.04021535e-02 -3.32656550e-03 3.51715971e+02] [ 4.04027005e-02 9.99183473e-01 9.73693699e-05 3.42099409e+01] [ 3.31991534e-03 -2.31691558e-04 9.99994462e-01 7.51382416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.874391418 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:351.75, Y:34.21, Z:7.51 [[ 9.99255875e-01 -3.85033242e-02 -2.27835028e-03 3.51747883e+02] [ 3.85035795e-02 9.99258460e-01 6.82992671e-05 3.42084242e+01] [ 2.27403104e-03 -1.55973085e-04 9.99997402e-01 7.51449701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.904391418 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:351.78, Y:34.21, Z:7.51 [[ 9.99300064e-01 -3.73769578e-02 -1.53139217e-03 3.51780524e+02] [ 3.73770719e-02 9.99301232e-01 4.59534387e-05 3.42071039e+01] [ 1.52860448e-03 -1.03160229e-04 9.99998826e-01 7.51492940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.934391418 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:351.81, Y:34.21, Z:7.51 [[ 9.99345941e-01 -3.61539764e-02 -7.62335864e-04 3.51813398e+02] [ 3.61540049e-02 9.99346230e-01 2.35800897e-05 3.42057521e+01] [ 7.60984957e-04 -5.11261615e-05 9.99999709e-01 7.51476675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.964391418 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:351.85, Y:34.20, Z:7.51 [[ 9.99416445e-01 -3.41576077e-02 -1.64323691e-04 3.51845611e+02] [ 3.41576092e-02 9.99416459e-01 6.82037686e-06 3.42037460e+01] [ 1.63994834e-04 -1.24293012e-05 9.99999986e-01 7.51474192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.994391418 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:351.88, Y:34.20, Z:7.51 [[ 9.99442271e-01 -3.33895790e-02 -5.31459404e-04 3.51878602e+02] [ 3.33895927e-02 9.99442412e-01 1.69761593e-05 3.42023264e+01] [ 5.30596241e-04 -3.47119042e-05 9.99999859e-01 7.51449195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.024391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:351.91, Y:34.20, Z:7.51 [[ 9.99499265e-01 -3.16249780e-02 -1.03963312e-03 3.51911614e+02] [ 3.16250286e-02 9.99499803e-01 3.22157401e-05 3.42005304e+01] [ 1.03809428e-03 -6.50780357e-05 9.99999459e-01 7.51385931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.054391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:351.94, Y:34.20, Z:7.51 [[ 9.99540521e-01 -3.03008255e-02 -7.78793856e-04 3.51943789e+02] [ 3.03008536e-02 9.99540823e-01 2.43074165e-05 3.41986876e+01] [ 7.77699717e-04 -4.78943664e-05 9.99999696e-01 7.51312405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.084391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:351.98, Y:34.20, Z:7.51 [[ 9.99591171e-01 -2.85875306e-02 -4.93594915e-04 3.51976825e+02] [ 2.85875420e-02 9.99591293e-01 1.59930776e-05 3.41963260e+01] [ 4.92935976e-04 -3.00972045e-05 9.99999878e-01 7.51284416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.114391418 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:352.01, Y:34.19, Z:7.51 [[ 9.99694433e-01 -2.47049877e-02 8.38702111e-04 3.52009317e+02] [ 2.47050166e-02 9.99694784e-01 -2.41176771e-05 3.41931031e+01] [-8.37850299e-04 4.48304571e-05 9.99999648e-01 7.51259405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.144391418 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:352.04, Y:34.19, Z:7.51 [[ 9.99744720e-01 -2.25611749e-02 1.21977994e-03 3.52041784e+02] [ 2.25612355e-02 9.99745462e-01 -3.59533376e-05 3.41914831e+01] [-1.21865831e-03 6.34639019e-05 9.99999255e-01 7.51260020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17439141799997 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:352.07, Y:34.19, Z:7.51 [[ 9.99815497e-01 -1.91960226e-02 6.96162689e-04 3.52073608e+02] [ 1.91978426e-02 9.99812033e-01 -2.70938561e-03 3.41907599e+01] [-6.44022406e-04 2.72225054e-03 9.99996087e-01 7.51358476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.204391418 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:352.11, Y:34.19, Z:7.51 [[ 9.99925637e-01 -1.19656828e-02 2.35433797e-03 3.52105895e+02] [ 1.19594426e-02 9.99924980e-01 2.64697932e-03 3.41872889e+01] [-2.38583426e-03 -2.61862592e-03 9.99993725e-01 7.51296754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.234391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:352.14, Y:34.19, Z:7.51 [[ 9.99968000e-01 -7.33234340e-03 3.19932088e-03 3.52137830e+02] [ 7.33269131e-03 9.99973111e-01 -9.70268747e-05 3.41868126e+01] [-3.19852342e-03 1.20483402e-04 9.99994877e-01 7.51410833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.264391418 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:352.17, Y:34.18, Z:7.51 [[ 9.99989979e-01 2.47774204e-03 3.72870034e-03 3.52170420e+02] [-2.47733599e-03 9.99996925e-01 -1.13514506e-04 3.41842112e+01] [-3.72897014e-03 1.04276125e-04 9.99993042e-01 7.51362519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.294391418 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:352.20, Y:34.18, Z:7.51 [[ 9.99967463e-01 7.32424255e-03 3.38074400e-03 3.52200355e+02] [-7.32393546e-03 9.99973174e-01 -1.03208688e-04 3.41824756e+01] [-3.38140924e-03 7.84449794e-05 9.99994280e-01 7.51352344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.324391418 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:352.23, Y:34.18, Z:7.51 [[ 9.99922579e-01 1.20727970e-02 3.01390117e-03 3.52230059e+02] [-1.20725720e-02 9.99927120e-01 -9.28638759e-05 3.41811432e+01] [-3.01480265e-03 5.64711475e-05 9.99995454e-01 7.51319185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.354391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:352.26, Y:34.18, Z:7.51 [[ 9.99865220e-01 1.61813026e-02 2.77623478e-03 3.52258212e+02] [-1.61811266e-02 9.99869073e-01 -8.58608927e-05 3.41803393e+01] [-2.77726064e-03 4.09267140e-05 9.99996143e-01 7.51300560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.384391418 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:352.29, Y:34.18, Z:7.51 [[ 9.99736655e-01 2.27485999e-02 3.02023342e-03 3.52286036e+02] [-2.27484182e-02 9.99741217e-01 -9.45081465e-05 3.41784498e+01] [-3.02160177e-03 2.57777253e-05 9.99995435e-01 7.51250487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.414391418 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:352.31, Y:34.18, Z:7.51 [[ 9.99683539e-01 2.48755920e-02 3.74537107e-03 3.52313947e+02] [-2.48753394e-02 9.99690554e-01 -1.14009874e-04 3.41762145e+01] [-3.74704814e-03 2.08064176e-05 9.99992980e-01 7.51126091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.444391418 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:352.34, Y:34.17, Z:7.51 [[ 9.99627670e-01 2.69262473e-02 4.41579676e-03 3.52341418e+02] [-2.69259199e-02 9.99637423e-01 -1.33578444e-04 3.41720300e+01] [-4.41779246e-03 1.46293192e-05 9.99990241e-01 7.51026749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.474391418 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:352.37, Y:34.17, Z:7.51 [[ 9.99618957e-01 2.71635618e-02 4.90741314e-03 3.52369213e+02] [-2.71631632e-02 9.99631002e-01 -1.47864194e-04 3.41699733e+01] [-4.90961883e-03 1.45069873e-05 9.99987948e-01 7.51001044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.504391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:352.40, Y:34.17, Z:7.51 [[ 9.99628770e-01 2.67622441e-02 5.10925671e-03 3.52397695e+02] [-2.67618111e-02 9.99641827e-01 -1.53101191e-04 3.41682534e+01] [-5.11152404e-03 1.63113923e-05 9.99986936e-01 7.50986357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.534391418 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:352.43, Y:34.17, Z:7.51 [[ 9.99679552e-01 2.45184925e-02 6.29577712e-03 3.52425262e+02] [-2.45177945e-02 9.99699376e-01 -1.88034418e-04 3.41650082e+01] [-6.29849477e-03 3.36155929e-05 9.99980164e-01 7.50983099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.564391418 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:352.45, Y:34.16, Z:7.51 [[ 9.99708813e-01 2.29645205e-02 7.41082447e-03 3.52453877e+02] [-2.29635177e-02 9.99736279e-01 -2.20394588e-04 3.41623747e+01] [-7.41393134e-03 5.01518136e-05 9.99972515e-01 7.50942496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.594391418 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:352.48, Y:34.16, Z:7.51 [[ 9.99754423e-01 2.07307558e-02 7.83127012e-03 3.52481398e+02] [-2.07295725e-02 9.99785092e-01 -2.32251886e-04 3.41598412e+01] [-7.83440188e-03 6.98559686e-05 9.99969308e-01 7.50898349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.624391418 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:352.51, Y:34.15, Z:7.51 [[ 9.99857099e-01 1.50236753e-02 7.75048560e-03 3.52510332e+02] [-1.50223510e-02 9.99887132e-01 -2.29058614e-04 3.41549650e+01] [-7.75305212e-03 1.12595366e-04 9.99969938e-01 7.50788055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.654391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:352.54, Y:34.15, Z:7.51 [[ 9.99903706e-01 1.16433556e-02 7.55061984e-03 3.52540062e+02] [-1.16420076e-02 9.99932205e-01 -2.22467417e-04 3.41522186e+01] [-7.55269821e-03 1.34541621e-04 9.99971469e-01 7.50722332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.684391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:352.57, Y:34.15, Z:7.51 [[ 9.99948043e-01 7.80781137e-03 6.55362767e-03 3.52569801e+02] [-7.80671532e-03 9.99969509e-01 -1.92807848e-04 3.41497608e+01] [-6.55493325e-03 1.41635525e-04 9.99978506e-01 7.50679222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.714391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:352.60, Y:34.14, Z:7.51 [[ 9.99982838e-01 1.94929212e-04 5.85536897e-03 3.52600075e+02] [-1.93924890e-04 9.99999966e-01 -1.72088693e-04 3.41448003e+01] [-5.85540232e-03 1.70950238e-04 9.99982842e-01 7.50539014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.744391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:352.63, Y:34.14, Z:7.50 [[ 9.99979258e-01 -3.45956566e-03 5.43277798e-03 3.52632620e+02] [ 3.46047780e-03 9.99994000e-01 -1.58505203e-04 3.41418203e+01] [-5.43219703e-03 1.77301923e-04 9.99985230e-01 7.50403640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.774391418 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:352.66, Y:34.14, Z:7.50 [[ 9.99934328e-01 -1.05765373e-02 4.41316172e-03 3.52664824e+02] [ 1.05772136e-02 9.99944051e-01 -1.29940170e-04 3.41364269e+01] [-4.41154049e-03 1.76610591e-04 9.99990254e-01 7.50217969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.804391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:352.70, Y:34.13, Z:7.50 [[ 9.99897268e-01 -1.36421122e-02 4.39840314e-03 3.52696926e+02] [ 1.36428200e-02 9.99906924e-01 -1.30941882e-04 3.41334939e+01] [-4.39620743e-03 1.90935052e-04 9.99990318e-01 7.50164366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.834391418 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:352.73, Y:34.13, Z:7.50 [[ 9.99898531e-01 -1.35492335e-02 4.39838937e-03 3.52729604e+02] [ 1.35499423e-02 9.99908187e-01 -1.31401897e-04 3.41324267e+01] [-4.39620514e-03 1.90986486e-04 9.99990318e-01 7.50133433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.864391418 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:352.76, Y:34.13, Z:7.50 [[ 9.99863691e-01 -1.59471718e-02 4.27635745e-03 3.52761870e+02] [ 1.59478656e-02 9.99872816e-01 -1.28187918e-04 3.41298365e+01] [-4.27376933e-03 1.96369219e-04 9.99990848e-01 7.50130954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.894391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:352.79, Y:34.13, Z:7.50 [[ 9.99829584e-01 -1.77687932e-02 5.00732256e-03 3.52794945e+02] [ 1.77697691e-02 9.99842094e-01 -1.50459245e-04 3.41275411e+01] [-5.00385839e-03 2.39412570e-04 9.99987452e-01 7.50085120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92439141799997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:352.83, Y:34.12, Z:7.50 [[ 9.99783523e-01 -1.98944843e-02 6.09238977e-03 3.52827416e+02] [ 1.98959743e-02 9.99802039e-01 -1.84051972e-04 3.41237198e+01] [-6.08752210e-03 3.05226159e-04 9.99981424e-01 7.50095653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.954391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:352.86, Y:34.12, Z:7.50 [[ 9.99769319e-01 -2.06218202e-02 6.00419208e-03 3.52859731e+02] [ 2.06232832e-02 9.99787301e-01 -1.81833894e-04 3.41210557e+01] [-5.99916525e-03 3.05618102e-04 9.99981958e-01 7.50023082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984391418 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:352.89, Y:34.12, Z:7.50 [[ 9.99768841e-01 -2.10246926e-02 4.49735639e-03 3.52892325e+02] [ 2.10255213e-02 9.99778930e-01 -1.37046784e-04 3.41178278e+01] [-4.49348079e-03 2.31574367e-04 9.99989877e-01 7.49940949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.014391418 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:352.93, Y:34.12, Z:7.50 [[ 9.99782555e-01 -2.05009856e-02 3.81483586e-03 3.52925308e+02] [ 2.05015791e-02 9.99789814e-01 -1.16539435e-04 3.41166201e+01] [-3.81164486e-03 1.94724253e-04 9.99992717e-01 7.49931133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044391418 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:352.96, Y:34.12, Z:7.50 [[ 9.99859930e-01 -1.67225924e-02 6.89117170e-04 3.52957650e+02] [ 1.67276458e-02 9.99827025e-01 -8.13061312e-03 3.41192323e+01] [-5.53033040e-04 8.14100158e-03 9.99966709e-01 7.50140071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.074391418 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:352.99, Y:34.11, Z:7.50 [[ 9.99881572e-01 -1.50874239e-02 3.03504996e-03 3.52990200e+02] [ 1.50631029e-02 9.99855473e-01 7.88268729e-03 3.41118458e+01] [-3.15354075e-03 -7.83603649e-03 9.99964325e-01 7.49636628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:353.02, Y:34.11, Z:7.50 [[ 9.99920210e-01 -1.22811797e-02 2.95755242e-03 3.53022272e+02] [ 1.22815026e-02 9.99924575e-01 -9.10450562e-05 3.41137762e+01] [-2.95621121e-03 1.27360979e-04 9.99995622e-01 7.49774820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.134391418 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:353.05, Y:34.11, Z:7.50 [[ 9.99952098e-01 -9.33177643e-03 2.95307035e-03 3.53053083e+02] [ 9.33208524e-03 9.99956451e-01 -9.08103189e-05 3.41125916e+01] [-2.95209432e-03 1.18364273e-04 9.99995636e-01 7.49710410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:353.08, Y:34.11, Z:7.50 [[ 9.99990180e-01 -3.65253357e-03 2.50961523e-03 3.53083963e+02] [ 3.65274042e-03 9.99993326e-01 -7.78448219e-05 3.41128131e+01] [-2.50931414e-03 8.70110305e-05 9.99996848e-01 7.49647944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.194391418 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:353.11, Y:34.11, Z:7.50 [[ 9.99990798e-01 2.98422740e-03 3.08204577e-03 3.53114975e+02] [-2.98394551e-03 9.99995543e-01 -9.60552547e-05 3.41140330e+01] [-3.08231868e-03 8.68577141e-05 9.99995246e-01 7.49593134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:353.15, Y:34.12, Z:7.50 [[ 9.99973816e-01 6.82200268e-03 2.41391084e-03 3.53145945e+02] [-6.81208539e-03 9.99968421e-01 -4.09303324e-03 3.41155334e+01] [-2.44175729e-03 4.07648230e-03 9.99988710e-01 7.49678704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.254391418 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:353.18, Y:34.11, Z:7.49 [[ 9.99955443e-01 8.90375369e-03 3.13622580e-03 3.53175278e+02] [-8.91575385e-03 9.99952906e-01 3.83333774e-03 3.41129262e+01] [-3.10194700e-03 -3.86112876e-03 9.99987735e-01 7.49419662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284391418 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:353.20, Y:34.12, Z:7.50 [[ 9.99915272e-01 1.27798845e-02 2.47441767e-03 3.53204010e+02] [-1.27797309e-02 9.99918333e-01 -7.78851393e-05 3.41153940e+01] [-2.47521096e-03 4.62561484e-05 9.99996936e-01 7.49581574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.314391418 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:353.23, Y:34.12, Z:7.50 [[ 9.99902396e-01 1.37824905e-02 2.28957689e-03 3.53231457e+02] [-1.37823612e-02 9.99905016e-01 -7.22358814e-05 3.41150382e+01] [-2.29035501e-03 4.06730552e-05 9.99997376e-01 7.49598408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.344391418 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:353.26, Y:34.11, Z:7.50 [[ 9.99896323e-01 1.41620037e-02 2.60403933e-03 3.53260719e+02] [-1.41618391e-02 9.99899713e-01 -8.16331342e-05 3.41144231e+01] [-2.60493426e-03 4.47466847e-05 9.99996606e-01 7.49624418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.374391418 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:353.29, Y:34.12, Z:7.50 [[ 9.99912386e-01 1.29969247e-02 2.51006251e-03 3.53289323e+02] [-1.29967685e-02 9.99915535e-01 -7.85171179e-05 3.41152520e+01] [-2.51087097e-03 4.58875373e-05 9.99996847e-01 7.49768856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.404391418 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:353.32, Y:34.12, Z:7.50 [[ 9.99929520e-01 1.16789639e-02 2.13457009e-03 3.53318110e+02] [-1.16788481e-02 9.99931798e-01 -6.67180203e-05 3.41156864e+01] [-2.13520370e-03 4.17839983e-05 9.99997720e-01 7.49837896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.434391418 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:353.35, Y:34.12, Z:7.50 [[ 9.99969696e-01 7.78364248e-03 1.47209354e-04 3.53346726e+02] [-7.78364181e-03 9.99969707e-01 -5.07489847e-06 3.41167133e+01] [-1.47244396e-04 3.92891981e-06 9.99999989e-01 7.49897954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.464391418 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:353.38, Y:34.11, Z:7.49 [[ 9.99987700e-01 4.06920675e-03 2.83591191e-03 3.53377152e+02] [-4.10448482e-03 9.99912859e-01 1.25469978e-02 3.41118369e+01] [-2.78460846e-03 -1.25584834e-02 9.99917262e-01 7.49494759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.494391418 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:353.41, Y:34.12, Z:7.50 [[ 9.99990844e-01 3.85703284e-03 -1.85367471e-03 3.53406050e+02] [-3.88020708e-03 9.99912265e-01 -1.26651726e-02 3.41204561e+01] [ 1.80466209e-03 1.26722492e-02 9.99918075e-01 7.50217039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.524391418 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:353.43, Y:34.12, Z:7.50 [[ 9.99998030e-01 1.01957521e-03 -1.70299637e-03 3.53434851e+02] [-1.01948824e-03 9.99999479e-01 5.19344473e-05 3.41154501e+01] [ 1.70304843e-03 -5.01981602e-05 9.99998549e-01 7.49878303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.554391418 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:353.46, Y:34.12, Z:7.50 [[ 9.99989833e-01 -3.54565375e-03 -2.78594757e-03 3.53464568e+02] [ 3.54590601e-03 9.99993710e-01 8.56136181e-05 3.41159415e+01] [ 2.78562649e-03 -9.54914559e-05 9.99996116e-01 7.50022177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.584391418 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:353.49, Y:34.12, Z:7.50 [[ 9.99984959e-01 -5.42566648e-03 -8.02655959e-04 3.53494191e+02] [ 5.42442119e-03 9.99984093e-01 -1.54558690e-03 3.41152014e+01] [ 8.11029030e-04 1.54120971e-03 9.99998483e-01 7.50031800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.614391418 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:353.52, Y:34.12, Z:7.50 [[ 9.99946922e-01 -9.98496889e-03 -2.54036245e-03 3.53522959e+02] [ 9.98920244e-03 9.99948730e-01 1.65931822e-03 3.41157840e+01] [ 2.52366397e-03 -1.68460634e-03 9.99995397e-01 7.50135308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.644391418 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:353.55, Y:34.12, Z:7.50 [[ 9.99927618e-01 -1.17564053e-02 -2.55835827e-03 3.53554839e+02] [ 1.17566478e-02 9.99930885e-01 7.98011019e-05 3.41162354e+01] [ 2.55724328e-03 -1.09873043e-04 9.99996724e-01 7.50189312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67439141799997 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:353.59, Y:34.11, Z:7.50 [[ 9.99917354e-01 -1.27869714e-02 -1.33370266e-03 3.53586943e+02] [ 1.27872105e-02 9.99918226e-01 1.70872990e-04 3.41141884e+01] [ 1.33140864e-03 -1.87913204e-04 9.99999096e-01 7.50200122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.704391418 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:353.62, Y:34.12, Z:7.50 [[ 9.99888400e-01 -1.43715285e-02 -4.08014488e-03 3.53616205e+02] [ 1.43716754e-02 9.99896722e-01 6.69129876e-06 3.41172246e+01] [ 4.07962732e-03 -6.53290698e-05 9.99991676e-01 7.50366265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.734391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:353.65, Y:34.12, Z:7.50 [[ 9.99895730e-01 -1.40850140e-02 -3.18454510e-03 3.53648059e+02] [ 1.40818990e-02 9.99900347e-01 -9.98491071e-04 3.41157361e+01] [ 3.19829151e-03 9.53542516e-04 9.99994431e-01 7.50369658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.764391418 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:353.67, Y:34.12, Z:7.50 [[ 9.99915178e-01 -1.21273631e-02 -4.75019298e-03 3.53674144e+02] [ 1.21520984e-02 9.99912570e-01 5.21343278e-03 3.41151991e+01] [ 4.68655248e-03 -5.27071538e-03 9.99975128e-01 7.50236586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.794391418 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:353.71, Y:34.12, Z:7.51 [[ 9.99895361e-01 -1.21590233e-02 -7.83739020e-03 3.53706919e+02] [ 1.21296273e-02 9.99919261e-01 -3.78742511e-03 3.41209295e+01] [ 7.88280880e-03 3.69196417e-03 9.99962115e-01 7.50652718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.824391418 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:353.74, Y:34.12, Z:7.51 [[ 9.99911276e-01 -1.08506598e-02 -7.72679188e-03 3.53737820e+02] [ 1.08528479e-02 9.99941077e-01 2.41308911e-04 3.41201571e+01] [ 7.72371824e-03 -3.25145198e-04 9.99970119e-01 7.50596357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.854391418 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:353.77, Y:34.12, Z:7.51 [[ 9.99933463e-01 -8.33703300e-03 -7.97263913e-03 3.53767958e+02] [ 8.33928243e-03 9.99965197e-01 2.48941566e-04 3.41232271e+01] [ 7.97028622e-03 -3.15411091e-04 9.99968187e-01 7.50787615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.884391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:353.80, Y:34.12, Z:7.51 [[ 9.99942585e-01 -7.32729706e-03 -7.81902151e-03 3.53797886e+02] [ 7.32942567e-03 9.99973110e-01 2.43613652e-04 3.41242528e+01] [ 7.81702623e-03 -3.00908602e-04 9.99969401e-01 7.50834923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.914391418 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:353.83, Y:34.12, Z:7.51 [[ 9.99949264e-01 -5.93825642e-03 -8.13671717e-03 3.53827344e+02] [ 5.94051146e-03 9.99982323e-01 2.53003111e-04 3.41248584e+01] [ 8.13507094e-03 -3.01326536e-04 9.99966864e-01 7.50876198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.944391418 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:353.86, Y:34.13, Z:7.51 [[ 9.99976874e-01 -4.07521606e-03 -5.44458916e-03 3.53858394e+02] [ 4.03206726e-03 9.99960565e-01 -7.91268898e-03 3.41294950e+01] [ 5.47662037e-03 7.89055305e-03 9.99953872e-01 7.50913239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.974391418 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:353.89, Y:34.13, Z:7.51 [[ 9.99978440e-01 -3.69895539e-03 -5.42565184e-03 3.53887875e+02] [ 3.68980534e-03 9.99991755e-01 -1.69548448e-03 3.41284581e+01] [ 5.43187863e-03 1.67542833e-03 9.99983844e-01 7.50735777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.004391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:353.92, Y:34.13, Z:7.51 [[ 9.99962525e-01 -3.18735361e-03 -8.04915031e-03 3.53916509e+02] [ 3.26917458e-03 9.99942914e-01 1.01725541e-02 3.41260571e+01] [ 8.01626729e-03 -1.01984869e-02 9.99915862e-01 7.50735520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.034391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:353.94, Y:34.13, Z:7.51 [[ 9.99962818e-01 -2.82441096e-03 -8.14776136e-03 3.53944491e+02] [ 2.82654284e-03 9.99995974e-01 2.50147963e-04 3.41318707e+01] [ 8.14702204e-03 -2.73168659e-04 9.99966775e-01 7.51090894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.064391418 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:353.97, Y:34.13, Z:7.51 [[ 9.99957923e-01 -3.22347226e-03 -8.58839720e-03 3.53973427e+02] [ 3.22582056e-03 9.99994763e-01 2.59589120e-04 3.41322103e+01] [ 8.58751544e-03 -2.87282826e-04 9.99963085e-01 7.51084325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.094391418 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:354.00, Y:34.13, Z:7.51 [[ 9.99937750e-01 -4.32296781e-03 -1.02862647e-02 3.54001962e+02] [ 4.32641054e-03 9.99990592e-01 3.12463419e-04 3.41340531e+01] [ 1.02848171e-02 -3.56946572e-04 9.99947046e-01 7.51178045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.124391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:354.03, Y:34.13, Z:7.51 [[ 9.99928290e-01 -4.97903937e-03 -1.08915069e-02 3.54030007e+02] [ 4.98291327e-03 9.99987531e-01 3.28572521e-04 3.41347255e+01] [ 1.08897351e-02 -3.82820394e-04 9.99940632e-01 7.51225654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.154391418 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:354.06, Y:34.14, Z:7.51 [[ 9.99916758e-01 -5.77511739e-03 -1.15379900e-02 3.54058360e+02] [ 5.77946616e-03 9.99983240e-01 3.43600676e-04 3.41356432e+01] [ 1.15358122e-02 -4.10255496e-04 9.99933376e-01 7.51260017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.184391418 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:354.09, Y:34.14, Z:7.51 [[ 9.99904403e-01 -6.17191179e-03 -1.23730565e-02 3.54087516e+02] [ 6.17690062e-03 9.99980856e-01 3.65026740e-04 3.41377157e+01] [ 1.23705667e-02 -4.41418985e-04 9.99923384e-01 7.51328343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.214391418 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:354.12, Y:34.14, Z:7.51 [[ 9.99899599e-01 -5.88098515e-03 -1.28920986e-02 3.54115348e+02] [ 5.88631910e-03 9.99982605e-01 3.75831705e-04 3.41384401e+01] [ 1.28896640e-02 -4.51680977e-04 9.99916823e-01 7.51335513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.244391418 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:354.14, Y:34.14, Z:7.51 [[ 9.99919557e-01 -3.91470118e-03 -1.20645998e-02 3.54142931e+02] [ 3.91923766e-03 9.99992258e-01 3.52395770e-04 3.41406920e+01] [ 1.20631268e-02 -3.99651456e-04 9.99927158e-01 7.51350463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.274391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:354.17, Y:34.14, Z:7.51 [[ 9.99930214e-01 -2.36425468e-03 -1.15748424e-02 3.54169551e+02] [ 2.36830309e-03 9.99997139e-01 3.36065539e-04 3.41417610e+01] [ 1.15740147e-02 -3.63454821e-04 9.99932953e-01 7.51363717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.304391418 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:354.20, Y:34.14, Z:7.51 [[ 9.99941902e-01 -8.84293343e-04 -1.07429205e-02 3.54197191e+02] [ 8.87639207e-04 9.99999559e-01 3.06684195e-04 3.41429257e+01] [ 1.07426446e-02 -3.16202215e-04 9.99942246e-01 7.51356699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.334391418 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:354.23, Y:34.15, Z:7.51 [[ 9.99948893e-01 2.46479869e-03 -9.80489627e-03 3.54225155e+02] [-2.46220716e-03 9.99996931e-01 2.76371741e-04 3.41458906e+01] [ 9.80554737e-03 -2.52215931e-04 9.99951893e-01 7.51419467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.364391418 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:354.25, Y:34.15, Z:7.51 [[ 9.99944521e-01 4.11133811e-03 -9.69806689e-03 3.54253291e+02] [-4.10891152e-03 9.99991522e-01 2.70124759e-04 3.41470671e+01] [ 9.69909524e-03 -2.30261274e-04 9.99952936e-01 7.51437915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.394391418 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:354.28, Y:34.15, Z:7.51 [[ 9.99936607e-01 5.70285513e-03 -9.70868957e-03 3.54281337e+02] [-5.70049136e-03 9.99983715e-01 2.71125164e-04 3.41481117e+01] [ 9.71007765e-03 -2.15763676e-04 9.99952833e-01 7.51441677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42439141799997 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:354.31, Y:34.15, Z:7.51 [[ 9.99912104e-01 8.94125322e-03 -9.78971223e-03 3.54309201e+02] [-8.93905478e-03 9.99960010e-01 2.68300207e-04 3.41503409e+01] [ 9.79171968e-03 -1.80765850e-04 9.99952044e-01 7.51446033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.454391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:354.34, Y:34.15, Z:7.51 [[ 9.99899168e-01 1.05654825e-02 -9.48807796e-03 3.54337684e+02] [-1.05634845e-02 9.99944171e-01 2.60671127e-04 3.41509698e+01] [ 9.49030236e-03 -1.60417679e-04 9.99954953e-01 7.51457621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:354.36, Y:34.15, Z:7.52 [[ 9.99869267e-01 1.35000749e-02 -8.89922004e-03 3.54364497e+02] [-1.34984469e-02 9.99908862e-01 2.42982158e-04 3.41536832e+01] [ 8.90168927e-03 -1.22824743e-04 9.99960372e-01 7.51535533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.514391418 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:354.39, Y:34.15, Z:7.52 [[ 9.99856244e-01 1.45411726e-02 -8.72038931e-03 3.54391096e+02] [-1.45396644e-02 9.99894266e-01 2.36326633e-04 3.41548568e+01] [ 8.72290373e-03 -1.09501125e-04 9.99961949e-01 7.51555720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544391418 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:354.42, Y:34.16, Z:7.52 [[ 9.99839375e-01 1.55343451e-02 -8.93910395e-03 3.54418746e+02] [-1.55328048e-02 9.99879330e-01 2.41714378e-04 3.41556520e+01] [ 8.94178014e-03 -1.02826197e-04 9.99960016e-01 7.51568471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.574391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:354.45, Y:34.16, Z:7.52 [[ 9.99815435e-01 1.71870144e-02 -8.58502802e-03 3.54446573e+02] [-1.71856636e-02 9.99852289e-01 2.31093731e-04 3.41581217e+01] [ 8.58773172e-03 -8.35116750e-05 9.99963121e-01 7.51500168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604391418 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:354.47, Y:34.16, Z:7.52 [[ 9.99808885e-01 1.76497551e-02 -8.40717081e-03 3.54473306e+02] [-1.76484873e-02 9.99844228e-01 2.24969551e-04 3.41588210e+01] [ 8.40983187e-03 -7.65527088e-05 9.99964634e-01 7.51503578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.634391418 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:354.50, Y:34.16, Z:7.51 [[ 9.99812253e-01 1.75929524e-02 -8.12078585e-03 3.54500864e+02] [-1.75917746e-02 9.99845229e-01 2.16444036e-04 3.41595566e+01] [ 8.12333688e-03 -7.35443655e-05 9.99967002e-01 7.51482240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664391418 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:354.53, Y:34.16, Z:7.51 [[ 9.99817203e-01 1.81477612e-02 -6.01820290e-03 3.54527669e+02] [-1.81471322e-02 9.99835315e-01 1.59113958e-04 3.41614474e+01] [ 6.02009935e-03 -4.98717487e-05 9.99981878e-01 7.51414634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.694391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:354.56, Y:34.16, Z:7.52 [[ 9.99838442e-01 1.71277876e-02 -5.45232322e-03 3.54556075e+02] [-1.71272590e-02 9.99853307e-01 1.43636804e-04 3.41624045e+01] [ 5.45398358e-03 -5.02302468e-05 9.99985126e-01 7.51527657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724391418 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:354.58, Y:34.16, Z:7.52 [[ 9.99840062e-01 1.70330038e-02 -5.45233221e-03 3.54584529e+02] [-1.70324756e-02 9.99854927e-01 1.43295497e-04 3.41617660e+01] [ 5.45398197e-03 -5.04058629e-05 9.99985126e-01 7.51501271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.754391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:354.61, Y:34.16, Z:7.52 [[ 9.99866439e-01 1.58609303e-02 -3.94153709e-03 3.54612184e+02] [-1.58606487e-02 9.99874207e-01 1.02687104e-04 3.41639128e+01] [ 3.94266998e-03 -4.01580538e-05 9.99992227e-01 7.51583874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784391418 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:354.64, Y:34.16, Z:7.52 [[ 9.99878280e-01 1.51686535e-02 -3.65196227e-03 3.54640358e+02] [-1.51684090e-02 9.99884949e-01 9.46487460e-05 3.41643951e+01] [ 3.65297780e-03 -3.92427681e-05 9.99993327e-01 7.51556467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.814391418 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:354.67, Y:34.17, Z:7.52 [[ 9.99889810e-01 1.43323758e-02 -3.86673725e-03 3.54668197e+02] [-1.43320969e-02 9.99897285e-01 9.98292402e-05 3.41651000e+01] [ 3.86777087e-03 -4.43997872e-05 9.99992519e-01 7.51530710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.844391418 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:354.70, Y:34.17, Z:7.51 [[ 9.99891485e-01 1.40546189e-02 -4.41439786e-03 3.54696027e+02] [-1.40542544e-02 9.99901228e-01 1.13572345e-04 3.41655254e+01] [ 4.41555806e-03 -5.15189495e-05 9.99990250e-01 7.51470831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.874391418 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:354.72, Y:34.17, Z:7.51 [[ 9.99888062e-01 1.41339955e-02 -4.90845527e-03 3.54723958e+02] [-1.41335481e-02 9.99900109e-01 1.25829707e-04 3.41672482e+01] [ 4.90974344e-03 -5.64417338e-05 9.99987946e-01 7.51342792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.904391418 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:354.75, Y:34.17, Z:7.51 [[ 9.99877544e-01 1.48174564e-02 -5.03393774e-03 3.54751279e+02] [-1.48170014e-02 9.99890214e-01 1.27676466e-04 3.41679209e+01] [ 5.03527693e-03 -5.30729688e-05 9.99987322e-01 7.51293709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.934391418 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:354.78, Y:34.17, Z:7.51 [[ 9.99844858e-01 1.70031394e-02 -4.59926182e-03 3.54779542e+02] [-1.70027834e-02 9.99855435e-01 1.16500830e-04 3.41703893e+01] [ 4.60057781e-03 -3.82825038e-05 9.99989417e-01 7.51270450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.964391418 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:354.81, Y:34.17, Z:7.51 [[ 9.99825830e-01 1.81374413e-02 -4.39815536e-03 3.54807603e+02] [-1.81371291e-02 9.99835503e-01 1.10855995e-04 3.41717079e+01] [ 4.39944252e-03 -3.10667755e-05 9.99990322e-01 7.51262128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.994391418 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:354.84, Y:34.17, Z:7.51 [[ 9.99797951e-01 1.96873561e-02 -4.05771781e-03 3.54835959e+02] [-1.96871055e-02 9.99806185e-01 1.01703627e-04 3.41726749e+01] [ 4.05893363e-03 -2.17983593e-05 9.99991762e-01 7.51226509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.024391418 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:354.86, Y:34.18, Z:7.51 [[ 9.99738816e-01 2.27074725e-02 -2.58257907e-03 3.54862753e+02] [-2.27073835e-02 9.99742152e-01 6.38143040e-05 3.41754527e+01] [ 2.58336221e-03 -5.15402359e-06 9.99996663e-01 7.51208879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.054391418 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:354.89, Y:34.18, Z:7.51 [[ 9.99701224e-01 2.43936430e-02 -1.55340716e-03 3.54890849e+02] [-2.43936136e-02 9.99702431e-01 3.78821726e-05 3.41761259e+01] [ 1.55386900e-03 2.23597903e-08 9.99998793e-01 7.51185965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.084391418 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:354.92, Y:34.18, Z:7.51 [[ 9.99674936e-01 2.54808165e-02 -8.65762398e-04 3.54918753e+02] [-2.54808083e-02 9.99675311e-01 2.05084309e-05 3.41771091e+01] [ 8.66003866e-04 1.55856135e-06 9.99999625e-01 7.51184058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.114391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:354.95, Y:34.18, Z:7.51 [[ 9.99624131e-01 2.74124348e-02 3.93958685e-04 3.54946017e+02] [-2.74124323e-02 9.99624209e-01 -1.16388365e-05 3.41794958e+01] [-3.94129688e-04 8.35096055e-07 9.99999922e-01 7.51152081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.144391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:354.97, Y:34.18, Z:7.51 [[ 9.99614186e-01 2.77720853e-02 4.35473908e-04 3.54972966e+02] [-2.77720828e-02 9.99614281e-01 -1.19683339e-05 3.41803622e+01] [-4.35638323e-04 -1.30301068e-07 9.99999905e-01 7.51143884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17439141799997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:355.00, Y:34.18, Z:7.51 [[ 9.99632121e-01 2.71042893e-02 9.89674723e-04 3.55001426e+02] [-2.71042776e-02 9.99632611e-01 -2.53174585e-05 3.41821574e+01] [-9.89997339e-04 -1.51627365e-06 9.99999510e-01 7.51101048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.204391418 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:355.03, Y:34.18, Z:7.51 [[ 9.99663424e-01 2.59311295e-02 7.83820562e-04 3.55029379e+02] [-2.59311217e-02 9.99663732e-01 -2.02115867e-05 3.41825567e+01] [-7.84081097e-04 -1.20562366e-07 9.99999693e-01 7.51099015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.234391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:355.06, Y:34.18, Z:7.51 [[ 9.99689740e-01 2.48717329e-02 1.34926391e-03 3.55056617e+02] [-2.48717096e-02 9.99690651e-01 -3.39890439e-05 3.41828729e+01] [-1.34969188e-03 4.19998356e-07 9.99999089e-01 7.51048910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.264391418 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:355.08, Y:34.18, Z:7.51 [[ 9.99742733e-01 2.25911987e-02 2.02635160e-03 3.55084254e+02] [-2.25911438e-02 9.99744786e-01 -4.99939992e-05 3.41841104e+01] [-2.02696387e-03 4.20353698e-06 9.99997946e-01 7.51045355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.294391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:355.11, Y:34.18, Z:7.51 [[ 9.99777364e-01 2.09878615e-02 2.17513926e-03 3.55111876e+02] [-2.09877952e-02 9.99779731e-01 -5.33248458e-05 3.41847957e+01] [-2.17577932e-03 7.66159645e-06 9.99997633e-01 7.51026198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.324391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:355.14, Y:34.18, Z:7.51 [[ 9.99800714e-01 1.98343373e-02 2.26524099e-03 3.55139811e+02] [-1.98342631e-02 9.99803280e-01 -5.52182645e-05 3.41849070e+01] [-2.26589059e-03 1.02778745e-05 9.99997433e-01 7.51033644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.354391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:355.17, Y:34.19, Z:7.51 [[ 9.99849068e-01 1.71381975e-02 2.85000492e-03 3.55166868e+02] [-1.71380705e-02 9.99853130e-01 -6.89819177e-05 3.41858432e+01] [-2.85076857e-03 2.01279208e-05 9.99995936e-01 7.50954506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.384391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:355.20, Y:34.19, Z:7.51 [[ 9.99870266e-01 1.58054698e-02 3.10469721e-03 3.55195870e+02] [-1.58053153e-02 9.99875085e-01 -7.42755820e-05 3.41855491e+01] [-3.10548335e-03 2.51952276e-05 9.99995178e-01 7.50890382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.414391418 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:355.22, Y:34.19, Z:7.51 [[ 9.99906093e-01 1.32080169e-02 3.65416054e-03 3.55224297e+02] [-1.32077871e-02 9.99912770e-01 -8.70189292e-05 3.41860338e+01] [-3.65499114e-03 3.87473831e-05 9.99993320e-01 7.50864009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.444391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:355.25, Y:34.19, Z:7.51 [[ 9.99920863e-01 1.19398874e-02 3.96320460e-03 3.55251822e+02] [-1.19396082e-02 9.99928716e-01 -9.40967515e-05 3.41859997e+01] [-3.96404559e-03 4.67701949e-05 9.99992142e-01 7.50815721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.474391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:355.28, Y:34.19, Z:7.51 [[ 9.99936274e-01 1.07571253e-02 3.42533975e-03 3.55280909e+02] [-1.07569110e-02 9.99942139e-01 -8.09844426e-05 3.41858989e+01] [-3.42601271e-03 4.41332071e-05 9.99994130e-01 7.50779424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.504391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:355.31, Y:34.19, Z:7.51 [[ 9.99964823e-01 8.23195674e-03 1.60876928e-03 3.55309587e+02] [-8.23190576e-03 9.99966117e-01 -3.83067171e-05 3.41856673e+01] [-1.60903010e-03 2.50621325e-05 9.99998705e-01 7.50644940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.534391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:355.34, Y:34.19, Z:7.51 [[ 9.99974870e-01 7.00344487e-03 1.10008911e-03 3.55338136e+02] [-7.00342013e-03 9.99975475e-01 -2.63386048e-05 3.41851830e+01] [-1.10024659e-03 1.86335568e-05 9.99999395e-01 7.50546912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.564391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:355.37, Y:34.19, Z:7.51 [[ 9.99987661e-01 4.96756253e-03 -4.30980057e-05 3.55366388e+02] [-4.96756253e-03 9.99987662e-01 9.62290561e-09 3.41853798e+01] [ 4.30975215e-05 2.04469258e-07 9.99999999e-01 7.50501672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.594391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:355.40, Y:34.19, Z:7.50 [[ 9.99990242e-01 4.41174685e-03 2.30181879e-04 3.55395154e+02] [-4.41174558e-03 9.99990268e-01 -6.04653982e-06 3.41851046e+01] [-2.30206315e-04 5.03097693e-06 9.99999973e-01 7.50488068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.624391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:355.42, Y:34.18, Z:7.50 [[ 9.99993501e-01 3.57139669e-03 4.92536503e-04 3.55423552e+02] [-3.57139118e-03 9.99993623e-01 -1.20643251e-05 3.41848573e+01] [-4.92576449e-04 1.03052061e-05 9.99999879e-01 7.50479930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.654391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:355.45, Y:34.18, Z:7.50 [[ 9.99996043e-01 2.54809660e-03 1.19250809e-03 3.55451749e+02] [-2.54806513e-03 9.99996753e-01 -2.79068072e-05 3.41843339e+01] [-1.19257533e-03 2.48681085e-05 9.99999289e-01 7.50472455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.684391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:355.48, Y:34.18, Z:7.50 [[ 9.99995981e-01 2.24456386e-03 1.73175451e-03 3.55481260e+02] [-2.24449791e-03 9.99997480e-01 -4.00277670e-05 3.41840549e+01] [-1.73183999e-03 3.61406868e-05 9.99998500e-01 7.50486221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.714391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:355.51, Y:34.18, Z:7.51 [[ 9.99995991e-01 1.96096656e-03 2.04267819e-03 3.55511301e+02] [-1.96087507e-03 9.99998076e-01 -4.67873040e-05 3.41840141e+01] [-2.04276601e-03 4.27816797e-05 9.99997913e-01 7.50530831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.744391418 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:355.54, Y:34.18, Z:7.51 [[ 9.99994807e-01 2.15719897e-03 2.39433665e-03 3.55541653e+02] [-2.15707384e-03 9.99997672e-01 -5.48419996e-05 3.41847454e+01] [-2.39444938e-03 4.96769539e-05 9.99997132e-01 7.50634769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.774391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:355.57, Y:34.18, Z:7.51 [[ 9.99994251e-01 2.53130796e-03 2.25639696e-03 3.55571734e+02] [-2.53119779e-03 9.99996795e-01 -5.16825074e-05 3.41843646e+01] [-2.25652056e-03 4.59708233e-05 9.99997453e-01 7.50606117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.804391418 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:355.60, Y:34.18, Z:7.51 [[ 9.99995331e-01 3.02975298e-03 3.98637110e-04 3.55602684e+02] [-3.02974958e-03 9.99995410e-01 -9.13073617e-06 3.41846993e+01] [-3.98662945e-04 7.92292292e-06 9.99999921e-01 7.50618528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.834391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:355.63, Y:34.19, Z:7.51 [[ 9.99990965e-01 4.13223353e-03 -9.97421189e-04 3.55632753e+02] [-4.13221320e-03 9.99991462e-01 2.24435050e-05 3.41855436e+01] [ 9.97505415e-04 -1.83217452e-05 9.99999502e-01 7.50600054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.864391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:355.66, Y:34.18, Z:7.51 [[ 9.99991206e-01 4.07346335e-03 -9.97426649e-04 3.55662053e+02] [-4.07344323e-03 9.99991703e-01 2.22039506e-05 3.41849488e+01] [ 9.97508820e-04 -1.81407945e-05 9.99999502e-01 7.50572908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.894391418 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:355.69, Y:34.19, Z:7.50 [[ 9.99980344e-01 5.94814640e-03 -1.98254510e-03 3.55691158e+02] [-5.94807457e-03 9.99982309e-01 4.21291814e-05 3.41855911e+01] [ 1.98276062e-03 -3.03360272e-05 9.99998034e-01 7.50492386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92439141799997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.72, Y:34.19, Z:7.50 [[ 9.99970044e-01 7.47385054e-03 -2.01300167e-03 3.55720328e+02] [-7.47377619e-03 9.99972070e-01 4.44512317e-05 3.41856652e+01] [ 2.01327767e-03 -2.94051762e-05 9.99997973e-01 7.50463725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.75, Y:34.19, Z:7.50 [[ 9.99943597e-01 1.05413542e-02 -1.29719328e-03 3.55748477e+02] [-1.05413298e-02 9.99944438e-01 2.56450608e-05 3.41876834e+01] [ 1.29739154e-03 -1.19694721e-05 9.99999158e-01 7.50477212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984391418 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:355.78, Y:34.19, Z:7.50 [[ 9.99923965e-01 1.22967086e-02 -9.24814237e-04 3.55776161e+02] [-1.22966958e-02 9.99924393e-01 1.94227513e-05 3.41884597e+01] [ 9.24983150e-04 -8.04911514e-06 9.99999572e-01 7.50491305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.014391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:355.80, Y:34.19, Z:7.51 [[ 9.99901907e-01 1.39927765e-02 -6.15724758e-04 3.55804730e+02] [-1.39927713e-02 9.99902096e-01 1.27633957e-05 3.41891313e+01] [ 6.15843072e-04 -4.14644789e-06 9.99999810e-01 7.50507313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:355.83, Y:34.19, Z:7.51 [[ 9.99855378e-01 1.70033256e-02 3.30326223e-04 3.55832157e+02] [-1.70033238e-02 9.99855433e-01 -8.49445940e-06 3.41907193e+01] [-3.30422903e-04 2.87658721e-06 9.99999945e-01 7.50537156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.074391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:355.86, Y:34.19, Z:7.51 [[ 9.99838363e-01 1.79721173e-02 5.00458024e-04 3.55858897e+02] [-1.79721134e-02 9.99838488e-01 -1.21166939e-05 3.41914180e+01] [-5.00594957e-04 3.12044698e-06 9.99999875e-01 7.50538531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104391418 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:355.89, Y:34.19, Z:7.51 [[ 9.99833480e-01 1.82470340e-02 2.41086484e-04 3.55887330e+02] [-1.82470330e-02 9.99833509e-01 -6.28536302e-06 3.41922339e+01] [-2.41161034e-04 1.88520337e-06 9.99999971e-01 7.50577226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.134391418 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:355.91, Y:34.19, Z:7.51 [[ 9.99837637e-01 1.80122349e-02 -5.09568493e-04 3.55913935e+02] [-1.80122324e-02 9.99837767e-01 9.34575705e-06 3.41930405e+01] [ 5.09654162e-04 -1.65773504e-07 9.99999870e-01 7.50555509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:355.94, Y:34.19, Z:7.51 [[ 9.99854655e-01 1.69899906e-02 -1.41750182e-03 3.55942052e+02] [-1.69899666e-02 9.99855660e-01 2.90126706e-05 3.41926360e+01] [ 1.41779015e-03 -4.92514516e-06 9.99998995e-01 7.50505062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.194391418 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:355.97, Y:34.19, Z:7.50 [[ 9.99900336e-01 1.39084491e-02 -2.42349092e-03 3.55970191e+02] [-1.39083685e-02 9.99903273e-01 5.00962156e-05 3.41923408e+01] [ 2.42395327e-03 -1.63844179e-05 9.99997062e-01 7.50430069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224391418 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:356.00, Y:34.19, Z:7.50 [[ 9.99920395e-01 1.23294196e-02 -2.68119495e-03 3.55997779e+02] [-1.23293152e-02 9.99923990e-01 5.54697819e-05 3.41920888e+01] [ 2.68167506e-03 -2.24080686e-05 9.99996404e-01 7.50390539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.254391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.03, Y:34.19, Z:7.50 [[ 9.99937570e-01 1.07888319e-02 -2.90828578e-03 3.56026214e+02] [-1.07887039e-02 9.99941798e-01 5.97111143e-05 3.41919656e+01] [ 2.90876072e-03 -2.83307525e-05 9.99995769e-01 7.50381342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284391418 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:356.05, Y:34.19, Z:7.50 [[ 9.99950610e-01 9.29620774e-03 -3.51554486e-03 3.56054530e+02] [-9.29601207e-03 9.99956789e-01 7.19946645e-05 3.41917457e+01] [ 3.51606223e-03 -3.93105612e-05 9.99993818e-01 7.50385826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.314391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:356.08, Y:34.19, Z:7.50 [[ 9.99971167e-01 6.53264140e-03 -3.87177132e-03 3.56081955e+02] [-6.53238365e-03 9.99978661e-01 7.92122310e-05 3.41914234e+01] [ 3.87220617e-03 -5.39180514e-05 9.99992502e-01 7.50380653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.11, Y:34.19, Z:7.50 [[ 9.99978575e-01 5.14992298e-03 -4.04077633e-03 3.56110705e+02] [-5.14963130e-03 9.99986737e-01 8.25832896e-05 3.41906741e+01] [ 4.04114804e-03 -6.17730119e-05 9.99991833e-01 7.50362364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.14, Y:34.19, Z:7.50 [[ 9.99991488e-01 2.10293975e-03 -3.55000607e-03 3.56138304e+02] [-2.10269758e-03 9.99997787e-01 7.19466979e-05 3.41902063e+01] [ 3.55014951e-03 -6.44814962e-05 9.99993696e-01 7.50464916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.404391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.17, Y:34.19, Z:7.50 [[ 9.99995756e-01 7.03294205e-04 -2.82713900e-03 3.56167590e+02] [-7.03135645e-04 9.99999751e-01 5.70782980e-05 3.41899599e+01] [ 2.82717844e-03 -5.50901936e-05 9.99996002e-01 7.50494652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.20, Y:34.19, Z:7.51 [[ 9.99995822e-01 -4.28219907e-04 -2.85891948e-03 3.56197544e+02] [ 4.28387359e-04 9.99999907e-01 5.79595712e-05 3.41895554e+01] [ 2.85889439e-03 -5.91840540e-05 9.99995912e-01 7.50527684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.464391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.23, Y:34.19, Z:7.51 [[ 9.99990897e-01 -2.09412731e-03 -3.71755135e-03 3.56226750e+02] [ 2.09442279e-03 9.99997804e-01 7.55906237e-05 3.41888775e+01] [ 3.71738489e-03 -8.33760599e-05 9.99993087e-01 7.50509453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.26, Y:34.19, Z:7.50 [[ 9.99988496e-01 -2.73992703e-03 -3.93717501e-03 3.56256924e+02] [ 2.74026422e-03 9.99996242e-01 8.02505915e-05 3.41882239e+01] [ 3.93694034e-03 -9.10385681e-05 9.99992246e-01 7.50438064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.29, Y:34.19, Z:7.50 [[ 9.99985736e-01 -3.23759298e-03 -4.24793026e-03 3.56286048e+02] [ 3.23798883e-03 9.99994754e-01 8.63134959e-05 3.41873019e+01] [ 4.24762853e-03 -1.00067015e-04 9.99990974e-01 7.50376016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.554391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:356.32, Y:34.19, Z:7.50 [[ 9.99975715e-01 -4.07117516e-03 -5.65637073e-03 3.56316819e+02] [ 4.07189176e-03 9.99991703e-01 1.15179000e-04 3.41864927e+01] [ 5.65585489e-03 -1.38208332e-04 9.99983996e-01 7.50344462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.584391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:356.35, Y:34.19, Z:7.50 [[ 9.99970823e-01 -4.18846643e-03 -6.38828626e-03 3.56346724e+02] [ 4.18938091e-03 9.99991216e-01 1.29775855e-04 3.41861301e+01] [ 6.38768658e-03 -1.56535033e-04 9.99979586e-01 7.50366448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.614391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:356.38, Y:34.19, Z:7.50 [[ 9.99968301e-01 -4.05057442e-03 -6.85486484e-03 3.56376464e+02] [ 4.05162110e-03 9.99991783e-01 1.38811186e-04 3.41859810e+01] [ 6.85424624e-03 -1.66580100e-04 9.99976496e-01 7.50378378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.644391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:356.41, Y:34.19, Z:7.50 [[ 9.99967924e-01 -4.14256199e-03 -6.85488742e-03 3.56406580e+02] [ 4.14360319e-03 9.99991406e-01 1.37695556e-04 3.41854156e+01] [ 6.85425810e-03 -1.66095072e-04 9.99976496e-01 7.50350476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.44, Y:34.18, Z:7.50 [[ 9.99969776e-01 -3.74089998e-03 -6.81558500e-03 3.56436356e+02] [ 3.74192133e-03 9.99992990e-01 1.37109809e-04 3.41844791e+01] [ 6.81502431e-03 -1.62609048e-04 9.99976764e-01 7.50368348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.704391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:356.47, Y:34.18, Z:7.50 [[ 9.99972960e-01 -3.49412836e-03 -6.47070668e-03 3.56465500e+02] [ 3.49504197e-03 9.99993884e-01 1.29889936e-04 3.41836586e+01] [ 6.47021325e-03 -1.52501815e-04 9.99979056e-01 7.50333809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.734391418 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:356.50, Y:34.18, Z:7.50 [[ 9.99972948e-01 -2.77854492e-03 -6.81050102e-03 3.56495365e+02] [ 2.77953864e-03 9.99996128e-01 1.36449361e-04 3.41826184e+01] [ 6.81009552e-03 -1.55375720e-04 9.99976799e-01 7.50405532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.764391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.52, Y:34.18, Z:7.50 [[ 9.99973765e-01 -2.05533070e-03 -6.94583944e-03 3.56523750e+02] [ 2.05634274e-03 9.99997876e-01 1.38565495e-04 3.41822951e+01] [ 6.94553989e-03 -1.52844887e-04 9.99975868e-01 7.50451128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.55, Y:34.18, Z:7.51 [[ 9.99977775e-01 -2.27713705e-04 -6.66315451e-03 3.56552355e+02] [ 2.28601824e-04 9.99999965e-01 1.32526814e-04 3.41818637e+01] [ 6.66312410e-03 -1.34047078e-04 9.99977792e-01 7.50527641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.824391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.58, Y:34.18, Z:7.51 [[ 9.99980875e-01 2.46303060e-04 -6.17979998e-03 3.56581303e+02] [-2.45571549e-04 9.99999963e-01 1.19129886e-04 3.41809529e+01] [ 6.17982909e-03 -1.17610025e-04 9.99980898e-01 7.50532779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.854391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:356.61, Y:34.18, Z:7.51 [[ 9.99981694e-01 5.44471853e-04 -6.02626203e-03 3.56608737e+02] [-5.43775586e-04 9.99999845e-01 1.17176640e-04 3.41799449e+01] [ 6.02632489e-03 -1.13897561e-04 9.99981835e-01 7.50516601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.64, Y:34.18, Z:7.51 [[ 9.99979337e-01 4.92187963e-04 -6.40969334e-03 3.56636209e+02] [-4.91402713e-04 9.99999872e-01 1.24083994e-04 3.41785218e+01] [ 6.40975359e-03 -1.20931689e-04 9.99979450e-01 7.50560305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.914391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.66, Y:34.18, Z:7.51 [[ 9.99978572e-01 -1.78878084e-05 -6.54637652e-03 3.56664627e+02] [ 1.87159221e-05 9.99999992e-01 1.26438307e-04 3.41776942e+01] [ 6.54637421e-03 -1.26558119e-04 9.99978564e-01 7.50584307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.69, Y:34.18, Z:7.51 [[ 9.99974619e-01 -1.80610108e-03 -6.89195167e-03 3.56693128e+02] [ 1.80705759e-03 9.99998358e-01 1.32562696e-04 3.41767403e+01] [ 6.89170093e-03 -1.45013485e-04 9.99976241e-01 7.50639717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.72, Y:34.18, Z:7.51 [[ 9.99971052e-01 -3.01800464e-03 -6.98475557e-03 3.56721480e+02] [ 3.01901513e-03 9.99995434e-01 1.34132195e-04 3.41753410e+01] [ 6.98431887e-03 -1.55215395e-04 9.99975597e-01 7.50606669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.75, Y:34.17, Z:7.51 [[ 9.99963564e-01 -4.38554364e-03 -7.32373606e-03 3.56751074e+02] [ 4.38669060e-03 9.99990369e-01 1.40552102e-04 3.41737191e+01] [ 7.32304913e-03 -1.72673945e-04 9.99973171e-01 7.50528434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.78, Y:34.17, Z:7.50 [[ 9.99938220e-01 -7.71402230e-03 -8.00317335e-03 3.56780421e+02] [ 7.71549898e-03 9.99970223e-01 1.53653654e-04 3.41711533e+01] [ 8.00174975e-03 -2.15392637e-04 9.99967962e-01 7.50409885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.064391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.81, Y:34.17, Z:7.50 [[ 9.99926450e-01 -9.07551892e-03 -8.04547696e-03 3.56810822e+02] [ 9.07705679e-03 9.99958791e-01 1.54651805e-04 3.41701620e+01] [ 8.04374187e-03 -2.27669681e-04 9.99967623e-01 7.50360367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.094391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.84, Y:34.17, Z:7.50 [[ 9.99919847e-01 -1.01891946e-02 -7.51533214e-03 3.56842464e+02] [ 1.01905729e-02 9.99948064e-01 1.45129680e-04 3.41692775e+01] [ 7.51346307e-03 -2.21703587e-04 9.99971749e-01 7.50276306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.124391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.87, Y:34.17, Z:7.50 [[ 9.99906545e-01 -1.19711733e-02 -6.60240743e-03 3.56873947e+02] [ 1.19722800e-02 9.99928321e-01 1.28120038e-04 3.41682322e+01] [ 6.60040043e-03 -2.07153935e-04 9.99978196e-01 7.50171439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.154391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.91, Y:34.17, Z:7.50 [[ 9.99905737e-01 -1.24157998e-02 -5.86224867e-03 3.56905888e+02] [ 1.24166841e-02 9.99922903e-01 1.14475223e-04 3.41674197e+01] [ 5.86037541e-03 -1.87254122e-04 9.99982810e-01 7.50140108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.184391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.94, Y:34.17, Z:7.50 [[ 9.99925491e-01 -1.16264547e-02 -3.71987259e-03 3.56936828e+02] [ 1.16268100e-02 9.99932404e-01 7.38930831e-05 3.41673736e+01] [ 3.71876203e-03 -1.17137829e-04 9.99993079e-01 7.50126885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.214391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.97, Y:34.17, Z:7.50 [[ 9.99933810e-01 -1.10934998e-02 -3.05116112e-03 3.56969422e+02] [ 1.10937363e-02 9.99938461e-01 6.05988458e-05 3.41673864e+01] [ 3.05030110e-03 -9.44436118e-05 9.99995343e-01 7.50113090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.00, Y:34.17, Z:7.50 [[ 9.99946867e-01 -9.99324727e-03 -2.52929124e-03 3.57000874e+02] [ 9.99340650e-03 9.99950063e-01 5.03227376e-05 3.41679083e+01] [ 2.52866205e-03 -7.55962993e-05 9.99996800e-01 7.50127512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.274391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.03, Y:34.17, Z:7.50 [[ 9.99978725e-01 -6.46331710e-03 -8.79979735e-04 3.57033450e+02] [ 6.46333555e-03 9.99979112e-01 1.81250079e-05 3.41702307e+01] [ 8.79844206e-04 -2.38122266e-05 9.99999613e-01 7.50134836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.06, Y:34.17, Z:7.50 [[ 9.99988159e-01 -4.86607156e-03 -4.89187631e-05 3.57064859e+02] [ 4.86607164e-03 9.99988161e-01 1.52002321e-06 3.41707504e+01] [ 4.89107873e-05 -1.75804741e-06 9.99999999e-01 7.50127623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.10, Y:34.17, Z:7.50 [[ 9.99996258e-01 -2.70552936e-03 4.04494486e-04 3.57097284e+02] [ 2.70553254e-03 9.99996340e-01 -7.31037857e-06 3.41725734e+01] [-4.04473227e-04 8.40472421e-06 9.99999918e-01 7.50118517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.13, Y:34.17, Z:7.50 [[ 9.99998614e-01 -1.59217070e-03 4.87228028e-04 3.57129075e+02] [ 1.59217545e-03 9.99998732e-01 -9.34354530e-06 3.41733122e+01] [-4.87212534e-04 1.01192849e-05 9.99999881e-01 7.50090878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.394391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.16, Y:34.17, Z:7.50 [[ 9.99999716e-01 -4.15999036e-04 6.29221040e-04 3.57160035e+02] [ 4.16006794e-04 9.99999913e-01 -1.21986298e-05 3.41743348e+01] [-6.29215911e-04 1.24603865e-05 9.99999802e-01 7.50071772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.19, Y:34.18, Z:7.50 [[ 9.99999191e-01 9.42937191e-04 8.54062456e-04 3.57190039e+02] [-9.42923454e-04 9.99999555e-01 -1.64861985e-05 3.41762368e+01] [-8.54077622e-04 1.56808697e-05 9.99999635e-01 7.50084998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.22, Y:34.18, Z:7.50 [[ 9.99997836e-01 1.72383727e-03 1.16491700e-03 3.57221056e+02] [-1.72381124e-03 9.99998514e-01 -2.33480208e-05 3.41770469e+01] [-1.16495552e-03 2.13398732e-05 9.99999321e-01 7.50067146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.25, Y:34.18, Z:7.50 [[ 9.99993836e-01 3.14627065e-03 1.55883137e-03 3.57251887e+02] [-3.14622577e-03 9.99995050e-01 -3.12431076e-05 3.41777823e+01] [-1.55892195e-03 2.63384796e-05 9.99998785e-01 7.50051289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.28, Y:34.18, Z:7.50 [[ 9.99977520e-01 6.16218833e-03 2.64345994e-03 3.57281571e+02] [-6.16206945e-03 9.99981013e-01 -5.31154043e-05 3.41800356e+01] [-2.64373706e-03 3.68250265e-05 9.99996505e-01 7.50016982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.31, Y:34.19, Z:7.50 [[ 9.99959272e-01 6.36447382e-03 6.39909826e-03 3.57311610e+02] [-6.21395509e-03 9.99709839e-01 -2.32728245e-02 3.41922566e+01] [-6.54536078e-03 2.32321130e-02 9.99708671e-01 7.50454142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.34, Y:34.17, Z:7.49 [[ 9.99958758e-01 8.34298367e-03 3.58846372e-03 3.57341662e+02] [-8.42503628e-03 9.99688499e-01 2.34930616e-02 3.41739808e+01] [-3.39134368e-03 -2.35223256e-02 9.99717560e-01 7.49074102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.37, Y:34.19, Z:7.50 [[ 9.99954243e-01 8.79985345e-03 3.75165696e-03 3.57369731e+02] [-8.79963001e-03 9.99961280e-01 -7.60604298e-05 3.41857175e+01] [-3.75218102e-03 4.30437563e-05 9.99992960e-01 7.50182019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.40, Y:34.19, Z:7.50 [[ 9.99958405e-01 7.97782293e-03 4.42075140e-03 3.57397550e+02] [-7.97750725e-03 9.99968175e-01 -8.90370949e-05 3.41868635e+01] [-4.42132104e-03 5.37668150e-05 9.99990224e-01 7.50177002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.43, Y:34.19, Z:7.50 [[ 9.99979352e-01 4.93470692e-03 4.11622632e-03 3.57425975e+02] [-4.93440917e-03 9.99987822e-01 -8.24863005e-05 3.41883159e+01] [-4.11658324e-03 6.21734524e-05 9.99991525e-01 7.50105617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.46, Y:34.19, Z:7.50 [[ 9.99988230e-01 2.99073883e-03 3.82026956e-03 3.57455933e+02] [-2.99046992e-03 9.99995526e-01 -7.61019097e-05 3.41888592e+01] [-3.82048006e-03 6.46766128e-05 9.99992700e-01 7.50034632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.49, Y:34.19, Z:7.50 [[ 9.99992031e-01 1.33087118e-03 3.76395922e-03 3.57485289e+02] [-1.33059931e-03 9.99999112e-01 -7.47324583e-05 3.41897238e+01] [-3.76405534e-03 6.97235412e-05 9.99992913e-01 7.49994148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.52, Y:34.19, Z:7.50 [[ 9.99992991e-01 7.15228959e-04 3.67500283e-03 3.57516118e+02] [-7.14966627e-04 9.99999742e-01 -7.26960577e-05 3.41911116e+01] [-3.67505387e-03 7.00680438e-05 9.99993245e-01 7.49967808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.55, Y:34.20, Z:7.50 [[ 9.99997063e-01 1.04620259e-04 2.42119260e-03 3.57547560e+02] [-1.04504942e-04 9.99999993e-01 -4.77547120e-05 3.41962930e+01] [-2.42119758e-03 4.75015452e-05 9.99997068e-01 7.50120465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.58, Y:34.20, Z:7.50 [[ 9.99996198e-01 -1.63618541e-04 2.75275836e-03 3.57578985e+02] [ 1.63769048e-04 9.99999985e-01 -5.44494550e-05 3.41981432e+01] [-2.75274941e-03 5.49000646e-05 9.99996210e-01 7.50107175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.844391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.61, Y:34.20, Z:7.50 [[ 9.99993500e-01 -2.18775974e-03 2.86600024e-03 3.57610645e+02] [ 2.18792963e-03 9.99997605e-01 -5.61428588e-05 3.42021882e+01] [-2.86587055e-03 6.24131007e-05 9.99995891e-01 7.50212942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.64, Y:34.21, Z:7.50 [[ 9.99989567e-01 -4.26789099e-03 1.62845354e-03 3.57638212e+02] [ 4.27632193e-03 9.99977287e-01 -5.20939369e-03 3.42087912e+01] [-1.60618343e-03 5.21630313e-03 9.99985105e-01 7.50400645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.904391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.67, Y:34.20, Z:7.50 [[ 9.99981733e-01 -4.97211534e-03 3.43688727e-03 3.57671430e+02] [ 4.95468378e-03 9.99974914e-01 5.06194586e-03 3.42031636e+01] [-3.46196962e-03 -5.04482471e-03 9.99981282e-01 7.50010382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.934391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.70, Y:34.21, Z:7.50 [[ 9.99968075e-01 -7.22060475e-03 3.42226604e-03 3.57703357e+02] [ 7.22087854e-03 9.99973927e-01 -6.76511961e-05 3.42085087e+01] [-3.42168833e-03 9.23608037e-05 9.99994142e-01 7.50264878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.964391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.74, Y:34.21, Z:7.50 [[ 9.99958840e-01 -8.58691900e-03 2.92953962e-03 3.57736696e+02] [ 8.58712992e-03 9.99963128e-01 -5.94297988e-05 3.42100269e+01] [-2.92892128e-03 8.45836901e-05 9.99995707e-01 7.50254971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.77, Y:34.21, Z:7.50 [[ 9.99950903e-01 -9.61266938e-03 2.40598596e-03 3.57768498e+02] [ 9.61281547e-03 9.99953795e-01 -4.91596581e-05 3.42113763e+01] [-2.40540224e-03 7.22855436e-05 9.99997104e-01 7.50181954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.80, Y:34.22, Z:7.50 [[ 9.99943444e-01 -1.06197916e-02 5.73258012e-04 3.57800798e+02] [ 1.06197998e-02 9.99943608e-01 -1.12182919e-05 3.42150718e+01] [-5.73106549e-04 1.73055428e-05 9.99999836e-01 7.50071849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.83, Y:34.22, Z:7.50 [[ 9.99936067e-01 -1.12997475e-02 -4.21564845e-04 3.57832561e+02] [ 1.12997525e-02 9.99936156e-01 9.68124861e-06 3.42152843e+01] [ 4.21428535e-04 -1.44442081e-05 9.99999911e-01 7.49934463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.87, Y:34.21, Z:7.50 [[ 9.99898073e-01 -1.42728794e-02 -3.57411839e-04 3.57865165e+02] [ 1.42728834e-02 9.99898137e-01 8.57065413e-06 3.42136623e+01] [ 3.57253104e-04 -1.36710781e-05 9.99999936e-01 7.49967172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.90, Y:34.21, Z:7.50 [[ 9.99888990e-01 -1.48996138e-02 -1.00850480e-04 3.57897141e+02] [ 1.48996142e-02 9.99888995e-01 3.00708385e-06 3.42136346e+01] [ 1.00794480e-04 -4.50938326e-06 9.99999995e-01 7.50041393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.93, Y:34.21, Z:7.50 [[ 9.99878429e-01 -1.55910368e-02 -2.17465717e-04 3.57930217e+02] [ 1.55910384e-02 9.99878452e-01 5.66751477e-06 3.42132748e+01] [ 2.17350922e-04 -9.05734210e-06 9.99999976e-01 7.50078932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.96, Y:34.21, Z:7.50 [[ 9.99877257e-01 -1.56673868e-02 6.59248017e-05 3.57963247e+02] [ 1.56673868e-02 9.99877259e-01 -3.66913497e-07 3.42124934e+01] [-6.59109616e-05 1.39973784e-06 9.99999998e-01 7.50016251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.00, Y:34.21, Z:7.50 [[ 9.99881952e-01 -1.53612144e-02 -3.38775992e-04 3.57995990e+02] [ 1.53612181e-02 9.99882010e-01 8.31037565e-06 3.42119525e+01] [ 3.38608362e-04 -1.35134065e-05 9.99999943e-01 7.50001193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.03, Y:34.21, Z:7.50 [[ 9.99892073e-01 -1.46487058e-02 -1.12112491e-03 3.58028498e+02] [ 1.46487431e-02 9.99892701e-01 2.50361415e-05 3.42109591e+01] [ 1.12063787e-03 -4.14565103e-05 9.99999371e-01 7.49941371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.06, Y:34.21, Z:7.50 [[ 9.99904926e-01 -1.37046209e-02 -1.52370255e-03 3.58060351e+02] [ 1.37046880e-02 9.99906086e-01 3.36553299e-05 3.42091889e+01] [ 1.52309822e-03 -5.45339983e-05 9.99998839e-01 7.49891618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.09, Y:34.21, Z:7.50 [[ 9.99912927e-01 -1.31115983e-02 -1.49137314e-03 3.58092227e+02] [ 1.31116622e-02 9.99914038e-01 3.30826118e-05 3.42081247e+01] [ 1.49081117e-03 -5.26341121e-05 9.99998887e-01 7.49873972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.12, Y:34.21, Z:7.50 [[ 9.99941525e-01 -1.05719928e-02 -2.27576795e-03 3.58123390e+02] [ 1.05721342e-02 9.99944112e-01 5.00759980e-05 3.42065979e+01] [ 2.27511136e-03 -7.41327938e-05 9.99997409e-01 7.49788086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.16, Y:34.21, Z:7.50 [[ 9.99960210e-01 -8.37259047e-03 -3.07868865e-03 3.58155170e+02] [ 8.37283944e-03 9.99964945e-01 6.79885688e-05 3.42056491e+01] [ 3.07801148e-03 -9.37632293e-05 9.99995259e-01 7.49723801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.19, Y:34.20, Z:7.49 [[ 9.99994364e-01 -3.35176404e-03 1.92481921e-04 3.58191630e+02] [ 3.35300635e-03 9.99970820e-01 -6.86412864e-03 3.42034338e+01] [-1.69469365e-04 6.86473535e-03 9.99976423e-01 7.49448762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.21, Y:34.20, Z:7.49 [[ 9.99990929e-01 -1.57143322e-03 -3.95883911e-03 3.58212830e+02] [ 1.59967640e-03 9.99973222e-01 7.14117358e-03 3.42024491e+01] [ 3.94751122e-03 -7.14744166e-03 9.99966665e-01 7.49270575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.24, Y:34.20, Z:7.50 [[ 9.99990732e-01 1.02986010e-03 -4.18027666e-03 3.58242105e+02] [-1.02949641e-03 9.99999466e-01 8.91532390e-05 3.42034905e+01] [ 4.18036625e-03 -8.48488329e-05 9.99991259e-01 7.49563355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.27, Y:34.20, Z:7.50 [[ 9.99987799e-01 2.75927503e-03 -4.09731699e-03 3.58271182e+02] [-2.75895324e-03 9.99996191e-01 8.41852232e-05 3.42025797e+01] [ 4.09753367e-03 -7.28798901e-05 9.99991602e-01 7.49554637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.30, Y:34.20, Z:7.50 [[ 9.99976440e-01 6.00003267e-03 -3.33453171e-03 3.58298959e+02] [-5.99984376e-03 9.99981999e-01 6.66552997e-05 3.42016436e+01] [ 3.33487162e-03 -4.66470601e-05 9.99994438e-01 7.49569171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.33, Y:34.20, Z:7.50 [[ 9.99976792e-01 5.94103817e-03 -3.33448902e-03 3.58328255e+02] [-5.94084210e-03 9.99982351e-01 6.87047048e-05 3.42011077e+01] [ 3.33483835e-03 -4.88934375e-05 9.99994438e-01 7.49543379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.36, Y:34.20, Z:7.50 [[ 9.99967699e-01 7.35991196e-03 -3.22985175e-03 3.58356252e+02] [-7.35973756e-03 9.99972915e-01 6.58802705e-05 3.42003433e+01] [ 3.23024914e-03 -4.21072812e-05 9.99994782e-01 7.49522508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.594391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.38, Y:34.20, Z:7.49 [[ 9.99934053e-01 1.09164839e-02 -3.56659206e-03 3.58383850e+02] [-1.09163045e-02 9.99940413e-01 6.97679356e-05 3.41990331e+01] [ 3.56714116e-03 -3.08293297e-05 9.99993637e-01 7.49419760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.624391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.41, Y:34.20, Z:7.49 [[ 9.99913907e-01 1.24412969e-02 -4.17046562e-03 3.58411553e+02] [-1.24410578e-02 9.99922604e-01 8.32783303e-05 3.41983623e+01] [ 4.17117893e-03 -3.13861567e-05 9.99991300e-01 7.49388411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.654391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.44, Y:34.20, Z:7.49 [[ 9.99898670e-01 1.34612687e-02 -4.63067042e-03 3.58438007e+02] [-1.34609881e-02 9.99909393e-01 9.17724972e-05 3.41978265e+01] [ 4.63148622e-03 -2.94297986e-05 9.99989274e-01 7.49381670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.684391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.47, Y:34.20, Z:7.49 [[ 9.99894100e-01 1.38132043e-02 -4.58085805e-03 3.58465782e+02] [-1.38129349e-02 9.99904593e-01 9.04440294e-05 3.41973611e+01] [ 4.58167032e-03 -2.71593573e-05 9.99989504e-01 7.49337438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.714391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.49, Y:34.20, Z:7.49 [[ 9.99882299e-01 1.44690802e-02 -5.10226723e-03 3.58494073e+02] [-1.44687572e-02 9.99895317e-01 1.00206930e-04 3.41967310e+01] [ 5.10318301e-03 -2.63716692e-05 9.99986978e-01 7.49397396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.53, Y:34.19, Z:7.50 [[ 9.99870839e-01 1.40406354e-02 -7.82081733e-03 3.58529025e+02] [-1.40563461e-02 9.99899289e-01 -1.95749902e-03 3.41943904e+01] [ 7.79254515e-03 2.06717830e-03 9.99967501e-01 7.49612036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.55, Y:34.19, Z:7.49 [[ 9.99867563e-01 1.55764534e-02 -4.71487361e-03 3.58550855e+02] [-1.55653871e-02 9.99876032e-01 2.37478427e-03 3.41946655e+01] [ 4.75127983e-03 -2.30108093e-03 9.99986065e-01 7.49241321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.58, Y:34.20, Z:7.49 [[ 9.99855453e-01 1.63982753e-02 -4.49107618e-03 3.58577814e+02] [-1.63980607e-02 9.99865539e-01 8.46093038e-05 3.41953923e+01] [ 4.49185976e-03 -1.09521339e-05 9.99989911e-01 7.49378339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.62, Y:34.19, Z:7.50 [[ 9.99880293e-01 1.38250812e-02 -6.94744767e-03 3.58615013e+02] [-1.38350936e-02 9.99903317e-01 -1.39517351e-03 3.41923989e+01] [ 6.92748759e-03 1.49112509e-03 9.99974893e-01 7.49591453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.64, Y:34.18, Z:7.49 [[ 9.99878525e-01 1.37311487e-02 -7.37497764e-03 3.58640313e+02] [-1.34825310e-02 9.99372170e-01 3.27641210e-02 3.41787376e+01] [ 7.82023643e-03 -3.26607076e-02 9.99435902e-01 7.48785401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.67, Y:34.19, Z:7.50 [[ 9.99871115e-01 1.37268656e-02 -8.32626939e-03 3.58668756e+02] [-1.37481917e-02 9.99902340e-01 -2.50949232e-03 3.41893257e+01] [ 8.29100878e-03 2.62364003e-03 9.99962187e-01 7.50281279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.69, Y:34.20, Z:7.51 [[ 9.99911550e-01 1.22026555e-02 -5.29024514e-03 3.58690819e+02] [-1.23626553e-02 9.99432086e-01 -3.13475843e-02 3.42026372e+01] [ 4.90471697e-03 3.14102131e-02 9.99494543e-01 7.50646443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.72, Y:34.19, Z:7.49 [[ 9.99927603e-01 1.09012408e-02 -5.09435434e-03 3.58717076e+02] [-1.09009378e-02 9.99940579e-01 8.72478108e-05 3.41907752e+01] [ 5.09500274e-03 -3.17082544e-05 9.99987020e-01 7.49085209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.76, Y:34.18, Z:7.49 [[ 9.99925354e-01 4.42117541e-03 -1.13903247e-02 3.58758869e+02] [-4.18887031e-03 9.99784372e-01 2.03387051e-02 3.41784278e+01] [ 1.14777896e-02 -2.02894743e-02 9.99728262e-01 7.49007634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.79, Y:34.18, Z:7.50 [[ 9.99932045e-01 4.15385887e-03 -1.08927201e-02 3.58789908e+02] [-4.19086963e-03 9.99985516e-01 -3.37713024e-03 3.41841001e+01] [ 1.08785342e-02 3.42255072e-03 9.99934970e-01 7.49979031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.81, Y:34.18, Z:7.49 [[ 9.99954624e-01 8.58477298e-03 -4.12932112e-03 3.58811667e+02] [-8.59552053e-03 9.99959698e-01 -2.59207451e-03 3.41820309e+01] [ 4.10690233e-03 2.62745056e-03 9.99988115e-01 7.49421697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.85, Y:34.18, Z:7.50 [[ 9.99940188e-01 5.48133794e-04 -1.09233256e-02 3.58848187e+02] [-4.71302246e-04 9.99975143e-01 7.03504719e-03 3.41787997e+01] [ 1.09269103e-02 -7.02947822e-03 9.99915591e-01 7.49677875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.88, Y:34.19, Z:7.50 [[ 9.99994874e-01 2.63433779e-03 -1.82014946e-03 3.58880779e+02] [-2.69491582e-03 9.99414028e-01 -3.41223966e-02 3.41909680e+01] [ 1.72919299e-03 3.41271268e-02 9.99416004e-01 7.50075068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.91, Y:34.17, Z:7.48 [[ 9.99942759e-01 1.98546516e-04 -1.06976093e-02 3.58906230e+02] [ 1.84259400e-04 9.99359982e-01 3.57713845e-02 3.41686319e+01] [ 1.06978649e-02 -3.57713080e-02 9.99302742e-01 7.48460374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.93, Y:34.18, Z:7.50 [[ 9.99978125e-01 2.91287547e-03 -5.93843222e-03 3.58932857e+02] [-2.85766655e-03 9.99952817e-01 9.28426868e-03 3.41769291e+01] [ 5.96519594e-03 -9.26709553e-03 9.99939267e-01 7.49626562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.97, Y:34.18, Z:7.50 [[ 9.99976095e-01 4.23560042e-03 -5.46525592e-03 3.58966986e+02] [-4.25410139e-03 9.99985246e-01 -3.37802476e-03 3.41790404e+01] [ 5.45086732e-03 3.40119377e-03 9.99979360e-01 7.50152090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.99, Y:34.19, Z:7.50 [[ 9.99980144e-01 6.21601454e-03 -1.03621681e-03 3.58991727e+02] [-6.23832320e-03 9.99712974e-01 -2.31312151e-02 3.41862794e+01] [ 8.92135417e-04 2.31372200e-02 9.99731901e-01 7.50471779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.02, Y:34.17, Z:7.49 [[ 9.99971899e-01 5.37495970e-03 -5.22599199e-03 3.59021903e+02] [-5.21394991e-03 9.99525743e-01 3.03496812e-02 3.41670230e+01] [ 5.38664184e-03 -3.03215803e-02 9.99525680e-01 7.48935747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.05, Y:34.19, Z:7.51 [[ 9.99961357e-01 8.60835067e-03 -1.78373046e-03 3.59046621e+02] [-8.64508510e-03 9.99726575e-01 -2.17264281e-02 3.41855579e+01] [ 1.59621403e-03 2.17410090e-02 9.99762362e-01 7.50603698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.07, Y:34.18, Z:7.49 [[ 9.99938031e-01 1.09846344e-02 -1.80900841e-03 3.59072285e+02] [-1.09718020e-02 9.99915606e-01 6.95703551e-03 3.41751468e+01] [ 1.88527624e-03 -6.93675630e-03 9.99974163e-01 7.49497858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.11, Y:34.17, Z:7.50 [[ 9.99939836e-01 1.02154068e-02 -3.99628391e-03 3.59105928e+02] [-1.01621776e-02 9.99862280e-01 1.31206351e-02 3.41719865e+01] [ 4.12976616e-03 -1.30792347e-02 9.99905935e-01 7.49687879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.13, Y:34.18, Z:7.50 [[ 9.99938791e-01 1.10638010e-02 -8.60755241e-05 3.59133002e+02] [-1.10634249e-02 9.99756094e-01 -1.91142362e-02 3.41833161e+01] [-1.25421575e-04 1.91140185e-02 9.99817303e-01 7.50406717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.404391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.17, Y:34.18, Z:7.50 [[ 9.99963121e-01 6.73960518e-03 -5.32296409e-03 3.59166280e+02] [-6.79057526e-03 9.99930706e-01 -9.61619724e-03 3.41817376e+01] [ 5.25778587e-03 9.65198859e-03 9.99939596e-01 7.50005707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.19, Y:34.17, Z:7.49 [[ 9.99937889e-01 1.10880975e-02 -1.12806714e-03 3.59190529e+02] [-1.10769085e-02 9.99893677e-01 9.48353269e-03 3.41735655e+01] [ 1.23310154e-03 -9.47044816e-03 9.99954394e-01 7.48965956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.464391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.22, Y:34.17, Z:7.49 [[ 9.99901850e-01 1.32029470e-02 -4.68750576e-03 3.59220186e+02] [-1.31264668e-02 9.99786019e-01 1.59879037e-02 3.41691405e+01] [ 4.89759017e-03 -1.59248041e-02 9.99861197e-01 7.49177222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.25, Y:34.17, Z:7.50 [[ 9.99910454e-01 1.26225700e-02 -4.44457118e-03 3.59248715e+02] [-1.26240258e-02 9.99920269e-01 -2.99642058e-04 3.41741150e+01] [ 4.44043456e-03 3.55723608e-04 9.99990078e-01 7.49895270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.27, Y:34.18, Z:7.50 [[ 9.99841380e-01 1.71635371e-02 -4.75682008e-03 3.59266158e+02] [-1.72581684e-02 9.99638354e-01 -2.06232250e-02 3.41796210e+01] [ 4.40113231e-03 2.07020478e-02 9.99776003e-01 7.50346211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.29, Y:34.17, Z:7.49 [[ 9.99872484e-01 1.53757162e-02 -4.31323633e-03 3.59293790e+02] [-1.53757437e-02 9.99881786e-01 2.67906430e-05 3.41710661e+01] [ 4.31313837e-03 3.95319894e-05 9.99990698e-01 7.49458465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.32, Y:34.17, Z:7.50 [[ 9.99914983e-01 1.24539219e-02 -3.86354035e-03 3.59321374e+02] [-1.24539242e-02 9.99922447e-01 2.34467990e-05 3.41673541e+01] [ 3.86353272e-03 2.46714332e-05 9.99992536e-01 7.49530416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.614391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.35, Y:34.17, Z:7.50 [[ 9.99929997e-01 1.12408934e-02 -3.69363743e-03 3.59349325e+02] [-1.12408890e-02 9.99936819e-01 2.19405943e-05 3.41652899e+01] [ 3.69365069e-03 1.95807101e-05 9.99993178e-01 7.49538247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.644391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.38, Y:34.16, Z:7.50 [[ 9.99944942e-01 9.93692231e-03 -3.37200078e-03 3.59376781e+02] [-9.93691299e-03 9.99950627e-01 1.95184618e-05 3.41635438e+01] [ 3.37202825e-03 1.39898911e-05 9.99994315e-01 7.49561250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.40, Y:34.16, Z:7.50 [[ 9.99960141e-01 8.11042766e-03 -3.73328700e-03 3.59404450e+02] [-8.11040395e-03 9.99967110e-01 2.14905370e-05 3.41623050e+01] [ 3.73333851e-03 8.78878524e-06 9.99993031e-01 7.49599589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.704391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.43, Y:34.16, Z:7.50 [[ 9.99970995e-01 6.36231674e-03 -4.18699095e-03 3.59433589e+02] [-6.36227134e-03 9.99979760e-01 2.41633473e-05 3.41594775e+01] [ 4.18705994e-03 2.47612600e-06 9.99991234e-01 7.49660115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.734391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.46, Y:34.16, Z:7.50 [[ 9.99974778e-01 5.38044758e-03 -4.63626365e-03 3.59461358e+02] [-5.38038383e-03 9.99985525e-01 2.62235293e-05 3.41577701e+01] [ 4.63633764e-03 -1.27798992e-06 9.99989252e-01 7.49602873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.764391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.49, Y:34.15, Z:7.50 [[ 9.99976107e-01 4.32684363e-03 -5.39106761e-03 3.59489673e+02] [-4.32674260e-03 9.99990639e-01 3.04033409e-05 3.41540676e+01] [ 5.39114869e-03 -7.07685261e-06 9.99985468e-01 7.49572043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.52, Y:34.15, Z:7.50 [[ 9.99974780e-01 3.91790349e-03 -5.92357602e-03 3.59518528e+02] [-3.91777653e-03 9.99992325e-01 3.30354273e-05 3.41522254e+01] [ 5.92365999e-03 -9.82734706e-06 9.99982455e-01 7.49575396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.824391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.55, Y:34.15, Z:7.50 [[ 9.99970897e-01 4.06420559e-03 -6.45655909e-03 3.59547329e+02] [-4.06406067e-03 9.99991741e-01 3.55653710e-05 3.41506770e+01] [ 6.45665031e-03 -9.32448813e-06 9.99979156e-01 7.49542001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.58, Y:34.15, Z:7.50 [[ 9.99963627e-01 4.38828503e-03 -7.31348629e-03 3.59575854e+02] [-4.38811117e-03 9.99990371e-01 3.98179634e-05 3.41484287e+01] [ 7.31359060e-03 -7.72412418e-06 9.99973255e-01 7.49599331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.61, Y:34.15, Z:7.50 [[ 9.99963301e-01 4.32263999e-03 -7.39669255e-03 3.59605077e+02] [-4.32246456e-03 9.99990657e-01 3.97028362e-05 3.41468103e+01] [ 7.39679507e-03 -7.72943770e-06 9.99972643e-01 7.49587394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.914391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.63, Y:34.14, Z:7.50 [[ 9.99960868e-01 4.80297043e-03 -7.42921642e-03 3.59632765e+02] [-4.80281335e-03 9.99988466e-01 3.89840225e-05 3.41446620e+01] [ 7.42931797e-03 -3.30135714e-06 9.99972402e-01 7.49582390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.66, Y:34.14, Z:7.50 [[ 9.99957267e-01 6.15615843e-03 -6.89681995e-03 3.59660705e+02] [-6.15606240e-03 9.99981051e-01 3.51527278e-05 3.41409518e+01] [ 6.89690567e-03 7.30602840e-06 9.99976216e-01 7.49646697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.69, Y:34.14, Z:7.50 [[ 9.99954554e-01 6.75698724e-03 -6.72549196e-03 3.59688855e+02] [-6.75691481e-03 9.99977171e-01 3.34920775e-05 3.41396934e+01] [ 6.72556473e-03 1.19530208e-05 9.99977383e-01 7.49668992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.72, Y:34.14, Z:7.50 [[ 9.99930970e-01 9.59086292e-03 -6.78749817e-03 3.59716799e+02] [-9.59085971e-03 9.99954006e-01 3.30232262e-05 3.41367839e+01] [ 6.78750270e-03 3.20769961e-05 9.99976964e-01 7.49697220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.74, Y:34.14, Z:7.50 [[ 9.99919610e-01 1.07380472e-02 -6.74295254e-03 3.59744502e+02] [-1.07380754e-02 9.99942345e-01 3.20294616e-05 3.41354882e+01] [ 6.74290771e-03 4.03794459e-05 9.99977266e-01 7.49659696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.064391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.77, Y:34.13, Z:7.50 [[ 9.99902195e-01 1.23599700e-02 -6.54461733e-03 3.59771915e+02] [-1.23600383e-02 9.99923611e-01 3.00111451e-05 3.41341010e+01] [ 6.54448834e-03 5.08835107e-05 9.99978583e-01 7.49685304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.094391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:359.80, Y:34.13, Z:7.50 [[ 9.99884761e-01 1.36891386e-02 -6.56289024e-03 3.59799920e+02] [-1.36892397e-02 9.99906298e-01 2.95136739e-05 3.41327036e+01] [ 6.56267929e-03 6.03307050e-05 9.99978464e-01 7.49658274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.124391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.83, Y:34.13, Z:7.50 [[ 9.99840264e-01 1.62059696e-02 -7.53746562e-03 3.59826782e+02] [-1.62061878e-02 9.99868671e-01 3.21311085e-05 3.41296866e+01] [ 7.53699645e-03 9.00276072e-05 9.99971592e-01 7.49653569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.154391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.85, Y:34.13, Z:7.50 [[ 9.99807675e-01 1.80181075e-02 -7.74349613e-03 3.59854607e+02] [-1.80183939e-02 9.99837655e-01 3.27887124e-05 3.41283375e+01] [ 7.74282980e-03 1.06742957e-04 9.99970018e-01 7.49662437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.184391418 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:359.88, Y:34.13, Z:7.50 [[ 9.99737394e-01 2.17125366e-02 -7.32869543e-03 3.59881677e+02] [-2.17129011e-02 9.99764247e-01 2.98338012e-05 3.41273685e+01] [ 7.32761543e-03 1.29301272e-04 9.99973144e-01 7.49736875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.214391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:359.91, Y:34.13, Z:7.50 [[ 9.99696567e-01 2.36088724e-02 -7.02811610e-03 3.59909870e+02] [-2.36092595e-02 9.99721262e-01 2.79008616e-05 3.41269250e+01] [ 7.02681580e-03 1.38036221e-04 9.99975302e-01 7.49749249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.94, Y:34.13, Z:7.50 [[ 9.99636378e-01 2.60314631e-02 -7.03388916e-03 3.59937372e+02] [-2.60319167e-02 9.99661112e-01 2.70860248e-05 3.41262931e+01] [ 7.03221055e-03 1.56029441e-04 9.99975262e-01 7.49818986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.274391418 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:359.96, Y:34.12, Z:7.50 [[ 9.99557886e-01 2.90843430e-02 -6.17529391e-03 3.59964041e+02] [-2.90847579e-02 9.99576949e-01 2.26263266e-05 3.41249704e+01] [ 6.17333952e-03 1.56990605e-04 9.99980932e-01 7.49815510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.304391418 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:359.99, Y:34.12, Z:7.50 [[ 9.99522617e-01 3.03356370e-02 -5.85561243e-03 3.59991749e+02] [-3.03360347e-02 9.99539756e-01 2.09184522e-05 3.41241127e+01] [ 5.85355200e-03 1.56727596e-04 9.99982856e-01 7.49794186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.334391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:360.02, Y:34.12, Z:7.50 [[ 9.99435825e-01 3.30844428e-02 -5.78365576e-03 3.60019453e+02] [-3.30848806e-02 9.99452545e-01 1.99857022e-05 3.41231467e+01] [ 5.78115069e-03 1.71377134e-04 9.99983274e-01 7.49822650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.05, Y:34.12, Z:7.50 [[ 9.99408844e-01 3.38882487e-02 -5.79208637e-03 3.60047067e+02] [-3.38887050e-02 9.99425613e-01 1.93677379e-05 3.41228114e+01] [ 5.78941581e-03 1.76930018e-04 9.99983226e-01 7.49821233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.394391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:360.07, Y:34.12, Z:7.50 [[ 9.99402676e-01 3.40837185e-02 -5.70894525e-03 3.60074778e+02] [-3.40841687e-02 9.99418966e-01 1.84386964e-05 3.41222525e+01] [ 5.70625662e-03 1.76156970e-04 9.99983704e-01 7.49804770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42439141799997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:360.10, Y:34.12, Z:7.50 [[ 9.99409053e-01 3.38962092e-02 -5.70895115e-03 3.60103192e+02] [-3.38966667e-02 9.99425343e-01 1.66356730e-05 3.41222861e+01] [ 5.70623434e-03 1.76888572e-04 9.99983704e-01 7.49776956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.454391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:360.13, Y:34.12, Z:7.50 [[ 9.99417124e-01 3.35568366e-02 -6.27305101e-03 3.60131456e+02] [-3.35573808e-02 9.99436792e-01 1.84982443e-05 3.41211697e+01] [ 6.27013873e-03 1.92019700e-04 9.99980324e-01 7.49773011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:360.16, Y:34.12, Z:7.50 [[ 9.99456019e-01 3.24726468e-02 -5.76132670e-03 3.60159020e+02] [-3.24730920e-02 9.99472610e-01 1.62706843e-05 3.41185556e+01] [ 5.75881659e-03 1.70826259e-04 9.99983403e-01 7.49746587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.514391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:360.19, Y:34.12, Z:7.50 [[ 9.99474990e-01 3.18965602e-02 -5.68795595e-03 3.60187463e+02] [-3.18969885e-02 9.99491161e-01 1.54314882e-05 3.41176054e+01] [ 5.68555391e-03 1.66005279e-04 9.99983823e-01 7.49754315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.21, Y:34.12, Z:7.50 [[ 9.99508293e-01 3.10278736e-02 -4.52132609e-03 3.60214842e+02] [-3.10281438e-02 9.99518511e-01 1.03978793e-05 3.41153854e+01] [ 4.51947175e-03 1.29895589e-04 9.99989779e-01 7.49789489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.574391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:360.24, Y:34.11, Z:7.50 [[ 9.99534681e-01 3.02427190e-02 -3.97493030e-03 3.60243211e+02] [-3.02429210e-02 9.99542578e-01 9.28737518e-06 3.41144317e+01] [ 3.97339296e-03 1.10930450e-04 9.99992100e-01 7.49757009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604391418 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:360.27, Y:34.11, Z:7.50 [[ 9.99570102e-01 2.90181640e-02 -4.19021777e-03 3.60270768e+02] [-2.90183794e-02 9.99578878e-01 9.40575842e-06 3.41138128e+01] [ 4.18872611e-03 1.12191614e-04 9.99991221e-01 7.49740074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.634391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:360.30, Y:34.11, Z:7.50 [[ 9.99628653e-01 2.68608295e-02 -4.58814684e-03 3.60298618e+02] [-2.68610668e-02 9.99639176e-01 9.90802618e-06 3.41122564e+01] [ 4.58675747e-03 1.13338172e-04 9.99989474e-01 7.49735702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:360.33, Y:34.11, Z:7.50 [[ 9.99669081e-01 2.53118507e-02 -4.58673152e-03 3.60326097e+02] [-2.53120744e-02 9.99679598e-01 9.29336109e-06 3.41114003e+01] [ 4.58549716e-03 1.06809404e-04 9.99989481e-01 7.49689446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.694391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:360.35, Y:34.11, Z:7.50 [[ 9.99705918e-01 2.37637409e-02 -4.83352759e-03 3.60354392e+02] [-2.37639736e-02 9.99717597e-01 9.30246052e-06 3.41100025e+01] [ 4.83238365e-03 1.05564097e-04 9.99988318e-01 7.49624887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.38, Y:34.11, Z:7.50 [[ 9.99754914e-01 2.16756005e-02 -4.50343241e-03 3.60382297e+02] [-2.16757839e-02 9.99765053e-01 8.08459600e-06 3.41077774e+01] [ 4.50254958e-03 8.95328133e-05 9.99989859e-01 7.49541954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.754391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:360.41, Y:34.11, Z:7.50 [[ 9.99778033e-01 2.07044130e-02 -3.90024319e-03 3.60410329e+02] [-2.07045455e-02 9.99785638e-01 6.41786265e-06 3.41070352e+01] [ 3.89954000e-03 7.43363244e-05 9.99992394e-01 7.49527623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:360.44, Y:34.11, Z:7.50 [[ 9.99803517e-01 1.97007869e-02 -2.19234756e-03 3.60437508e+02] [-1.97008284e-02 9.99805920e-01 2.66213216e-06 3.41058734e+01] [ 2.19197452e-03 4.05294540e-05 9.99997597e-01 7.49538815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.814391418 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:360.46, Y:34.11, Z:7.49 [[ 9.99817758e-01 1.90622898e-02 -1.03954664e-03 3.60464521e+02] [-1.90622996e-02 9.99818298e-01 4.68447472e-07 3.41053847e+01] [ 1.03936668e-03 1.93477874e-05 9.99999460e-01 7.49476495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.844391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:360.49, Y:34.10, Z:7.49 [[ 9.99839038e-01 1.79323670e-02 -5.73180247e-04 3.60491040e+02] [-1.79323702e-02 9.99839202e-01 -3.70926897e-07 3.41048573e+01] [ 5.73081429e-04 1.06493475e-05 9.99999836e-01 7.49481388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.874391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:360.52, Y:34.10, Z:7.49 [[ 9.99861797e-01 1.66188536e-02 4.48609439e-04 3.60518683e+02] [-1.66188545e-02 9.99861897e-01 -1.70633421e-06 3.41029874e+01] [-4.48575842e-04 -5.74927660e-06 9.99999899e-01 7.49404735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.904391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:360.55, Y:34.10, Z:7.49 [[ 9.99872981e-01 1.59345235e-02 3.36552229e-04 3.60547231e+02] [-1.59345240e-02 9.99873037e-01 -1.16168670e-06 3.41022021e+01] [-3.36528010e-04 -4.20126042e-06 9.99999943e-01 7.49343742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.934391418 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:360.58, Y:34.10, Z:7.49 [[ 9.99873573e-01 1.58878789e-02 6.43125000e-04 3.60575301e+02] [-1.58878811e-02 9.99873780e-01 -1.69066674e-06 3.41013981e+01] [-6.43070686e-04 -8.52744054e-06 9.99999793e-01 7.49265604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.964391418 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:360.60, Y:34.10, Z:7.49 [[ 9.99858521e-01 1.67877564e-02 1.05310984e-03 3.60603154e+02] [-1.67877634e-02 9.99859076e-01 -2.11183530e-06 3.41002747e+01] [-1.05299689e-03 -1.55678224e-05 9.99999445e-01 7.49202010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.994391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:360.63, Y:34.10, Z:7.49 [[ 9.99847143e-01 1.74233193e-02 1.45558101e-03 3.60631815e+02] [-1.74233344e-02 9.99848202e-01 -2.30562930e-06 3.41003755e+01] [-1.45540023e-03 -2.30557979e-05 9.99998941e-01 7.49159666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.024391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:360.66, Y:34.10, Z:7.49 [[ 9.99820972e-01 1.87207085e-02 2.74950118e-03 3.60659456e+02] [-1.87207685e-02 9.99824751e-01 -3.91465729e-06 3.41003399e+01] [-2.74909262e-03 -4.75588187e-05 9.99996220e-01 7.49043696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.054391418 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:360.69, Y:34.10, Z:7.49 [[ 9.99815196e-01 1.88802671e-02 3.62069326e-03 3.60687225e+02] [-1.88803757e-02 9.99821750e-01 -4.20129381e-06 3.40998601e+01] [-3.62012719e-03 -6.41595314e-05 9.99993445e-01 7.48911709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.084391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:360.71, Y:34.10, Z:7.49 [[ 9.99814499e-01 1.87861122e-02 4.24848824e-03 3.60714948e+02] [-1.87862628e-02 9.99823523e-01 -4.46000523e-06 3.40993539e+01] [-4.24782227e-03 -7.53540388e-05 9.99990975e-01 7.48837071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.114391418 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:360.74, Y:34.10, Z:7.49 [[ 9.99799614e-01 1.93601561e-02 5.09087543e-03 3.60742259e+02] [-1.93635501e-02 9.99812318e-01 6.18232411e-04 3.40990537e+01] [-5.07795089e-03 -7.16685947e-04 9.99986850e-01 7.48758938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.144391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:360.77, Y:34.10, Z:7.49 [[ 9.99820300e-01 1.78338647e-02 6.42820447e-03 3.60770726e+02] [-1.78302501e-02 9.99840837e-01 -6.19189510e-04 3.40994469e+01] [-6.43822387e-03 5.04461748e-04 9.99979147e-01 7.48762764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17439141799997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:360.80, Y:34.10, Z:7.49 [[ 9.99852070e-01 1.51989616e-02 8.05169032e-03 3.60798837e+02] [-1.51937530e-02 9.99884318e-01 -7.07678980e-04 3.41017347e+01] [-8.06151487e-03 5.85238899e-04 9.99967334e-01 7.48664132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.204391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:360.83, Y:34.10, Z:7.49 [[ 9.99862782e-01 1.48227732e-02 7.39616538e-03 3.60826385e+02] [-1.47896677e-02 9.99880452e-01 -4.51082719e-03 3.41026772e+01] [-7.46214416e-03 4.40082139e-03 9.99962474e-01 7.48780878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.234391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:360.86, Y:34.10, Z:7.48 [[ 9.99861734e-01 1.46348691e-02 7.89521488e-03 3.60856398e+02] [-1.46779043e-02 9.99877580e-01 5.42066437e-03 3.40984967e+01] [-7.81491764e-03 -5.53580009e-03 9.99954140e-01 7.48433825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.264391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:360.88, Y:34.10, Z:7.49 [[ 9.99895320e-01 1.20714439e-02 7.97675959e-03 3.60884295e+02] [-1.20761961e-02 9.99926930e-01 5.47856184e-04 3.41036398e+01] [-7.96956332e-03 -6.44127748e-04 9.99968035e-01 7.48521015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.294391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:360.91, Y:34.10, Z:7.48 [[ 9.99873845e-01 1.40092730e-02 7.48565469e-03 3.60913865e+02] [-1.40058128e-02 9.99901781e-01 -5.14467178e-04 3.41024302e+01] [-7.49212677e-03 4.09559597e-04 9.99971850e-01 7.48461290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.324391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:360.94, Y:34.11, Z:7.48 [[ 9.99903094e-01 1.13614023e-02 8.04494466e-03 3.60941734e+02] [-1.13595672e-02 9.99935441e-01 -2.73764039e-04 3.41064022e+01] [-8.04753562e-03 1.82350420e-04 9.99967601e-01 7.48328857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.354391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:360.97, Y:34.10, Z:7.48 [[ 9.99871544e-01 1.29550336e-02 9.43734963e-03 3.60974302e+02] [-1.30719346e-02 9.99837265e-01 1.24325278e-02 3.41002515e+01] [-9.27475003e-03 -1.25542952e-02 9.99878177e-01 7.47865807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.384391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.00, Y:34.11, Z:7.49 [[ 9.99875281e-01 1.44014918e-02 6.48231005e-03 3.61002814e+02] [-1.43154091e-02 9.99811243e-01 -1.31357052e-02 3.41110045e+01] [-6.67026023e-03 1.30412700e-02 9.99892711e-01 7.48903632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.03, Y:34.10, Z:7.48 [[ 9.99954116e-01 9.37081745e-03 1.98821512e-03 3.61029370e+02] [-9.41954465e-03 9.99614796e-01 2.61061638e-02 3.41045319e+01] [-1.74281316e-03 -2.61236940e-02 9.99657199e-01 7.48040132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.06, Y:34.12, Z:7.49 [[ 9.99881176e-01 1.35757872e-02 7.30281408e-03 3.61062657e+02] [-1.33804329e-02 9.99568077e-01 -2.61653178e-02 3.41175548e+01] [-7.65487461e-03 2.60644939e-02 9.99630954e-01 7.49388825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.474391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.09, Y:34.11, Z:7.48 [[ 9.99902857e-01 1.16039846e-02 7.72165320e-03 3.61091781e+02] [-1.16042508e-02 9.99932668e-01 -1.03173155e-05 3.41110725e+01] [-7.72125301e-03 -7.92876875e-05 9.99970188e-01 7.48362999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.12, Y:34.11, Z:7.48 [[ 9.99907107e-01 1.12625403e-02 7.67673406e-03 3.61119757e+02] [-1.12627981e-02 9.99936573e-01 -9.65615116e-06 3.41124395e+01] [-7.67635590e-03 -7.68062515e-05 9.99970533e-01 7.48337558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.534391418 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:361.15, Y:34.12, Z:7.49 [[ 9.99910039e-01 8.78842537e-03 1.01330189e-02 3.61148895e+02] [-8.66874146e-03 9.99892856e-01 -1.17953136e-02 3.41227071e+01] [-1.02355954e-02 1.17064120e-02 9.99879089e-01 7.48516793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.18, Y:34.11, Z:7.48 [[ 9.99913795e-01 1.01839860e-02 8.28784212e-03 3.61178176e+02] [-1.02977386e-02 9.99851743e-01 1.38003045e-02 3.41137564e+01] [-8.14607128e-03 -1.38844609e-02 9.99870423e-01 7.47809159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.594391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.21, Y:34.12, Z:7.48 [[ 9.99915972e-01 1.04859257e-02 7.62196454e-03 3.61207174e+02] [-1.04697799e-02 9.99942868e-01 -2.15514653e-03 3.41209880e+01] [-7.64412779e-03 2.07516515e-03 9.99968630e-01 7.48439023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.624391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:361.24, Y:34.12, Z:7.48 [[ 9.99920329e-01 9.97840637e-03 7.73092990e-03 3.61236379e+02] [-9.97862753e-03 9.99950212e-01 -9.96592154e-06 3.41224991e+01] [-7.73064444e-03 -6.71789424e-05 9.99970116e-01 7.48361482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.654391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:361.26, Y:34.13, Z:7.48 [[ 9.99921460e-01 1.00263042e-02 7.51980773e-03 3.61264741e+02] [-1.00265193e-02 9.99949733e-01 -9.10453395e-06 3.41268296e+01] [-7.51952102e-03 -6.62936783e-05 9.99971726e-01 7.48290374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.684391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.29, Y:34.13, Z:7.48 [[ 9.99925785e-01 9.61700215e-03 7.47917401e-03 3.61293768e+02] [-9.61720796e-03 9.99953754e-01 -8.44770028e-06 3.41289550e+01] [-7.47890937e-03 -6.34816985e-05 9.99972031e-01 7.48227247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.714391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:361.32, Y:34.13, Z:7.48 [[ 9.99934899e-01 8.95320017e-03 7.07381809e-03 3.61321950e+02] [-8.95337171e-03 9.99959918e-01 -7.41904469e-06 3.41312514e+01] [-7.07360098e-03 -5.59159610e-05 9.99974980e-01 7.48216630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.35, Y:34.13, Z:7.48 [[ 9.99942233e-01 8.46974936e-03 6.61774647e-03 3.61350349e+02] [-8.46989135e-03 9.99964130e-01 -6.57078549e-06 3.41333377e+01] [-6.61756474e-03 -4.94811876e-05 9.99978102e-01 7.48229214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.774391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.38, Y:34.14, Z:7.48 [[ 9.99955160e-01 6.58391699e-03 6.80662479e-03 3.61380097e+02] [-6.58402658e-03 9.99978325e-01 -6.30614456e-06 3.41381397e+01] [-6.80651877e-03 -3.85091367e-05 9.99976835e-01 7.48218864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.804391418 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:361.41, Y:34.14, Z:7.48 [[ 9.99960786e-01 5.58178486e-03 6.87530034e-03 3.61410107e+02] [-5.58187490e-03 9.99984421e-01 -6.09307987e-06 3.41397313e+01] [-6.87522725e-03 -3.22842255e-05 9.99976365e-01 7.48191594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.44, Y:34.14, Z:7.48 [[ 9.99964576e-01 3.54952783e-03 7.63200568e-03 3.61440920e+02] [-3.54958259e-03 9.99993700e-01 -6.37023478e-06 3.41429089e+01] [-7.63198022e-03 -2.07204254e-05 9.99970876e-01 7.48163090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.47, Y:34.14, Z:7.48 [[ 9.99966328e-01 2.42916350e-03 7.83846238e-03 3.61472150e+02] [-2.42918710e-03 9.99997050e-01 -6.50983936e-06 3.41448068e+01] [-7.83845507e-03 -1.25314716e-05 9.99969279e-01 7.48152713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.50, Y:34.15, Z:7.48 [[ 9.99975603e-01 4.35931476e-04 6.97166830e-03 3.61503771e+02] [-4.35902576e-04 9.99999905e-01 -5.66481923e-06 3.41492839e+01] [-6.97167010e-03 2.62571286e-06 9.99975698e-01 7.48178793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.54, Y:34.15, Z:7.48 [[ 9.99978143e-01 3.01025961e-04 6.60474560e-03 3.61535665e+02] [-3.00986848e-04 9.99999955e-01 -6.91592858e-06 3.41514629e+01] [-6.60474738e-03 4.92783587e-06 9.99978188e-01 7.48126895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.57, Y:34.15, Z:7.48 [[ 9.99983122e-01 3.39779405e-04 5.79998351e-03 3.61567550e+02] [-3.39741319e-04 9.99999942e-01 -7.55176126e-06 3.41534320e+01] [-5.79998574e-03 5.58113976e-06 9.99983180e-01 7.48054062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.60, Y:34.16, Z:7.48 [[ 9.99988809e-01 -1.32182717e-04 4.72902211e-03 3.61599505e+02] [ 1.32217218e-04 9.99999991e-01 -6.98292208e-06 3.41579778e+01] [-4.72902115e-03 7.60810209e-06 9.99988818e-01 7.47941554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.63, Y:34.16, Z:7.48 [[ 9.99987872e-01 1.27493484e-04 4.92330587e-03 3.61631777e+02] [-1.27448130e-04 9.99999992e-01 -9.52576887e-06 3.41604084e+01] [-4.92330704e-03 8.89818722e-06 9.99987880e-01 7.47915462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.66, Y:34.16, Z:7.48 [[ 9.99989292e-01 9.07735043e-04 4.53775208e-03 3.61663254e+02] [-9.07702748e-04 9.99999588e-01 -9.17645638e-06 3.41633690e+01] [-4.53775854e-03 5.05742810e-06 9.99989704e-01 7.47929823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.69, Y:34.17, Z:7.48 [[ 9.99986922e-01 2.85021070e-03 4.24639326e-03 3.61694780e+02] [-2.85019861e-03 9.99995938e-01 -8.89810930e-06 3.41698609e+01] [-4.24640137e-03 -3.20507122e-06 9.99990984e-01 7.47938029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.73, Y:34.17, Z:7.48 [[ 9.99983571e-01 3.87975400e-03 4.21961914e-03 3.61725668e+02] [-3.87974978e-03 9.99992474e-01 -9.18530074e-06 3.41731143e+01] [-4.21962302e-03 -7.18591661e-06 9.99991097e-01 7.47885868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.75, Y:34.18, Z:7.48 [[ 9.99972588e-01 6.06034564e-03 4.25382820e-03 3.61754672e+02] [-6.06036071e-03 9.99981636e-01 -9.34625399e-06 3.41794383e+01] [-4.25380673e-03 -1.64337355e-05 9.99990952e-01 7.47804734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.78, Y:34.18, Z:7.48 [[ 9.99963467e-01 7.37805679e-03 4.31613841e-03 3.61784208e+02] [-7.37808458e-03 9.99972782e-01 -9.48445529e-06 3.41828586e+01] [-4.31609091e-03 -2.23607254e-05 9.99990685e-01 7.47736959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.81, Y:34.19, Z:7.48 [[ 9.99952445e-01 8.85104268e-03 4.09475604e-03 3.61811975e+02] [-8.85107954e-03 9.99960828e-01 -9.12115445e-06 3.41864441e+01] [-4.09467637e-03 -2.71222907e-05 9.99991616e-01 7.47714525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224391418 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:361.84, Y:34.19, Z:7.48 [[ 9.99940171e-01 1.01168477e-02 4.15989687e-03 3.61841106e+02] [-1.01168989e-02 9.99948823e-01 -8.73580799e-06 3.41902670e+01] [-4.15977236e-03 -3.33499707e-05 9.99991348e-01 7.47689965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.87, Y:34.20, Z:7.48 [[ 9.99907267e-01 1.29191054e-02 4.30735015e-03 3.61869801e+02] [-1.29191878e-02 9.99916544e-01 -8.70252159e-06 3.41974648e+01] [-4.30710310e-03 -4.69457508e-05 9.99990723e-01 7.47663699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.90, Y:34.20, Z:7.48 [[ 9.99890434e-01 1.40979653e-02 4.51302740e-03 3.61898262e+02] [-1.40980695e-02 9.99900617e-01 -8.72134346e-06 3.42010258e+01] [-4.51270183e-03 -5.49045859e-05 9.99989816e-01 7.47613377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.93, Y:34.21, Z:7.48 [[ 9.99872547e-01 1.54056153e-02 4.19006688e-03 3.61927546e+02] [-1.54057179e-02 9.99881325e-01 -7.81092206e-06 3.42076647e+01] [-4.18968996e-03 -5.67410617e-05 9.99991222e-01 7.47544409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.96, Y:34.21, Z:7.48 [[ 9.99874055e-01 1.53074298e-02 4.19006732e-03 3.61955994e+02] [-1.53075324e-02 9.99882833e-01 -7.56901308e-06 3.42077283e+01] [-4.18969224e-03 -5.65715315e-05 9.99991222e-01 7.47519799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.98, Y:34.21, Z:7.47 [[ 9.99873408e-01 1.53293663e-02 4.26360261e-03 3.61983492e+02] [-1.53294743e-02 9.99882497e-01 -7.36292815e-06 3.42108093e+01] [-4.26321449e-03 -5.79967905e-05 9.99990911e-01 7.47453833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.404391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.01, Y:34.21, Z:7.47 [[ 9.99869983e-01 1.55009153e-02 4.44290242e-03 3.62011285e+02] [-1.55010368e-02 9.99879852e-01 -7.09770084e-06 3.42138235e+01] [-4.44247864e-03 -6.17728157e-05 9.99990130e-01 7.47423389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.04, Y:34.22, Z:7.47 [[ 9.99867474e-01 1.54198152e-02 5.22152487e-03 3.62038791e+02] [-1.54199865e-02 9.99881105e-01 -7.46121884e-06 3.42197620e+01] [-5.22101911e-03 -7.30556128e-05 9.99986368e-01 7.47305833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.464391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.07, Y:34.22, Z:7.47 [[ 9.99870011e-01 1.51743559e-02 5.44975224e-03 3.62066480e+02] [-1.51745416e-02 9.99884860e-01 -7.27531540e-06 3.42225578e+01] [-5.44923515e-03 -7.54231225e-05 9.99985150e-01 7.47240190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.09, Y:34.23, Z:7.47 [[ 9.99882449e-01 1.42979047e-02 5.53693991e-03 3.62094492e+02] [-1.42980871e-02 9.99897777e-01 -6.64739446e-06 3.42255347e+01] [-5.53646895e-03 -7.25210359e-05 9.99984671e-01 7.47201563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.524391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.12, Y:34.23, Z:7.47 [[ 9.99937267e-01 7.98999756e-03 7.84999533e-03 3.62122745e+02] [-7.99017868e-03 9.99968078e-01 -8.28963076e-06 3.42269876e+01] [-7.84981098e-03 -5.44337546e-05 9.99969188e-01 7.47101713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.554391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.15, Y:34.23, Z:7.47 [[ 9.99954927e-01 3.85949899e-03 8.67462985e-03 3.62151185e+02] [-3.85957288e-03 9.99992552e-01 -8.22304387e-06 3.42273784e+01] [-8.67459698e-03 -2.52576929e-05 9.99962375e-01 7.47065359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.18, Y:34.23, Z:7.47 [[ 9.99958977e-01 -3.82672450e-04 9.04974373e-03 3.62182692e+02] [ 3.82761183e-04 9.99999927e-01 -8.07307569e-06 3.42268663e+01] [-9.04973997e-03 1.15366351e-05 9.99959050e-01 7.47029083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.614391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.21, Y:34.23, Z:7.47 [[ 9.99928688e-01 -8.19293123e-03 8.68879949e-03 3.62214469e+02] [ 8.19331086e-03 9.99966434e-01 -8.09681948e-06 3.42263856e+01] [-8.68844151e-03 7.92862774e-05 9.99962252e-01 7.46911761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.644391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.25, Y:34.23, Z:7.47 [[ 9.99912131e-01 -1.08039548e-02 7.68140924e-03 3.62247419e+02] [ 1.08043451e-02 9.99941631e-01 -9.31501625e-06 3.42255206e+01] [-7.68086025e-03 9.23067940e-05 9.99970497e-01 7.46760441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.28, Y:34.22, Z:7.47 [[ 9.99903682e-01 -1.24056353e-02 6.22307876e-03 3.62279346e+02] [ 1.24059248e-02 9.99923044e-01 -7.90985204e-06 3.42224420e+01] [-6.22250173e-03 8.51121372e-05 9.99980636e-01 7.46529276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.704391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.31, Y:34.22, Z:7.47 [[ 9.99906253e-01 -1.18117935e-02 6.92581425e-03 3.62312900e+02] [ 1.18121495e-02 9.99930234e-01 -1.05044918e-05 3.42223509e+01] [-6.92520698e-03 9.23122605e-05 9.99976016e-01 7.46513386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.734391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.34, Y:34.22, Z:7.47 [[ 9.99918540e-01 -1.03891628e-02 7.41478329e-03 3.62344959e+02] [ 1.03895381e-02 9.99946027e-01 -1.21052020e-05 3.42226704e+01] [-7.41425733e-03 8.91403896e-05 9.99972510e-01 7.46530206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.764391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.38, Y:34.22, Z:7.46 [[ 9.99924988e-01 -8.77755369e-03 8.54237447e-03 3.62378500e+02] [ 8.77800959e-03 9.99961472e-01 -1.58771551e-05 3.42229902e+01] [-8.54190599e-03 9.08610092e-05 9.99963513e-01 7.46496551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.794391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.41, Y:34.22, Z:7.46 [[ 9.99930466e-01 -5.01048342e-03 1.06751065e-02 3.62411689e+02] [ 5.01099682e-03 9.99987445e-01 -2.13467551e-05 3.42232941e+01] [-1.06748655e-02 7.48381957e-05 9.99943019e-01 7.46449165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.824391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.44, Y:34.22, Z:7.46 [[ 9.99931831e-01 -3.65779029e-03 1.10884858e-02 3.62444476e+02] [ 3.65827583e-03 9.99993308e-01 -2.35052931e-05 3.42229349e+01] [-1.10883256e-02 6.40684303e-05 9.99938521e-01 7.46411757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.48, Y:34.22, Z:7.46 [[ 9.99929008e-01 -2.49330251e-03 1.16517399e-02 3.62476918e+02] [ 2.49377850e-03 9.99996890e-01 -2.63226493e-05 3.42222751e+01] [-1.16516380e-02 5.53776391e-05 9.99932116e-01 7.46301277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.51, Y:34.22, Z:7.46 [[ 9.99914680e-01 -1.96067229e-03 1.29146838e-02 3.62510167e+02] [ 1.96124204e-03 9.99998076e-01 -3.14515321e-05 3.42214247e+01] [-1.29145973e-02 5.67776696e-05 9.99916602e-01 7.46243352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.914391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.54, Y:34.22, Z:7.46 [[ 9.99907072e-01 -2.28875321e-03 1.34390497e-02 3.62542858e+02] [ 2.28942103e-03 9.99997379e-01 -3.43085978e-05 3.42210957e+01] [-1.34389360e-02 6.50730527e-05 9.99909691e-01 7.46223349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.944391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.58, Y:34.22, Z:7.46 [[ 9.99907419e-01 -2.88856237e-03 1.32969940e-02 3.62575665e+02] [ 2.88928926e-03 9.99995825e-01 -3.54560907e-05 3.42200220e+01] [-1.32968360e-02 7.38716700e-05 9.99911590e-01 7.46152382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.61, Y:34.22, Z:7.46 [[ 9.99910235e-01 -2.68689916e-03 1.31263971e-02 3.62608529e+02] [ 2.68760994e-03 9.99996388e-01 -3.65090557e-05 3.42186827e+01] [-1.31262516e-02 7.17844138e-05 9.99913844e-01 7.46043697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.64, Y:34.22, Z:7.46 [[ 9.99912447e-01 -2.00253291e-03 1.30800953e-02 3.62641476e+02] [ 2.00320065e-03 9.99997993e-01 -3.79490159e-05 3.42170249e+01] [-1.30799931e-02 6.41477488e-05 9.99914451e-01 7.46024192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.034391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.67, Y:34.22, Z:7.46 [[ 9.99894829e-01 -3.22060308e-03 1.41406983e-02 3.62673625e+02] [ 3.22154691e-03 9.99994810e-01 -4.39677255e-05 3.42170990e+01] [-1.41404833e-02 8.95180244e-05 9.99900014e-01 7.45926772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.064391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.71, Y:34.22, Z:7.46 [[ 9.99889844e-01 -4.03313538e-03 1.42840152e-02 3.62705608e+02] [ 4.03424577e-03 9.99991861e-01 -4.89231509e-05 3.42163475e+01] [-1.42837016e-02 1.06542990e-04 9.99897977e-01 7.45870920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.094391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.74, Y:34.22, Z:7.46 [[ 9.99833501e-01 -1.82587090e-03 1.81559043e-02 3.62742843e+02] [ 2.09478882e-03 9.99888226e-01 -1.48036261e-02 3.42184501e+01] [-1.81268455e-02 1.48391941e-02 9.99725570e-01 7.46011362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.124391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.77, Y:34.21, Z:7.45 [[ 9.99862683e-01 -2.49985956e-03 1.63818754e-02 3.62772637e+02] [ 2.37332855e-03 9.99967239e-01 7.73873597e-03 3.42099757e+01] [-1.64006844e-02 -7.69879374e-03 9.99835860e-01 7.45066611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.154391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.81, Y:34.21, Z:7.45 [[ 9.99870623e-01 -4.06038956e-03 1.55643968e-02 3.62805045e+02] [ 4.03460975e-03 9.99990437e-01 1.68737397e-03 3.42122733e+01] [-1.55710994e-02 -1.62435940e-03 9.99877444e-01 7.45361624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.184391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.84, Y:34.21, Z:7.45 [[ 9.99865942e-01 -4.16612992e-03 1.58347971e-02 3.62838378e+02] [ 4.16843521e-03 9.99991306e-01 -1.12581305e-04 3.42119056e+01] [-1.58341904e-02 1.78572538e-04 9.99874615e-01 7.45378721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.214391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.87, Y:34.21, Z:7.45 [[ 9.99849431e-01 -3.82991477e-03 1.69247572e-02 3.62870451e+02] [ 3.93211785e-03 9.99974212e-01 -6.00952744e-03 3.42129907e+01] [-1.69013047e-02 6.07517273e-03 9.99838706e-01 7.45410950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.244391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.90, Y:34.21, Z:7.45 [[ 9.99885035e-01 -5.78209013e-03 1.40173161e-02 3.62900537e+02] [ 5.60743893e-03 9.99906559e-01 1.24671217e-02 3.42073534e+01] [-1.40880924e-02 -1.23870871e-02 9.99824027e-01 7.44995749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.274391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.93, Y:34.21, Z:7.46 [[ 9.99863982e-01 -5.69595724e-03 1.54781799e-02 3.62934655e+02] [ 5.80104017e-03 9.99960374e-01 -6.75270550e-03 3.42133043e+01] [-1.54391034e-02 6.84157655e-03 9.99857403e-01 7.45689080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.96, Y:34.21, Z:7.46 [[ 9.99907328e-01 -7.84419211e-03 1.11266936e-02 3.62958156e+02] [ 7.79559417e-03 9.99959914e-01 4.40435736e-03 3.42130421e+01] [-1.11607962e-02 -4.31721002e-03 9.99928397e-01 7.45526287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.334391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.99, Y:34.21, Z:7.46 [[ 9.99922331e-01 -7.90815620e-03 9.63289064e-03 3.62990139e+02] [ 7.90883357e-03 9.99968724e-01 -3.22271828e-05 3.42139163e+01] [-9.63233451e-03 1.08409609e-04 9.99953602e-01 7.45783557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.364391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.02, Y:34.21, Z:7.46 [[ 9.99933563e-01 -7.70390404e-03 8.57431784e-03 3.63022842e+02] [ 7.70443946e-03 9.99970320e-01 -2.94153809e-05 3.42137881e+01] [-8.57383674e-03 9.54737393e-05 9.99963239e-01 7.45802630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.394391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.06, Y:34.21, Z:7.46 [[ 9.99930168e-01 -3.64145228e-03 1.12427002e-02 3.63060549e+02] [ 3.68031096e-03 9.99987319e-01 -3.43759580e-03 3.42086923e+01] [-1.12300397e-02 3.47873238e-03 9.99930890e-01 7.45614431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.08, Y:34.21, Z:7.46 [[ 9.99963339e-01 -6.93663078e-03 5.02035166e-03 3.63082224e+02] [ 6.92096918e-03 9.99971150e-01 3.13030184e-03 3.42130934e+01] [-5.04192058e-03 -3.09544139e-03 9.99982498e-01 7.45715942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.454391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.12, Y:34.21, Z:7.46 [[ 9.99948148e-01 -3.70759330e-03 9.48444888e-03 3.63119288e+02] [ 3.74474329e-03 9.99985375e-01 -3.90218200e-03 3.42094560e+01] [-9.46984246e-03 3.93749650e-03 9.99947408e-01 7.45675570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.15, Y:34.21, Z:7.45 [[ 9.99944712e-01 5.93419543e-04 1.04986547e-02 3.63150856e+02] [-6.03950881e-04 9.99999318e-01 9.99971122e-04 3.42085034e+01] [-1.04980542e-02 -1.00625651e-03 9.99944388e-01 7.45364736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.514391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.18, Y:34.21, Z:7.46 [[ 9.99965202e-01 6.74842018e-04 8.31500245e-03 3.63183871e+02] [-6.39926085e-04 9.99990971e-01 -4.20109408e-03 3.42112005e+01] [-8.31776244e-03 4.19562691e-03 9.99956605e-01 7.45694460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.21, Y:34.21, Z:7.45 [[ 9.99930401e-01 4.66988393e-03 1.08344650e-02 3.63213737e+02] [-4.72995097e-03 9.99973550e-01 5.52508583e-03 3.42079838e+01] [-1.08083769e-02 -5.57594778e-03 9.99926041e-01 7.45090284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.574391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.25, Y:34.21, Z:7.45 [[ 9.99944509e-01 5.92992538e-03 8.70719849e-03 3.63245393e+02] [-5.92972926e-03 9.99982418e-01 -4.83402489e-05 3.42108863e+01] [-8.70733206e-03 -3.29376322e-06 9.99962090e-01 7.45470946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.28, Y:34.22, Z:7.46 [[ 9.99929003e-01 8.30185630e-03 8.54804375e-03 3.63276756e+02] [-8.15609495e-03 9.99823107e-01 -1.69479560e-02 3.42157681e+01] [-8.68723116e-03 1.68770341e-02 9.99819833e-01 7.45906900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.634391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.31, Y:34.21, Z:7.45 [[ 9.99926446e-01 9.03131455e-03 8.09560969e-03 3.63305871e+02] [-8.96085175e-03 9.99922019e-01 -8.69825025e-03 3.42130874e+01] [-8.17353502e-03 8.62506690e-03 9.99929398e-01 7.45303475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.32, Y:34.21, Z:7.45 [[ 9.99985916e-01 4.46219965e-03 -2.87338101e-03 3.63323217e+02] [-4.38300044e-03 9.99625734e-01 2.70033419e-02 3.42106072e+01] [ 2.99279991e-03 -2.69903676e-02 9.99631214e-01 7.44641029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.694391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.35, Y:34.22, Z:7.46 [[ 9.99967545e-01 7.07941919e-03 -3.84599801e-03 3.63352346e+02] [-7.07953173e-03 9.99974940e-01 -1.56467514e-05 3.42199134e+01] [ 3.84579086e-03 4.28741085e-05 9.99992604e-01 7.45932641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.39, Y:34.22, Z:7.46 [[ 9.99903224e-01 1.30377931e-02 4.85367825e-03 3.63393119e+02] [-1.28996685e-02 9.99539197e-01 -2.74771266e-02 3.42200758e+01] [-5.20968276e-03 2.74118566e-02 9.99610649e-01 7.46166524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.754391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.42, Y:34.21, Z:7.44 [[ 9.99908300e-01 1.15049876e-02 7.14332459e-03 3.63423963e+02] [-1.15433923e-02 9.99919015e-01 5.35855763e-03 3.42089206e+01] [-7.08109595e-03 -5.44052444e-03 9.99960129e-01 7.44477799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.44, Y:34.21, Z:7.45 [[ 9.99931609e-01 9.50165074e-03 -6.81878062e-03 3.63437701e+02] [-9.36406074e-03 9.99757445e-01 1.99340242e-02 3.42140087e+01] [ 7.00653283e-03 -1.98688095e-02 9.99778045e-01 7.45054403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.47, Y:34.22, Z:7.46 [[ 9.99919509e-01 1.07971073e-02 -6.66316573e-03 3.63466101e+02] [-1.07976298e-02 9.99941703e-01 -4.24438614e-05 3.42211639e+01] [ 6.66231901e-03 1.14386842e-04 9.99977800e-01 7.46038932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.844391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.49, Y:34.22, Z:7.46 [[ 9.99865549e-01 1.51088211e-02 -6.37242636e-03 3.63493548e+02] [-1.51093915e-02 9.99885846e-01 -4.13856965e-05 3.42216199e+01] [ 6.37107363e-03 1.37663617e-04 9.99979695e-01 7.46045885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.52, Y:34.22, Z:7.46 [[ 9.99831264e-01 1.73419034e-02 -6.05826571e-03 3.63520562e+02] [-1.73424703e-02 9.99849607e-01 -4.10490540e-05 3.42223444e+01] [ 6.05664273e-03 1.46107421e-04 9.99981648e-01 7.46019329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.904391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.55, Y:34.22, Z:7.46 [[ 9.99793297e-01 1.92325929e-02 -6.59323061e-03 3.63547140e+02] [-1.92333083e-02 9.99815022e-01 -4.51148039e-05 3.42233885e+01] [ 6.59114333e-03 1.71915116e-04 9.99978263e-01 7.46070648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.934391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.57, Y:34.22, Z:7.46 [[ 9.99763034e-01 2.06431186e-02 -6.90930136e-03 3.63573634e+02] [-2.06439440e-02 9.99786890e-01 -4.81680313e-05 3.42238603e+01] [ 6.90683458e-03 1.90791848e-04 9.99976129e-01 7.46076876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.964391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.60, Y:34.22, Z:7.46 [[ 9.99739740e-01 2.14566323e-02 -7.75019332e-03 3.63601494e+02] [-2.14577007e-02 9.99769756e-01 -5.47237813e-05 3.42238074e+01] [ 7.74723470e-03 2.21010868e-04 9.99969965e-01 7.46051316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.63, Y:34.22, Z:7.46 [[ 9.99734767e-01 2.15097493e-02 -8.22959640e-03 3.63629777e+02] [-2.15109635e-02 9.99768611e-01 -5.90481522e-05 3.42234308e+01] [ 8.22642205e-03 2.36059039e-04 9.99966135e-01 7.46027980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.66, Y:34.22, Z:7.46 [[ 9.99741802e-01 2.09698368e-02 -8.75183472e-03 3.63657706e+02] [-2.09711981e-02 9.99780078e-01 -6.37876283e-05 3.42235276e+01] [ 8.74857239e-03 2.47307618e-04 9.99961700e-01 7.46018031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.68, Y:34.22, Z:7.46 [[ 9.99740565e-01 2.09587769e-02 -8.91812953e-03 3.63684473e+02] [-2.09602016e-02 9.99780309e-01 -6.63061360e-05 3.42232542e+01] [ 8.91478060e-03 2.53214727e-04 9.99960230e-01 7.45999656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.71, Y:34.22, Z:7.46 [[ 9.99770164e-01 1.94110837e-02 -9.10101465e-03 3.63711420e+02] [-1.94125137e-02 9.99811557e-01 -6.88027953e-05 3.42220974e+01] [ 9.09796409e-03 2.45460554e-04 9.99958583e-01 7.45935214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.74, Y:34.22, Z:7.46 [[ 9.99799782e-01 1.80025993e-02 -8.73510537e-03 3.63739583e+02] [-1.80038707e-02 9.99837915e-01 -6.69257786e-05 3.42208488e+01] [ 8.73248470e-03 2.24178086e-04 9.99961846e-01 7.45865548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.77, Y:34.22, Z:7.46 [[ 9.99839834e-01 1.54670345e-02 -9.00427035e-03 3.63766342e+02] [-1.54682938e-02 9.99880356e-01 -7.02228221e-05 3.42191451e+01] [ 9.00210691e-03 2.09492274e-04 9.99959458e-01 7.45898219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.79, Y:34.22, Z:7.46 [[ 9.99835863e-01 1.57030938e-02 -9.03662720e-03 3.63793979e+02] [-1.57043799e-02 9.99876676e-01 -7.13773594e-05 3.42192236e+01] [ 9.03439192e-03 2.13280271e-04 9.99959166e-01 7.45906353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.82, Y:34.22, Z:7.46 [[ 9.99765512e-01 1.93420749e-02 -9.73680301e-03 3.63822398e+02] [-1.93437505e-02 9.99812889e-01 -7.79438938e-05 3.42197064e+01] [ 9.73347355e-03 2.66271906e-04 9.99952593e-01 7.45896409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.85, Y:34.22, Z:7.46 [[ 9.99767297e-01 1.92495760e-02 -9.73679662e-03 3.63850846e+02] [-1.92512551e-02 9.99814674e-01 -7.87405440e-05 3.42200490e+01] [ 9.73347642e-03 2.66167777e-04 9.99952593e-01 7.45880497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.88, Y:34.22, Z:7.46 [[ 9.99742588e-01 2.05064939e-02 -9.70782496e-03 3.63878153e+02] [-2.05082363e-02 9.99789681e-01 -7.99563619e-05 3.42203655e+01] [ 9.70414359e-03 2.79026148e-04 9.99952875e-01 7.45846409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.91, Y:34.22, Z:7.46 [[ 9.99716722e-01 2.15875825e-02 -1.00225357e-02 3.63905763e+02] [-2.15895041e-02 9.99766916e-01 -8.35635639e-05 3.42209275e+01] [ 1.00183957e-02 2.99921469e-04 9.99949770e-01 7.45881124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.93, Y:34.22, Z:7.46 [[ 9.99666345e-01 2.35092334e-02 -1.07011751e-02 3.63933394e+02] [-2.35115471e-02 9.99723561e-01 -9.04457460e-05 3.42206688e+01] [ 1.06960905e-02 3.42016751e-04 9.99942737e-01 7.45859053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.96, Y:34.22, Z:7.46 [[ 9.99641102e-01 2.43829640e-02 -1.10967942e-02 3.63961334e+02] [-2.43855203e-02 9.99702624e-01 -9.50965847e-05 3.42205353e+01] [ 1.10911755e-02 3.65663554e-04 9.99938424e-01 7.45823546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.99, Y:34.22, Z:7.46 [[ 9.99587707e-01 2.64508398e-02 -1.11699911e-02 3.63989328e+02] [-2.64535736e-02 9.99650038e-01 -9.70399187e-05 3.42202253e+01] [ 1.11635153e-02 3.92486092e-04 9.99937609e-01 7.45806670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.02, Y:34.22, Z:7.46 [[ 9.99550709e-01 2.79035374e-02 -1.09440982e-02 3.64016505e+02] [-2.79062663e-02 9.99610540e-01 -9.66899776e-05 3.42204198e+01] [ 1.09371379e-02 4.02055454e-04 9.99940107e-01 7.45776393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.04, Y:34.22, Z:7.46 [[ 9.99524220e-01 2.89122294e-02 -1.07432251e-02 3.64044822e+02] [-2.89149638e-02 9.99581870e-01 -9.92558031e-05 3.42205083e+01] [ 1.07358634e-02 4.09848545e-04 9.99942285e-01 7.45755169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.07, Y:34.22, Z:7.46 [[ 9.99549877e-01 2.80763959e-02 -1.05715911e-02 3.64072067e+02] [-2.80790019e-02 9.99605702e-01 -9.81364379e-05 3.42199184e+01] [ 1.05646674e-02 3.94931992e-04 9.99944114e-01 7.45741589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.504391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.10, Y:34.22, Z:7.46 [[ 9.99582641e-01 2.70068427e-02 -1.02554341e-02 3.64100511e+02] [-2.70092502e-02 9.99635179e-01 -9.62941832e-05 3.42189377e+01] [ 1.02490921e-02 3.73245580e-04 9.99947407e-01 7.45694182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.13, Y:34.22, Z:7.46 [[ 9.99655384e-01 2.45690991e-02 -9.24510254e-03 3.64128589e+02] [-2.45709619e-02 9.99698084e-01 -8.79408882e-05 3.42155180e+01] [ 9.24015067e-03 3.15071644e-04 9.99957259e-01 7.45605084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.16, Y:34.21, Z:7.46 [[ 9.99678622e-01 2.35377529e-02 -9.41413962e-03 3.64155325e+02] [-2.35396514e-02 9.99722900e-01 -9.08954877e-05 3.42140858e+01] [ 9.40939149e-03 3.12471841e-04 9.99955682e-01 7.45558320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.594391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.18, Y:34.21, Z:7.46 [[ 9.99697796e-01 2.27673761e-02 -9.27161133e-03 3.64182947e+02] [-2.27691935e-02 9.99740744e-01 -9.04947813e-05 3.42129098e+01] [ 9.26714728e-03 3.01574546e-04 9.99957014e-01 7.45521093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.624391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.21, Y:34.21, Z:7.46 [[ 9.99725486e-01 2.13180584e-02 -9.72079247e-03 3.64209864e+02] [-2.13200010e-02 9.99772698e-01 -9.62444490e-05 3.42105182e+01] [ 9.71653117e-03 3.03465333e-04 9.99952747e-01 7.45524083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.654391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.24, Y:34.21, Z:7.46 [[ 9.99746494e-01 2.04354548e-02 -9.45202865e-03 3.64237010e+02] [-2.04372734e-02 9.99791133e-01 -9.58433036e-05 3.42094269e+01] [ 9.44809583e-03 2.88992700e-04 9.99955324e-01 7.45501830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.684391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.26, Y:34.21, Z:7.45 [[ 9.99758319e-01 1.99435373e-02 -9.24976392e-03 3.64264764e+02] [-1.99452629e-02 9.99801069e-01 -9.43347324e-05 3.42080449e+01] [ 9.24604248e-03 2.78800906e-04 9.99957216e-01 7.45478086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.714391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.29, Y:34.20, Z:7.45 [[ 9.99766375e-01 1.98006261e-02 -8.66776039e-03 3.64291268e+02] [-1.98021467e-02 9.99803914e-01 -8.96357233e-05 3.42043207e+01] [ 8.66428592e-03 2.61255045e-04 9.99962430e-01 7.45349089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.744391418 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:364.32, Y:34.20, Z:7.45 [[ 9.99753347e-01 2.06225817e-02 -8.24344865e-03 3.64318315e+02] [-2.06240019e-02 9.99787299e-01 -8.72965857e-05 3.42029205e+01] [ 8.23989498e-03 2.57287954e-04 9.99966018e-01 7.45275864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.35, Y:34.20, Z:7.45 [[ 9.99742646e-01 2.12217108e-02 -8.01751709e-03 3.64346695e+02] [-2.12230765e-02 9.99774762e-01 -8.52917558e-05 3.42016734e+01] [ 8.01390120e-03 2.55426184e-04 9.99967856e-01 7.45284235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.37, Y:34.20, Z:7.45 [[ 9.99739939e-01 2.14863509e-02 -7.64138860e-03 3.64374622e+02] [-2.14876066e-02 9.99769111e-01 -8.22604861e-05 3.41991420e+01] [ 7.63785681e-03 2.46434245e-04 9.99970801e-01 7.45267628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.40, Y:34.20, Z:7.45 [[ 9.99746636e-01 2.12547025e-02 -7.40961310e-03 3.64402415e+02] [-2.12558833e-02 9.99774065e-01 -8.06376207e-05 3.41977037e+01] [ 7.40622508e-03 2.38115061e-04 9.99972545e-01 7.45271398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.43, Y:34.20, Z:7.45 [[ 9.99751906e-01 2.11498987e-02 -6.98632166e-03 3.64430095e+02] [-2.11509517e-02 9.99776291e-01 -7.68669249e-05 3.41960634e+01] [ 6.98313302e-03 2.24615207e-04 9.99975592e-01 7.45234415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.46, Y:34.19, Z:7.45 [[ 9.99762574e-01 2.06189100e-02 -7.04673917e-03 3.64458220e+02] [-2.06199737e-02 9.99787383e-01 -7.83283014e-05 3.41918130e+01] [ 7.04362587e-03 2.23613281e-04 9.99975168e-01 7.45126520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.49, Y:34.19, Z:7.45 [[ 9.99769494e-01 2.03833671e-02 -6.74364898e-03 3.64486306e+02] [-2.03843413e-02 9.99792215e-01 -7.57555200e-05 3.41902406e+01] [ 6.74070360e-03 2.13202901e-04 9.99977258e-01 7.45099684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.51, Y:34.19, Z:7.45 [[ 9.99772309e-01 2.05063347e-02 -5.90090422e-03 3.64513151e+02] [-2.05070884e-02 9.99789705e-01 -6.72471746e-05 3.41888929e+01] [ 5.89828430e-03 1.88242227e-04 9.99982587e-01 7.45049892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.54, Y:34.19, Z:7.45 [[ 9.99776814e-01 2.04708206e-02 -5.22184758e-03 3.64541506e+02] [-2.04714136e-02 9.99790437e-01 -6.01221246e-05 3.41862041e+01] [ 5.21952252e-03 1.67007308e-04 9.99986364e-01 7.45082146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.57, Y:34.19, Z:7.45 [[ 9.99781639e-01 2.03236388e-02 -4.86052944e-03 3.64568347e+02] [-2.03241547e-02 9.99793441e-01 -5.67681364e-05 3.41850772e+01] [ 4.85837172e-03 1.55541893e-04 9.99988186e-01 7.45044952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.60, Y:34.18, Z:7.45 [[ 9.99770223e-01 2.09633744e-02 -4.47633471e-03 3.64596154e+02] [-2.09638205e-02 9.99780234e-01 -5.27577964e-05 3.41839198e+01] [ 4.47424498e-03 1.46586751e-04 9.99989980e-01 7.44966669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.62, Y:34.18, Z:7.45 [[ 9.99699950e-01 2.41499627e-02 -4.09745117e-03 3.64622857e+02] [-2.41503689e-02 9.99708336e-01 -4.96769891e-05 3.41823702e+01] [ 4.09505639e-03 1.48617041e-04 9.99991604e-01 7.44909835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104391418 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:364.65, Y:34.18, Z:7.45 [[ 9.99657532e-01 2.58457479e-02 -4.10064307e-03 3.64650961e+02] [-2.58461689e-02 9.99665931e-01 -4.96827857e-05 3.41830584e+01] [ 4.09798908e-03 1.55651684e-04 9.99991591e-01 7.44884901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.68, Y:34.18, Z:7.45 [[ 9.99600356e-01 2.79970056e-02 -3.91093621e-03 3.64679123e+02] [-2.79974067e-02 9.99607995e-01 -4.78534070e-05 3.41837380e+01] [ 3.90806335e-03 1.57330354e-04 9.99992351e-01 7.44885517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.71, Y:34.18, Z:7.45 [[ 9.99536412e-01 3.02599468e-02 -3.36114717e-03 3.64707203e+02] [-3.02602575e-02 9.99542053e-01 -4.16007138e-05 3.41849102e+01] [ 3.35834910e-03 1.43290607e-04 9.99994350e-01 7.44947896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.73, Y:34.19, Z:7.45 [[ 9.99556470e-01 2.96030020e-02 -3.24416572e-03 3.64733829e+02] [-2.96032898e-02 9.99561726e-01 -4.07020628e-05 3.41852533e+01] [ 3.24153898e-03 1.36721988e-04 9.99994737e-01 7.44943272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.76, Y:34.19, Z:7.45 [[ 9.99605957e-01 2.78924939e-02 -3.15282606e-03 3.64762126e+02] [-2.78927579e-02 9.99610921e-01 -3.98148677e-05 3.41850449e+01] [ 3.15048882e-03 1.27740193e-04 9.99995029e-01 7.44910978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.79, Y:34.18, Z:7.45 [[ 9.99672356e-01 2.53678584e-02 -3.41351385e-03 3.64788703e+02] [-2.53681549e-02 9.99678176e-01 -4.35945974e-05 3.41839671e+01] [ 3.41130940e-03 1.30174862e-04 9.99994173e-01 7.44841931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.82, Y:34.18, Z:7.45 [[ 9.99842797e-01 1.73382144e-02 -3.71057662e-03 3.64815671e+02] [-1.73385111e-02 9.99849676e-01 -4.77925096e-05 3.41809568e+01] [ 3.70919019e-03 1.12120870e-04 9.99993115e-01 7.44723519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.314391418 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:364.84, Y:34.18, Z:7.45 [[ 9.99914156e-01 1.25349030e-02 -3.81545586e-03 3.64843951e+02] [-1.25351828e-02 9.99921430e-01 -4.94287940e-05 3.41795340e+01] [ 3.81453650e-03 9.72519876e-05 9.99992720e-01 7.44689104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.87, Y:34.18, Z:7.45 [[ 9.99993781e-01 1.66459552e-03 -3.10934374e-03 3.64871956e+02] [-1.66472997e-03 9.99998614e-01 -4.06534971e-05 3.41752850e+01] [ 3.10927176e-03 4.58294620e-05 9.99995165e-01 7.44576772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.90, Y:34.17, Z:7.45 [[ 9.99987865e-01 -4.06053412e-03 -2.78960723e-03 3.64901020e+02] [ 4.06044790e-03 9.99991756e-01 -3.65704795e-05 3.41729871e+01] [ 2.78973272e-03 2.52429810e-05 9.99996108e-01 7.44573999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.404391418 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:364.93, Y:34.17, Z:7.45 [[ 9.99950728e-01 -9.66969371e-03 -2.24471181e-03 3.64932068e+02] [ 9.66965336e-03 9.99953247e-01 -2.88289065e-05 3.41704437e+01] [ 2.24488563e-03 7.12190088e-06 9.99997480e-01 7.44573078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.96, Y:34.17, Z:7.45 [[ 9.99806843e-01 -1.96354913e-02 -8.51467089e-04 3.64964843e+02] [ 1.96354907e-02 9.99807205e-01 -9.04145091e-06 3.41651524e+01] [ 8.51480464e-04 -7.67926965e-06 9.99999637e-01 7.44579774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.464391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.00, Y:34.16, Z:7.45 [[ 9.99713196e-01 -2.39380490e-02 -7.03997202e-04 3.64996918e+02] [ 2.39380491e-02 9.99713444e-01 -8.28698720e-06 3.41629712e+01] [ 7.03993841e-04 -8.56770912e-06 9.99999752e-01 7.44600214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.494391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:365.03, Y:34.16, Z:7.45 [[ 9.99527675e-01 -3.07192522e-02 -8.68748435e-04 3.65029825e+02] [ 3.07192550e-02 9.99528052e-01 -1.01506111e-05 3.41588073e+01] [ 8.68650250e-04 -1.65414879e-05 9.99999623e-01 7.44625732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.524391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:365.06, Y:34.16, Z:7.45 [[ 9.99453566e-01 -3.30470844e-02 -6.78615097e-04 3.65062712e+02] [ 3.30470868e-02 9.99453796e-01 -7.69180611e-06 3.41572091e+01] [ 6.78498626e-04 -1.47386490e-05 9.99999770e-01 7.44593804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.554391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:365.10, Y:34.16, Z:7.45 [[ 9.99410406e-01 -3.43208444e-02 -9.59433321e-04 3.65096057e+02] [ 3.43208496e-02 9.99410866e-01 -1.10357611e-05 3.41555463e+01] [ 9.59246842e-04 -2.18993122e-05 9.99999540e-01 7.44585900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.584391418 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:365.13, Y:34.15, Z:7.45 [[ 9.99395420e-01 -3.47489981e-02 -1.14091521e-03 3.65129150e+02] [ 3.47490058e-02 9.99396071e-01 -1.31193445e-05 3.41542239e+01] [ 1.14068206e-03 -2.65342563e-05 9.99999349e-01 7.44576323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.614391418 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:365.16, Y:34.15, Z:7.45 [[ 9.99410951e-01 -3.43009851e-02 -1.09204363e-03 3.65162590e+02] [ 3.43009920e-02 9.99411548e-01 -1.23954871e-05 3.41518501e+01] [ 1.09182619e-03 -2.50699944e-05 9.99999404e-01 7.44549904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.644391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:365.20, Y:34.15, Z:7.45 [[ 9.99441751e-01 -3.33960156e-02 -9.44952725e-04 3.65195376e+02] [ 3.33960206e-02 9.99442197e-01 -1.05185598e-05 3.41510620e+01] [ 9.44776906e-04 -2.10449728e-05 9.99999553e-01 7.44556580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67439141799997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:365.23, Y:34.15, Z:7.45 [[ 9.99470620e-01 -3.25154610e-02 -1.10620096e-03 3.65227792e+02] [ 3.25154672e-02 9.99471232e-01 -1.24319444e-05 3.41506737e+01] [ 1.10602027e-03 -2.35432778e-05 9.99999388e-01 7.44593800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.704391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:365.26, Y:34.15, Z:7.45 [[ 9.99509239e-01 -3.13067160e-02 -1.08203291e-03 3.65260914e+02] [ 3.13067215e-02 9.99509824e-01 -1.19198012e-05 3.41501029e+01] [ 1.08187570e-03 -2.19609516e-05 9.99999415e-01 7.44593706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.734391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:365.29, Y:34.15, Z:7.45 [[ 9.99598987e-01 -2.83158885e-02 -2.74739618e-04 3.65292764e+02] [ 2.83158888e-02 9.99599025e-01 -2.62765428e-06 3.41484629e+01] [ 2.74703858e-04 -5.15289591e-06 9.99999962e-01 7.44623816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.764391418 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:365.33, Y:34.15, Z:7.45 [[ 9.99662709e-01 -2.59607831e-02 7.11291197e-04 3.65325681e+02] [ 2.59607834e-02 9.99662962e-01 8.75853286e-06 3.41476118e+01] [-7.11278843e-04 9.71009801e-06 9.99999747e-01 7.44608073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.794391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:365.36, Y:34.15, Z:7.45 [[ 9.99775641e-01 -2.11337261e-02 1.42562955e-03 3.65357683e+02] [ 2.11337233e-02 9.99776658e-01 1.70515277e-05 3.41456252e+01] [-1.42567151e-03 1.30811583e-05 9.99998984e-01 7.44598565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.824391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:365.39, Y:34.14, Z:7.45 [[ 9.99822035e-01 -1.88222653e-02 1.27332510e-03 3.65389394e+02] [ 1.88222614e-02 9.99822845e-01 1.50934770e-05 3.41449643e+01] [-1.27338362e-03 8.87606695e-06 9.99999189e-01 7.44595194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.854391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:365.42, Y:34.14, Z:7.45 [[ 9.99859179e-01 -1.67614010e-02 8.23275857e-04 3.65422719e+02] [ 1.67613987e-02 9.99859518e-01 9.61545462e-06 3.41442332e+01] [-8.23321370e-04 4.18515435e-06 9.99999661e-01 7.44614333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.884391418 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:365.45, Y:34.14, Z:7.45 [[ 9.99907958e-01 -1.35370939e-02 9.07008406e-04 3.65454653e+02] [ 1.35370897e-02 9.99908369e-01 1.07545081e-05 3.41424485e+01] [-9.07070881e-04 1.52473588e-06 9.99999589e-01 7.44550557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.914391418 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:365.49, Y:34.14, Z:7.45 [[ 9.99926799e-01 -1.20338008e-02 1.25855920e-03 3.65486922e+02] [ 1.20337929e-02 9.99927591e-01 1.38209775e-05 3.41412138e+01] [-1.25863438e-03 1.32527491e-06 9.99999208e-01 7.44515631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.944391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:365.52, Y:34.14, Z:7.44 [[ 9.99945320e-01 -1.03485160e-02 1.50480223e-03 3.65519379e+02] [ 1.03485031e-02 9.99946453e-01 1.63311170e-05 3.41395540e+01] [-1.50489065e-03 -7.57773486e-07 9.99998868e-01 7.44477649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.974391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:365.55, Y:34.14, Z:7.44 [[ 9.99974435e-01 -6.90681010e-03 1.85077636e-03 3.65550462e+02] [ 6.90678531e-03 9.99976148e-01 1.97843138e-05 3.41368730e+01] [-1.85086887e-03 -7.00089303e-06 9.99998287e-01 7.44444785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.004391418 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:365.58, Y:34.14, Z:7.44 [[ 9.99985329e-01 -5.12377143e-03 1.75774335e-03 3.65582496e+02] [ 5.12374631e-03 9.99986873e-01 1.87903925e-05 3.41363945e+01] [-1.75781655e-03 -9.78388586e-06 9.99998455e-01 7.44403306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.034391418 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:365.61, Y:34.14, Z:7.44 [[ 9.99992707e-01 -3.58076304e-03 1.32848838e-03 3.65613903e+02] [ 3.58074744e-03 9.99993589e-01 1.41213503e-05 3.41363888e+01] [-1.32853042e-03 -9.36426593e-06 9.99999117e-01 7.44431512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.064391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:365.65, Y:34.13, Z:7.44 [[ 9.99998972e-01 -9.74785871e-04 1.05198973e-03 3.65646561e+02] [ 9.74774552e-04 9.99999525e-01 1.12731803e-05 3.41349902e+01] [-1.05200022e-03 -1.02477159e-05 9.99999447e-01 7.44364537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.094391418 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:365.68, Y:34.13, Z:7.44 [[ 9.99999342e-01 3.88440365e-04 1.07915341e-03 3.65676982e+02] [-3.88452694e-04 9.99999925e-01 1.12157983e-05 3.41336964e+01] [-1.07914897e-03 -1.16349910e-05 9.99999418e-01 7.44307932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.124391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:365.71, Y:34.13, Z:7.44 [[ 9.99998155e-01 1.52654094e-03 1.16623004e-03 3.65707724e+02] [-1.52655599e-03 9.99998835e-01 1.20081726e-05 3.41327529e+01] [-1.16621035e-03 -1.37884658e-05 9.99999320e-01 7.44275457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.154391418 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:365.74, Y:34.13, Z:7.44 [[ 9.99998185e-01 1.50644394e-03 1.16623096e-03 3.65737880e+02] [-1.50645886e-03 9.99998865e-01 1.19194262e-05 3.41330988e+01] [-1.16621168e-03 -1.36762835e-05 9.99999320e-01 7.44258622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.184391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:365.77, Y:34.13, Z:7.44 [[ 9.99990641e-01 4.05555002e-03 1.50663286e-03 3.65767193e+02] [-4.05557792e-03 9.99991776e-01 1.54622013e-05 3.41318020e+01] [-1.50655777e-03 -2.15723236e-05 9.99998865e-01 7.44242301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.214391418 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:365.80, Y:34.13, Z:7.44 [[ 9.99982974e-01 5.57998510e-03 1.70747307e-03 3.65796436e+02] [-5.58002310e-03 9.99984431e-01 1.74920756e-05 3.41318532e+01] [-1.70734888e-03 -2.70195169e-05 9.99998542e-01 7.44282018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.244391418 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:365.83, Y:34.13, Z:7.44 [[ 9.99975460e-01 6.77969241e-03 1.76487356e-03 3.65825542e+02] [-6.77973474e-03 9.99977017e-01 1.80004114e-05 3.41323554e+01] [-1.76471096e-03 -2.99653442e-05 9.99998442e-01 7.44307491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.274391418 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:365.85, Y:34.13, Z:7.44 [[ 9.99958240e-01 8.88288848e-03 2.14753685e-03 3.65854186e+02] [-8.88295658e-03 9.99960546e-01 2.21779758e-05 3.41321472e+01] [-2.14725511e-03 -4.12535262e-05 9.99997694e-01 7.44287103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.304391418 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:365.88, Y:34.13, Z:7.44 [[ 9.99952538e-01 9.60692643e-03 1.62155573e-03 3.65883488e+02] [-9.60696625e-03 9.99953852e-01 1.67683628e-05 3.41315292e+01] [-1.62131981e-03 -3.23457982e-05 9.99998685e-01 7.44243047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.334391418 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:365.91, Y:34.13, Z:7.44 [[ 9.99952296e-01 9.61080612e-03 1.74322561e-03 3.65911622e+02] [-9.61085232e-03 9.99953815e-01 1.81292908e-05 3.41307596e+01] [-1.74297086e-03 -3.48823098e-05 9.99998480e-01 7.44142377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.364391418 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:365.94, Y:34.13, Z:7.44 [[ 9.99955787e-01 9.28613356e-03 1.48076391e-03 3.65940389e+02] [-9.28616677e-03 9.99956883e-01 1.55515309e-05 3.41298990e+01] [-1.48055565e-03 -2.93014640e-05 9.99998904e-01 7.44075363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.394391418 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:365.97, Y:34.13, Z:7.44 [[ 9.99972434e-01 7.38583901e-03 7.61385823e-04 3.65969038e+02] [-7.38584712e-03 9.99972724e-01 7.83764200e-06 3.41286953e+01] [-7.61307168e-04 -1.34609052e-05 9.99999710e-01 7.44070296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42439141799997 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:366.00, Y:34.13, Z:7.44 [[ 9.99982234e-01 5.89314373e-03 8.95314893e-04 3.65997691e+02] [-5.89315447e-03 9.99982635e-01 9.36694580e-06 3.41283035e+01] [-8.95244146e-04 -1.46430084e-05 9.99999599e-01 7.44068819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.454391418 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:366.03, Y:34.13, Z:7.44 [[ 9.99996637e-01 2.39037780e-03 1.00630382e-03 3.66026202e+02] [-2.39038984e-03 9.99997143e-01 1.07623147e-05 3.41263644e+01] [-1.00627522e-03 -1.31677369e-05 9.99999494e-01 7.44017814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484391418 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:366.06, Y:34.13, Z:7.44 [[ 9.99999505e-01 -4.38206964e-05 9.94538170e-04 3.66055955e+02] [ 4.38099898e-05 9.99999999e-01 1.07871745e-05 3.41253209e+01] [-9.94538642e-04 -1.07435984e-05 9.99999505e-01 7.43941610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.514391418 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:366.09, Y:34.12, Z:7.44 [[ 9.99997734e-01 -1.98487935e-03 7.69209199e-04 3.66086657e+02] [ 1.98487339e-03 9.99998030e-01 8.51613689e-06 3.41239876e+01] [-7.69224588e-04 -6.98933472e-06 9.99999704e-01 7.43917760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544391418 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:366.12, Y:34.12, Z:7.44 [[ 9.99979090e-01 -6.39993951e-03 9.27398353e-04 3.66116904e+02] [ 6.39993265e-03 9.99979520e-01 1.03597409e-05 3.41221173e+01] [-9.27445662e-04 -4.42423730e-06 9.99999570e-01 7.43918677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.574391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:366.15, Y:34.12, Z:7.44 [[ 9.99965865e-01 -8.13035837e-03 1.47211349e-03 3.66149416e+02] [ 8.13034275e-03 9.99966948e-01 1.65952912e-05 3.41216400e+01] [-1.47219976e-03 -4.62593748e-06 9.99998916e-01 7.43940680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604391418 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:366.18, Y:34.12, Z:7.44 [[ 9.99954554e-01 -9.35011907e-03 1.86150068e-03 3.66181427e+02] [ 9.35009669e-03 9.99956287e-01 2.07233469e-05 3.41209268e+01] [-1.86161307e-03 -3.31719383e-06 9.99998267e-01 7.43938383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.634391418 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:366.21, Y:34.12, Z:7.44 [[ 9.99933456e-01 -1.13518753e-02 2.05402144e-03 3.66212431e+02] [ 1.13518529e-02 9.99935565e-01 2.25829554e-05 3.41195147e+01] [-2.05414545e-03 7.35496487e-07 9.99997890e-01 7.43887126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664391418 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:366.24, Y:34.12, Z:7.44 [[ 9.99928956e-01 -1.17100588e-02 2.22639288e-03 3.66244450e+02] [ 1.17100335e-02 9.99931435e-01 2.43926245e-05 3.41191597e+01] [-2.22652586e-03 1.68024368e-06 9.99997521e-01 7.43909331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.694391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:366.28, Y:34.12, Z:7.44 [[ 9.99926026e-01 -1.19794722e-02 2.10582486e-03 3.66275950e+02] [ 1.19794506e-02 9.99928244e-01 2.28497234e-05 3.41190276e+01] [-2.10594748e-03 2.37859176e-06 9.99997782e-01 7.43875523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724391418 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:366.31, Y:34.12, Z:7.44 [[ 9.99922799e-01 -1.20116523e-02 3.18070394e-03 3.66308410e+02] [ 1.20116044e-02 9.99927858e-01 3.41861123e-05 3.41184882e+01] [-3.18088511e-03 4.02188435e-06 9.99994941e-01 7.43858567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.754391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:366.34, Y:34.12, Z:7.44 [[ 9.99932945e-01 -1.10741037e-02 3.38674152e-03 3.66340198e+02] [ 1.10740449e-02 9.99938680e-01 3.61130488e-05 3.41181553e+01] [-3.38693377e-03 1.39430053e-06 9.99994264e-01 7.43868524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784391418 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:366.37, Y:34.12, Z:7.44 [[ 9.99939136e-01 -1.03092813e-02 3.92966208e-03 3.66371744e+02] [ 1.03091977e-02 9.99946858e-01 4.15351120e-05 3.41181559e+01] [-3.92988144e-03 -1.02092084e-06 9.99992278e-01 7.43847600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.814391418 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:366.40, Y:34.12, Z:7.44 [[ 9.99958779e-01 -8.04925560e-03 4.20123886e-03 3.66403471e+02] [ 8.04914220e-03 9.99967604e-01 4.38980957e-05 3.41176960e+01] [-4.20145610e-03 -1.00799171e-05 9.99991174e-01 7.43861642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.844391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:366.44, Y:34.12, Z:7.44 [[ 9.99968311e-01 -6.86192102e-03 4.03629224e-03 3.66435713e+02] [ 6.86180792e-03 9.99976457e-01 4.18697826e-05 3.41178178e+01] [-4.03648452e-03 -1.41721937e-05 9.99991853e-01 7.43853380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.874391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:366.47, Y:34.12, Z:7.44 [[ 9.99985505e-01 -4.18851879e-03 3.38326763e-03 3.66467852e+02] [ 4.18842465e-03 9.99991228e-01 3.49088356e-05 3.41175415e+01] [-3.38338417e-03 -2.07377681e-05 9.99994276e-01 7.43885746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.904391418 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:366.50, Y:34.12, Z:7.44 [[ 9.99992271e-01 -2.31809166e-03 3.17566692e-03 3.66499303e+02] [ 2.31800020e-03 9.99997313e-01 3.24795482e-05 3.41160439e+01] [-3.17573368e-03 -2.51181006e-05 9.99994957e-01 7.43799368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.934391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:366.53, Y:34.11, Z:7.44 [[ 9.99994275e-01 -1.47150806e-03 3.04703393e-03 3.66531449e+02] [ 1.47142030e-03 9.99998917e-01 3.10435951e-05 3.41139519e+01] [-3.04707632e-03 -2.65599498e-05 9.99995357e-01 7.43769014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.964391418 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:366.56, Y:34.11, Z:7.44 [[ 9.99991325e-01 -1.56411716e-03 3.86052934e-03 3.66562496e+02] [ 1.56397884e-03 9.99998776e-01 3.88489133e-05 3.41131788e+01] [-3.86058538e-03 -3.28107900e-05 9.99992547e-01 7.43741941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.994391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:366.60, Y:34.11, Z:7.44 [[ 9.99989079e-01 -1.31177650e-03 4.48573863e-03 3.66595129e+02] [ 1.31158861e-03 9.99999139e-01 4.48276690e-05 3.41120428e+01] [-4.48579358e-03 -3.89437357e-05 9.99989938e-01 7.43777621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.024391418 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:366.63, Y:34.11, Z:7.44 [[ 9.99989157e-01 -1.25072857e-03 4.48574249e-03 3.66626985e+02] [ 1.25054182e-03 9.99999217e-01 4.44381381e-05 3.41123194e+01] [-4.48579456e-03 -3.88280477e-05 9.99989938e-01 7.43759853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.054391418 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:366.66, Y:34.11, Z:7.44 [[ 9.99986133e-01 -1.27389391e-03 5.10986816e-03 3.66659641e+02] [ 1.27365366e-03 9.99999188e-01 5.02712178e-05 3.41110863e+01] [-5.10992805e-03 -4.37623185e-05 9.99986943e-01 7.43732657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.084391418 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:366.69, Y:34.11, Z:7.44 [[ 9.99985818e-01 -1.01380034e-03 5.22838267e-03 3.66691335e+02] [ 1.01354757e-03 9.99999485e-01 5.09943410e-05 3.41077804e+01] [-5.22843168e-03 -4.56944032e-05 9.99986331e-01 7.43663665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.114391418 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:366.72, Y:34.11, Z:7.44 [[ 9.99987001e-01 3.20876781e-04 5.08873265e-03 3.66723675e+02] [-3.21132030e-04 9.99999947e-01 4.93426778e-05 3.41063425e+01] [-5.08871655e-03 -5.09761914e-05 9.99987051e-01 7.43624399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.144391418 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:366.75, Y:34.10, Z:7.44 [[ 9.99975373e-01 4.53815786e-03 5.35338790e-03 3.66754852e+02] [-4.53849834e-03 9.99989700e-01 5.14536954e-05 3.41047780e+01] [-5.35309925e-03 -7.57487703e-05 9.99985669e-01 7.43640064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17439141799997 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:366.79, Y:34.10, Z:7.44 [[ 9.99959294e-01 6.77528240e-03 5.95873151e-03 3.66785435e+02] [-6.77574174e-03 9.99977043e-01 5.69021175e-05 3.41043647e+01] [-5.95820918e-03 -9.72746270e-05 9.99982245e-01 7.43621120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.204391418 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:366.82, Y:34.10, Z:7.44 [[ 9.99943808e-01 8.89720801e-03 5.76367615e-03 3.66815549e+02] [-8.89767301e-03 9.99960413e-01 5.50394622e-05 3.41040324e+01] [-5.76295829e-03 -1.06319675e-04 9.99983388e-01 7.43654084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.234391418 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:366.85, Y:34.10, Z:7.44 [[ 9.99921258e-01 1.12122691e-02 5.63581981e-03 3.66845187e+02] [-1.12127504e-02 9.99937134e-01 5.38207151e-05 3.41036499e+01] [-5.63486205e-03 -1.17009518e-04 9.99984117e-01 7.43664046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.264391418 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:366.87, Y:34.10, Z:7.44 [[ 9.99881016e-01 1.44572328e-02 5.37987890e-03 3.66874296e+02] [-1.44577194e-02 9.99895480e-01 5.15823988e-05 3.41022172e+01] [-5.37857085e-03 -1.29357041e-04 9.99985527e-01 7.43591739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.294391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:366.90, Y:34.10, Z:7.43 [[ 9.99868154e-01 1.54624801e-02 4.95846833e-03 3.66903548e+02] [-1.54629071e-02 9.99880441e-01 4.78041038e-05 3.41011179e+01] [-4.95713633e-03 -1.24470136e-04 9.99987706e-01 7.43492246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.324391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:366.93, Y:34.10, Z:7.43 [[ 9.99845956e-01 1.69282627e-02 4.63665264e-03 3.66931294e+02] [-1.69286533e-02 9.99856699e-01 4.50242051e-05 3.40978866e+01] [-4.63522602e-03 -1.23509555e-04 9.99989250e-01 7.43401618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.354391418 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:366.96, Y:34.10, Z:7.43 [[ 9.99833152e-01 1.75735034e-02 4.98403290e-03 3.66960540e+02] [-1.75739658e-02 9.99845565e-01 4.90028761e-05 3.40968998e+01] [-4.98240203e-03 -1.36583924e-04 9.99987578e-01 7.43338859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.384391418 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:366.99, Y:34.10, Z:7.43 [[ 9.99838827e-01 1.72758276e-02 4.88528844e-03 3.66989651e+02] [-1.72762702e-02 9.99850753e-01 4.84136977e-05 3.40955722e+01] [-4.88372294e-03 -1.32805458e-04 9.99988066e-01 7.43334754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.414391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:367.02, Y:34.09, Z:7.43 [[ 9.99841492e-01 1.69976716e-02 5.29813235e-03 3.67018653e+02] [-1.69981908e-02 9.99855519e-01 5.29771892e-05 3.40948830e+01] [-5.29646638e-03 -1.43027456e-04 9.99985963e-01 7.43314295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.444391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:367.05, Y:34.09, Z:7.43 [[ 9.99847817e-01 1.65017013e-02 5.66005646e-03 3.67047497e+02] [-1.65022887e-02 9.99863826e-01 5.70924445e-05 3.40939332e+01] [-5.65834358e-03 -1.50487642e-04 9.99983980e-01 7.43285439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.474391418 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:367.08, Y:34.09, Z:7.43 [[ 9.99864915e-01 1.50840103e-02 6.52871483e-03 3.67075582e+02] [-1.50847658e-02 9.99886216e-01 6.64850332e-05 3.40911812e+01] [-6.52696911e-03 -1.64960186e-04 9.99978686e-01 7.43214734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.504391418 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:367.10, Y:34.09, Z:7.43 [[ 9.99874139e-01 1.44369681e-02 6.57882524e-03 3.67104153e+02] [-1.44377256e-02 9.99895768e-01 6.76739842e-05 3.40906382e+01] [-6.57716251e-03 -1.62648740e-04 9.99978357e-01 7.43145451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.534391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:367.13, Y:34.09, Z:7.43 [[ 9.99881744e-01 1.40017680e-02 6.35996293e-03 3.67132530e+02] [-1.40024697e-02 9.99901958e-01 6.58137254e-05 3.40903168e+01] [-6.35841788e-03 -1.54861131e-04 9.99979773e-01 7.43128454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.564391418 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:367.16, Y:34.09, Z:7.43 [[ 9.99890804e-01 1.33083479e-02 6.42397742e-03 3.67161589e+02] [-1.33090528e-02 9.99911428e-01 6.70027843e-05 3.40903648e+01] [-6.42251674e-03 -1.52492523e-04 9.99979364e-01 7.43072491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.594391418 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:367.19, Y:34.09, Z:7.43 [[ 9.99923628e-01 1.06363332e-02 6.29333235e-03 3.67189654e+02] [-1.06369601e-02 9.99943424e-01 6.61616506e-05 3.40903270e+01] [-6.29227258e-03 -1.33098523e-04 9.99980195e-01 7.43079232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.624391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:367.22, Y:34.09, Z:7.43 [[ 9.99919717e-01 1.04554496e-02 7.15836549e-03 3.67220426e+02] [-1.04116276e-02 9.99926996e-01 -6.13193836e-03 3.40904541e+01] [-7.22195507e-03 6.05691584e-03 9.99955578e-01 7.43050308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.654391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:367.25, Y:34.09, Z:7.43 [[ 9.99964468e-01 5.45651869e-03 6.42570199e-03 3.67250021e+02] [-5.49723515e-03 9.99964817e-01 6.33597824e-03 3.40866636e+01] [-6.39090354e-03 -6.37107671e-03 9.99959282e-01 7.42703471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.684391418 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:367.28, Y:34.09, Z:7.43 [[ 9.99969271e-01 3.42719254e-03 7.05060145e-03 3.67280842e+02] [-3.42780825e-03 9.99994122e-01 7.52446571e-05 3.40884679e+01] [-7.05030213e-03 -9.94104548e-05 9.99975141e-01 7.42885935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.714391418 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:367.31, Y:34.09, Z:7.43 [[ 9.99967224e-01 1.16910942e-03 8.01152926e-03 3.67311746e+02] [-1.16983118e-03 9.99999312e-01 8.54044294e-05 3.40886200e+01] [-8.01142390e-03 -9.47737669e-05 9.99967904e-01 7.42867411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.744391418 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:367.34, Y:34.09, Z:7.43 [[ 9.99952889e-01 -3.89403535e-03 8.89130560e-03 3.67343551e+02] [ 3.91122421e-03 9.99990514e-01 -1.91665126e-03 3.40898241e+01] [-8.88375776e-03 1.95133686e-03 9.99958635e-01 7.42918276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.774391418 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:367.37, Y:34.09, Z:7.43 [[ 9.99935717e-01 -7.75202945e-03 8.27459340e-03 3.67374362e+02] [ 7.73476607e-03 9.99967847e-01 2.11627869e-03 3.40896939e+01] [-8.29073280e-03 -2.05214061e-03 9.99963526e-01 7.42877321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.804391418 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:367.41, Y:34.09, Z:7.43 [[ 9.99905212e-01 -1.11841695e-02 8.03005868e-03 3.67407961e+02] [ 1.11838680e-02 9.99937455e-01 8.24508045e-05 3.40907738e+01] [-8.03047858e-03 7.36412726e-06 9.99967755e-01 7.42896319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.834391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:367.44, Y:34.09, Z:7.43 [[ 9.99861755e-01 -1.47441831e-02 7.68641027e-03 3.67440083e+02] [ 1.47440271e-02 9.99891298e-01 7.69669331e-05 3.40906209e+01] [-7.68670956e-03 3.63723482e-05 9.99970456e-01 7.42786434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.864391418 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:367.47, Y:34.09, Z:7.43 [[ 9.99718905e-01 -2.24526499e-02 7.61505694e-03 3.67472011e+02] [ 2.24527295e-02 9.99747903e-01 7.50489968e-05 3.40897522e+01] [-7.61482226e-03 9.59509129e-05 9.99971002e-01 7.42628246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.894391418 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:367.51, Y:34.09, Z:7.43 [[ 9.99625845e-01 -2.62614954e-02 7.64876000e-03 3.67505009e+02] [ 2.62617020e-02 9.99655099e-01 7.34481851e-05 3.40898077e+01] [-7.64805080e-03 1.27448752e-04 9.99970745e-01 7.42585421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92439141799997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:367.54, Y:34.09, Z:7.43 [[ 9.99518130e-01 -3.00014611e-02 7.96366859e-03 3.67537032e+02] [ 3.00018131e-02 9.99549841e-01 7.52822837e-05 3.40900861e+01] [-7.96234225e-03 1.63678489e-04 9.99968287e-01 7.42575944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.954391418 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:367.57, Y:34.09, Z:7.43 [[ 9.99258937e-01 -3.75741466e-02 8.35223951e-03 3.67568834e+02] [ 3.75748148e-02 9.99293814e-01 7.69538449e-05 3.40910083e+01] [-8.34923275e-03 2.36937036e-04 9.99965116e-01 7.42585853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984391418 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:367.60, Y:34.09, Z:7.43 [[ 9.99154139e-01 -4.03309481e-02 8.02629883e-03 3.67601510e+02] [ 4.03316690e-02 9.99186345e-01 7.20852064e-05 3.40913269e+01] [-8.02267546e-03 2.51689796e-04 9.99967786e-01 7.42567503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.014391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:367.63, Y:34.09, Z:7.42 [[ 9.99002701e-01 -4.40080026e-02 7.54319617e-03 3.67634701e+02] [ 4.40087505e-02 9.99031143e-01 6.68823313e-05 3.40915897e+01] [-7.53883125e-03 2.65151009e-04 9.99971547e-01 7.42417935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044391418 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:367.67, Y:34.09, Z:7.42 [[ 9.99008938e-01 -4.38661704e-02 7.54320458e-03 3.67668253e+02] [ 4.38669216e-02 9.99037381e-01 6.59218701e-05 3.40917665e+01] [-7.53883509e-03 2.65040626e-04 9.99971547e-01 7.42399541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.074391418 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:367.70, Y:34.09, Z:7.42 [[ 9.98960519e-01 -4.49492663e-02 7.57923070e-03 3.67701539e+02] [ 4.49500637e-02 9.98989233e-01 6.51964100e-05 3.40920525e+01] [-7.57450040e-03 2.75558263e-04 9.99971275e-01 7.42337044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104391418 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:367.73, Y:34.09, Z:7.42 [[ 9.98886750e-01 -4.65033949e-02 7.91803772e-03 3.67734316e+02] [ 4.65043219e-02 9.98918087e-01 6.71010515e-05 3.40931928e+01] [-7.91259152e-03 3.01196624e-04 9.99968650e-01 7.42354221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.134391418 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:367.77, Y:34.10, Z:7.42 [[ 9.98828964e-01 -4.75756388e-02 8.78977186e-03 3.67766763e+02] [ 4.75768383e-02 9.98867578e-01 7.27083527e-05 3.40957156e+01] [-8.78327728e-03 3.45566346e-04 9.99961367e-01 7.42496920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164391418 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:367.80, Y:34.10, Z:7.43 [[ 9.98819645e-01 -4.77507936e-02 8.89819452e-03 3.67799595e+02] [ 4.77520488e-02 9.98859218e-01 7.14632185e-05 3.40970082e+01] [-8.89145604e-03 3.53528152e-04 9.99960408e-01 7.42509538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.194391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:367.83, Y:34.10, Z:7.42 [[ 9.98857067e-01 -4.68776979e-02 9.32955347e-03 3.67832104e+02] [ 4.68790576e-02 9.98900570e-01 7.30088006e-05 3.40975356e+01] [-9.32271876e-03 3.64435318e-04 9.99956476e-01 7.42431290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224391418 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:367.86, Y:34.10, Z:7.42 [[ 9.98918322e-01 -4.57281098e-02 8.43357682e-03 3.67864022e+02] [ 4.57292005e-02 9.98953871e-01 6.35595116e-05 3.40985861e+01] [-8.42766066e-03 3.22169965e-04 9.99964435e-01 7.42298743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.254391418 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:367.90, Y:34.10, Z:7.42 [[ 9.98955799e-01 -4.49884692e-02 7.95927882e-03 3.67897550e+02] [ 4.49894322e-02 9.98987461e-01 5.81113045e-05 3.40995288e+01] [-7.95383408e-03 3.00032810e-04 9.99968323e-01 7.42225397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.284391418 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:367.93, Y:34.10, Z:7.42 [[ 9.98964748e-01 -4.48271542e-02 7.74330731e-03 3.67930242e+02] [ 4.48280679e-02 9.98994715e-01 5.56071306e-05 3.41009666e+01] [-7.73801579e-03 2.91567942e-04 9.99970019e-01 7.42229170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.314391418 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:367.96, Y:34.10, Z:7.42 [[ 9.98969919e-01 -4.46692245e-02 7.98504482e-03 3.67963267e+02] [ 4.46701992e-02 9.99001787e-01 5.63294366e-05 3.41023254e+01] [-7.97959024e-03 3.00422130e-04 9.99968117e-01 7.42228092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.344391418 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:368.00, Y:34.10, Z:7.42 [[ 9.98958604e-01 -4.47073882e-02 9.10807345e-03 3.67996785e+02] [ 4.47086691e-02 9.99000066e-01 6.30322119e-05 3.41044278e+01] [-9.10178398e-03 3.44243271e-04 9.99958519e-01 7.42215393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.374391418 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:368.03, Y:34.10, Z:7.42 [[ 9.98947867e-01 -4.48769877e-02 9.44537384e-03 3.68029086e+02] [ 4.48783869e-02 9.98992456e-01 6.38690854e-05 3.41049125e+01] [-9.43872346e-03 3.60091255e-04 9.99955389e-01 7.42185261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.404391418 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:368.06, Y:34.11, Z:7.42 [[ 9.98869506e-01 -4.65602137e-02 9.58422052e-03 3.68062484e+02] [ 4.65617472e-02 9.98915412e-01 6.31881828e-05 3.41054133e+01] [-9.57676764e-03 3.83141304e-04 9.99954068e-01 7.42155394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.434391418 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:368.10, Y:34.11, Z:7.42 [[ 9.98808811e-01 -4.78384163e-02 9.61487224e-03 3.68095545e+02] [ 4.78400301e-02 9.98855008e-01 6.22116309e-05 3.41057341e+01] [-9.60683940e-03 3.97838252e-04 9.99953774e-01 7.42108989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.464391418 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:368.13, Y:34.11, Z:7.42 [[ 9.98750213e-01 -4.90220603e-02 9.73903009e-03 3.68127688e+02] [ 4.90237916e-02 9.98797609e-01 6.10257415e-05 3.41061962e+01] [-9.73031157e-03 4.16494709e-04 9.99952573e-01 7.42044331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.494391418 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:368.16, Y:34.11, Z:7.42 [[ 9.98588347e-01 -5.22417804e-02 9.59733204e-03 3.68160982e+02] [ 5.22436390e-02 9.98634367e-01 5.71173791e-05 3.41071280e+01] [-9.58720952e-03 4.44362801e-04 9.99953943e-01 7.42001866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.524391418 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:368.19, Y:34.11, Z:7.42 [[ 9.98504508e-01 -5.38395093e-02 9.48968212e-03 3.68193600e+02] [ 5.38414273e-02 9.98549497e-01 5.34334037e-05 3.41069384e+01] [-9.47879413e-03 4.57584535e-04 9.99954971e-01 7.41987013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.554391418 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:368.23, Y:34.11, Z:7.42 [[ 9.98396899e-01 -5.58248290e-02 9.33923967e-03 3.68226503e+02] [ 5.58268007e-02 9.98440467e-01 4.96468078e-05 3.41065061e+01] [-9.32744634e-03 4.71812653e-04 9.99956387e-01 7.41949531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.584391418 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:368.26, Y:34.11, Z:7.42 [[ 9.98184931e-01 -5.95035885e-02 9.28260963e-03 3.68260095e+02] [ 5.95057234e-02 9.98227963e-01 4.62748385e-05 3.41051985e+01] [-9.26891403e-03 5.06177554e-04 9.99956915e-01 7.41870370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.614391418 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:368.29, Y:34.11, Z:7.42 [[ 9.98101865e-01 -6.09591223e-02 8.75510281e-03 3.68292157e+02] [ 6.09610985e-02 9.98140142e-01 4.12250082e-05 3.41052262e+01] [-8.74133260e-03 4.92573927e-04 9.99961673e-01 7.41857973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.644391418 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:368.32, Y:34.10, Z:7.42 [[ 9.97897358e-01 -6.46440805e-02 4.69105849e-03 3.68324490e+02] [ 6.44952819e-02 9.97554591e-01 2.69294915e-02 3.40975264e+01] [-6.42041915e-03 -2.65703173e-02 9.99626328e-01 7.41700222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67439141799997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:368.36, Y:34.11, Z:7.43 [[ 9.97895622e-01 -6.45560033e-02 6.07050400e-03 3.68357306e+02] [ 6.45801677e-02 9.97905009e-01 -3.87241947e-03 3.41085646e+01] [-5.80779843e-03 4.25630460e-03 9.99974076e-01 7.42565347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.704391418 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:368.39, Y:34.11, Z:7.42 [[ 9.97890530e-01 -6.45173117e-02 7.21150125e-03 3.68390225e+02] [ 6.45313191e-02 9.97914189e-01 -1.72662143e-03 3.41079624e+01] [-7.08506244e-03 2.18834686e-03 9.99972506e-01 7.42346401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.734391418 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:368.42, Y:34.11, Z:7.42 [[ 9.97910087e-01 -6.42604114e-02 6.78655454e-03 3.68422101e+02] [ 6.42764034e-02 9.97929786e-01 -2.16497340e-03 3.41080143e+01] [-6.63338284e-03 2.59666411e-03 9.99974627e-01 7.42319482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.764391418 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:368.45, Y:34.11, Z:7.42 [[ 9.97989142e-01 -6.27239143e-02 9.13137848e-03 3.68452859e+02] [ 6.28981104e-02 9.97814778e-01 -2.02360060e-02 3.41132365e+01] [-7.84214289e-03 2.07696607e-02 9.99753531e-01 7.42265885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.794391418 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:368.49, Y:34.11, Z:7.41 [[ 9.98076732e-01 -6.14111587e-02 8.45611453e-03 3.68485560e+02] [ 6.14131078e-02 9.98112433e-01 2.92177365e-05 3.41054606e+01] [-8.44194735e-03 4.90154731e-04 9.99964246e-01 7.41412790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.824391418 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:368.52, Y:34.11, Z:7.41 [[ 9.98009718e-01 -6.23398288e-02 9.50523573e-03 3.68517609e+02] [ 6.23423504e-02 9.98054823e-01 3.10631993e-05 3.41066098e+01] [-9.48868285e-03 5.61577362e-04 9.99954824e-01 7.41485494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.854391418 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:368.55, Y:34.10, Z:7.41 [[ 9.97973934e-01 -6.31407750e-02 7.82753914e-03 3.68548373e+02] [ 6.30387042e-02 9.97930719e-01 1.26649515e-02 3.41036855e+01] [-8.61101662e-03 -1.21458535e-02 9.99889158e-01 7.41346123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.884391418 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:368.58, Y:34.11, Z:7.42 [[ 9.98122121e-01 -6.03864856e-02 1.02812211e-02 3.68581326e+02] [ 6.05116616e-02 9.98091291e-01 -1.23334317e-02 3.41107714e+01] [-9.51682466e-03 1.29324048e-02 9.99871083e-01 7.41779880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.914391418 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:368.61, Y:34.11, Z:7.41 [[ 9.98187791e-01 -5.93081603e-02 1.01821641e-02 3.68614522e+02] [ 5.93109789e-02 9.98239554e-01 2.51859842e-05 3.41069568e+01] [-1.01657327e-02 5.78773777e-04 9.99948160e-01 7.41274693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.944391418 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:368.65, Y:34.11, Z:7.41 [[ 9.98237960e-01 -5.84776722e-02 1.00666477e-02 3.68647960e+02] [ 5.84804180e-02 9.98288556e-01 2.16279571e-05 3.41067489e+01] [-1.00506839e-02 5.67111917e-04 9.99949330e-01 7.41219757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.974391418 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:368.68, Y:34.11, Z:7.41 [[ 9.98298970e-01 -5.74404367e-02 9.98811040e-03 3.68680669e+02] [ 5.74431205e-02 9.98348781e-01 1.82160500e-05 3.41062551e+01] [-9.97266417e-03 5.55563165e-04 9.99950117e-01 7.41170223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.004391418 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:368.71, Y:34.11, Z:7.41 [[ 9.98245166e-01 -5.83637185e-02 1.00131978e-02 3.68711773e+02] [ 5.83092747e-02 9.98282602e-01 5.64586669e-03 3.41061527e+01] [-1.03255149e-02 -5.05209683e-03 9.99933928e-01 7.41099043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.034391418 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:368.74, Y:34.11, Z:7.41 [[ 9.98295177e-01 -5.74822730e-02 1.01256486e-02 3.68743738e+02] [ 5.74855956e-02 9.98346335e-01 -3.71605676e-05 3.41081911e+01] [-1.01067681e-02 6.19176157e-04 9.99948734e-01 7.41203211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.064391418 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:368.78, Y:34.11, Z:7.41 [[ 9.98380629e-01 -5.59460031e-02 1.03036298e-02 3.68775657e+02] [ 5.59526755e-02 9.98433357e-01 -3.60226795e-04 3.41069853e+01] [-1.02673344e-02 9.36159109e-04 9.99946851e-01 7.41216372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.094391418 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:368.81, Y:34.11, Z:7.41 [[ 9.98514894e-01 -5.33835417e-02 1.08721876e-02 3.68809014e+02] [ 5.34427289e-02 9.98557231e-01 -5.22794603e-03 3.41059224e+01] [-1.05774153e-02 5.80122135e-03 9.99927229e-01 7.41138453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.124391418 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:368.84, Y:34.10, Z:7.41 [[ 9.98511162e-01 -5.33942563e-02 1.11585742e-02 3.68842516e+02] [ 5.33975008e-02 9.98573336e-01 7.18284945e-06 3.41033017e+01] [-1.11430381e-02 5.88667816e-04 9.99937741e-01 7.40900479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.154391418 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:368.87, Y:34.10, Z:7.41 [[ 9.98496716e-01 -5.36201136e-02 1.13662735e-02 3.68874380e+02] [ 5.36235368e-02 9.98561223e-01 3.59421388e-06 3.41022286e+01] [-1.13501127e-02 6.05910977e-04 9.99935402e-01 7.40857615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.184391418 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:368.91, Y:34.10, Z:7.41 [[ 9.98457026e-01 -5.42611358e-02 1.18023708e-02 3.68907391e+02] [ 5.42649165e-02 9.98526574e-01 -9.38783929e-08 3.40998657e+01] [-1.17849758e-02 6.40548399e-04 9.99930350e-01 7.40752784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.214391418 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:368.94, Y:34.10, Z:7.41 [[ 9.98459759e-01 -5.42094212e-02 1.18088166e-02 3.68939848e+02] [ 5.42132477e-02 9.98529381e-01 -3.92944770e-06 3.40986967e+01] [-1.17912373e-02 6.44117693e-04 9.99930273e-01 7.40669788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.244391418 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:368.97, Y:34.10, Z:7.41 [[ 9.98485890e-01 -5.37599894e-02 1.16529337e-02 3.68972565e+02] [ 5.37637275e-02 9.98553685e-01 -7.54017653e-06 3.40974182e+01] [-1.16356745e-02 6.34033912e-04 9.99932102e-01 7.40604925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.274391418 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:369.00, Y:34.10, Z:7.40 [[ 9.98536273e-01 -5.29364442e-02 1.10925801e-02 3.69004365e+02] [ 5.29398154e-02 9.98597705e-01 -1.02944324e-05 3.40958972e+01] [-1.10764801e-02 5.97518508e-04 9.99938475e-01 7.40498756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.304391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:369.04, Y:34.10, Z:7.40 [[ 9.98574189e-01 -5.22438938e-02 1.09619676e-02 3.69036484e+02] [ 5.22471724e-02 9.98634184e-01 -1.27344152e-05 3.40950757e+01] [-1.09463303e-02 5.85448068e-04 9.99939916e-01 7.40470894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.334391418 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:369.07, Y:34.09, Z:7.40 [[ 9.98605907e-01 -5.16225107e-02 1.10163354e-02 3.69069753e+02] [ 5.16258221e-02 9.98666498e-01 -1.62389291e-05 3.40943296e+01] [-1.10008068e-02 5.84943660e-04 9.99939318e-01 7.40429383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.364391418 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:369.10, Y:34.09, Z:7.40 [[ 9.98668743e-01 -5.02659678e-02 1.15790285e-02 3.69102329e+02] [ 5.02695797e-02 9.98735685e-01 -2.09205436e-05 3.40922211e+01] [-1.15633374e-02 6.02965589e-04 9.99932961e-01 7.40373447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.394391418 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:369.14, Y:34.09, Z:7.40 [[ 9.98693183e-01 -4.96822956e-02 1.19831187e-02 3.69135549e+02] [ 4.96861575e-02 9.98764880e-01 -2.46000137e-05 3.40910681e+01] [-1.19670959e-02 6.19962990e-04 9.99928200e-01 7.40358073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42439141799997 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:369.17, Y:34.09, Z:7.40 [[ 9.98753354e-01 -4.84291165e-02 1.20978606e-02 3.69167196e+02] [ 4.84329887e-02 9.98826434e-01 -2.71288303e-05 3.40892884e+01] [-1.20823492e-02 6.13030558e-04 9.99926818e-01 7.40303359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.454391418 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:369.20, Y:34.09, Z:7.40 [[ 9.98794103e-01 -4.77130016e-02 1.15676275e-02 3.69200233e+02] [ 4.77165250e-02 9.98860917e-01 -2.86378417e-05 3.40882907e+01] [-1.15530846e-02 5.80570295e-04 9.99933092e-01 7.40228249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484391418 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:369.23, Y:34.09, Z:7.40 [[ 9.98883992e-01 -4.60143029e-02 1.06515015e-02 3.69231894e+02] [ 4.60172134e-02 9.98940647e-01 -2.81941991e-05 3.40863078e+01] [-1.06389204e-02 5.18315150e-04 9.99943271e-01 7.40123121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.514391418 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:369.26, Y:34.09, Z:7.40 [[ 9.98882883e-01 -4.60214938e-02 1.07242012e-02 3.69264450e+02] [ 4.60244742e-02 9.98940312e-01 -3.11533604e-05 3.40859575e+01] [-1.07114032e-02 5.24694279e-04 9.99942494e-01 7.40151546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544391418 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:369.30, Y:34.08, Z:7.40 [[ 9.98983151e-01 -4.39018743e-02 1.02610784e-02 3.69296236e+02] [ 4.39045088e-02 9.99035732e-01 -3.15183329e-05 3.40843932e+01] [-1.02498002e-02 4.81993888e-04 9.99947353e-01 7.40078438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.574391418 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:369.33, Y:34.08, Z:7.40 [[ 9.99041997e-01 -4.26810165e-02 9.66533096e-03 3.69329502e+02] [ 4.26833206e-02 9.99088651e-01 -3.21343218e-05 3.40836657e+01] [-9.65515094e-03 4.44651957e-04 9.99953289e-01 7.40065701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:369.36, Y:34.08, Z:7.40 [[ 9.99156503e-01 -3.99324834e-02 9.57497698e-03 3.69362461e+02] [ 3.99346297e-02 9.99202294e-01 -3.30025114e-05 3.40820121e+01] [-9.56602109e-03 4.15347834e-04 9.99954158e-01 7.39987903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.634391418 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:369.40, Y:34.08, Z:7.40 [[ 9.99224137e-01 -3.81798519e-02 9.66556047e-03 3.69395539e+02] [ 3.81819689e-02 9.99270802e-01 -3.45171368e-05 3.40811966e+01] [-9.65719450e-03 4.03540485e-04 9.99953287e-01 7.39955744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664391418 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:369.43, Y:34.08, Z:7.40 [[ 9.99286237e-01 -3.64119278e-02 1.00592418e-02 3.69428059e+02] [ 3.64141464e-02 9.99336784e-01 -3.74196109e-05 3.40804567e+01] [-1.00512078e-02 4.03691604e-04 9.99949404e-01 7.39924988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.694391418 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:369.46, Y:34.08, Z:7.40 [[ 9.99396150e-01 -3.30489864e-02 1.07284290e-02 3.69460780e+02] [ 3.30513385e-02 9.99453654e-01 -4.19683747e-05 3.40796005e+01] [-1.07211805e-02 3.96531969e-04 9.99942448e-01 7.39914757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724391418 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:369.49, Y:34.08, Z:7.40 [[ 9.99438730e-01 -3.18586996e-02 1.03561141e-02 3.69492806e+02] [ 3.18608397e-02 9.99492314e-01 -4.16967304e-05 3.40785448e+01] [-1.03495280e-02 3.71627817e-04 9.99946373e-01 7.39888708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.754391418 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:369.53, Y:34.08, Z:7.40 [[ 9.99479948e-01 -3.05660273e-02 1.02738662e-02 3.69525738e+02] [ 3.05680766e-02 9.99532686e-01 -4.24575715e-05 3.40773744e+01] [-1.02677673e-02 3.56487820e-04 9.99947222e-01 7.39815161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.784391418 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:369.56, Y:34.08, Z:7.40 [[ 9.99557103e-01 -2.82797249e-02 9.26580126e-03 3.69557625e+02] [ 2.82813029e-02 9.99600003e-01 -3.92959734e-05 3.40750645e+01] [-9.26098369e-03 3.01327502e-04 9.99957071e-01 7.39697493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.814391418 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:369.59, Y:34.07, Z:7.40 [[ 9.99602553e-01 -2.67308100e-02 8.95546821e-03 3.69589968e+02] [ 2.67322298e-02 9.99642629e-01 -3.88543349e-05 3.40737651e+01] [-8.95122918e-03 2.78238527e-04 9.99959898e-01 7.39621908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.844391418 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:369.62, Y:34.07, Z:7.40 [[ 9.99679667e-01 -2.39137504e-02 8.28830187e-03 3.69621972e+02] [ 2.39148761e-02 9.99713998e-01 -3.67204414e-05 3.40721316e+01] [-8.28505327e-03 2.34922391e-04 9.99965651e-01 7.39574759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.874391418 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:369.66, Y:34.07, Z:7.40 [[ 9.99712324e-01 -2.24583448e-02 8.41979723e-03 3.69655228e+02] [ 2.24594621e-02 9.99747754e-01 -3.81561892e-05 3.40712134e+01] [-8.41681644e-03 2.27249329e-04 9.99964552e-01 7.39553660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.904391418 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:369.69, Y:34.07, Z:7.40 [[ 9.99733645e-01 -2.13909862e-02 8.66397463e-03 3.69687927e+02] [ 2.13921387e-02 9.99771161e-01 -4.03525332e-05 3.40704116e+01] [-8.66112879e-03 2.25682732e-04 9.99962466e-01 7.39527899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.934391418 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:369.72, Y:34.07, Z:7.39 [[ 9.99747238e-01 -2.05914102e-02 9.02515087e-03 3.69720138e+02] [ 2.05926395e-02 9.99787948e-01 -4.32893588e-05 3.40678015e+01] [-9.02234568e-03 2.29130095e-04 9.99959272e-01 7.39452434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.964391418 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:369.75, Y:34.07, Z:7.39 [[ 9.99749967e-01 -2.04585234e-02 9.02514230e-03 3.69753683e+02] [ 2.04597628e-02 9.99790676e-01 -4.50114769e-05 3.40675095e+01] [-9.02233226e-03 2.29652493e-04 9.99959272e-01 7.39426908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.994391418 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:369.79, Y:34.07, Z:7.39 [[ 9.99749327e-01 -2.04921949e-02 9.01961263e-03 3.69786317e+02] [ 2.04934448e-02 9.99789986e-01 -4.61689859e-05 3.40652840e+01] [-9.01677228e-03 2.31000346e-04 9.99959321e-01 7.39383826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.024391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:369.82, Y:34.06, Z:7.39 [[ 9.99741627e-01 -2.07101828e-02 9.36841099e-03 3.69819499e+02] [ 2.07115520e-02 9.99785492e-01 -4.91484129e-05 3.40629655e+01] [-9.36538352e-03 2.43170046e-04 9.99956114e-01 7.39302003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.054391418 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:369.85, Y:34.06, Z:7.39 [[ 9.99735427e-01 -2.08917361e-02 9.62346807e-03 3.69851368e+02] [ 2.08932006e-02 9.99781712e-01 -5.16601794e-05 3.40589578e+01] [-9.62028812e-03 2.52711561e-04 9.99953692e-01 7.39232126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.084391418 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:369.88, Y:34.06, Z:7.39 [[ 9.99733027e-01 -2.07770831e-02 1.01087852e-02 3.69884170e+02] [ 2.07787045e-02 9.99784098e-01 -5.53894556e-05 3.40572347e+01] [-1.01054519e-02 2.65422130e-04 9.99948903e-01 7.39145671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.114391418 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:369.92, Y:34.06, Z:7.39 [[ 9.99741451e-01 -2.04414550e-02 9.95883679e-03 3.69916239e+02] [ 2.04430236e-02 9.99791018e-01 -5.57281705e-05 3.40557730e+01] [-9.95561641e-03 2.59302498e-04 9.99950408e-01 7.39089867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.144391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:369.95, Y:34.05, Z:7.39 [[ 9.99763786e-01 -1.96332488e-02 9.32241114e-03 3.69948953e+02] [ 1.96345969e-02 9.99807221e-01 -5.30976545e-05 3.40526680e+01] [-9.31957150e-03 2.36126897e-04 9.99956544e-01 7.39024929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17439141799997 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:369.98, Y:34.05, Z:7.39 [[ 9.99781506e-01 -1.85599204e-02 9.61610181e-03 3.69982080e+02] [ 1.85613166e-02 9.99827722e-01 -5.59590158e-05 3.40506235e+01] [-9.61340658e-03 2.34434299e-04 9.99953763e-01 7.38915797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.204391418 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:370.01, Y:34.05, Z:7.39 [[ 9.99799084e-01 -1.73218907e-02 1.00868200e-02 3.70014948e+02] [ 1.73233766e-02 9.99849937e-01 -5.99561467e-05 3.40487860e+01] [-1.00842678e-02 2.34681882e-04 9.99949125e-01 7.38878059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.234391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:370.05, Y:34.05, Z:7.39 [[ 9.99832497e-01 -1.41736625e-02 1.15795067e-02 3.70048444e+02] [ 1.41754276e-02 9.99899521e-01 -7.03684732e-05 3.40459877e+01] [-1.15773458e-02 2.34501145e-04 9.99932953e-01 7.38836383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.264391418 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:370.08, Y:34.05, Z:7.39 [[ 9.99837128e-01 -1.15876002e-02 1.38363919e-02 3.70079883e+02] [ 1.17747026e-02 9.99839291e-01 -1.35184714e-02 3.40502800e+01] [-1.36775216e-02 1.36791890e-02 9.99812885e-01 7.38879490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.294391418 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:370.11, Y:34.04, Z:7.38 [[ 9.99876964e-01 -9.80866266e-03 1.22411733e-02 3.70112478e+02] [ 9.64317492e-03 9.99862295e-01 1.35055272e-02 3.40382711e+01] [-1.23719588e-02 -1.33858218e-02 9.99833863e-01 7.38386558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.324391418 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:370.14, Y:34.04, Z:7.39 [[ 9.99914557e-01 -5.18563533e-03 1.19995165e-02 3.70144208e+02] [ 5.18695198e-03 9.99986545e-01 -7.86062328e-05 3.40414446e+01] [-1.19989475e-02 1.40840433e-04 9.99928000e-01 7.38660601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.354391418 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:370.18, Y:34.04, Z:7.39 [[ 9.99925290e-01 -2.38539651e-03 1.19885380e-02 3.70177405e+02] [ 2.38653426e-03 9.99997149e-01 -8.05980699e-05 3.40403942e+01] [-1.19883116e-02 1.09203105e-04 9.99928132e-01 7.38580280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.384391418 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:370.21, Y:34.04, Z:7.38 [[ 9.99930478e-01 9.68099439e-04 1.17516378e-02 3.70209756e+02] [-9.67222033e-04 9.99999529e-01 -8.03456195e-05 3.40390824e+01] [-1.17517101e-02 6.89735907e-05 9.99930944e-01 7.38497142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.414391418 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:370.24, Y:34.04, Z:7.38 [[ 9.99898051e-01 7.21960799e-03 1.23192723e-02 3.70241936e+02] [-7.21910361e-03 9.99973938e-01 -8.54107600e-05 3.40375139e+01] [-1.23195679e-02 -3.53205075e-06 9.99924111e-01 7.38372143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.444391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:370.27, Y:34.04, Z:7.38 [[ 9.99867663e-01 1.04568539e-02 1.24623805e-02 3.70273776e+02] [-1.04565700e-02 9.99945325e-01 -8.79425181e-05 3.40369226e+01] [-1.24626187e-02 -4.23828744e-05 9.99922338e-01 7.38358153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.474391418 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:370.31, Y:34.04, Z:7.38 [[ 9.99788455e-01 1.67269730e-02 1.19688619e-02 3.70306350e+02] [-1.67271396e-02 9.99860088e-01 -8.61948750e-05 3.40366353e+01] [-1.19686291e-02 -1.14028183e-04 9.99928367e-01 7.38378859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.504391418 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:370.34, Y:34.04, Z:7.38 [[ 9.99720348e-01 2.00330080e-02 1.25660097e-02 3.70337226e+02] [-2.00334449e-02 9.99799306e-01 -9.11212053e-05 3.40361420e+01] [-1.25653133e-02 -1.60644740e-04 9.99921040e-01 7.38311600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.534391418 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:370.37, Y:34.04, Z:7.38 [[ 9.99647995e-01 2.32942861e-02 1.26988730e-02 3.70366182e+02] [-2.32949992e-02 9.99728630e-01 -9.17783236e-05 3.40356082e+01] [-1.26975648e-02 -2.04074218e-04 9.99919362e-01 7.38258068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.564391418 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:370.40, Y:34.04, Z:7.38 [[ 9.99571805e-01 2.62478267e-02 1.29328315e-02 3.70395271e+02] [-2.62488250e-02 9.99655436e-01 -9.25797306e-05 3.40350070e+01] [-1.29308053e-02 -2.46931542e-04 9.99916363e-01 7.38202923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.594391418 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:370.42, Y:34.03, Z:7.38 [[ 9.99434676e-01 3.09450335e-02 1.31428014e-02 3.70422607e+02] [-3.09464846e-02 9.99521039e-01 -9.29927736e-05 3.40340597e+01] [-1.31393841e-02 -3.13783298e-04 9.99913625e-01 7.38118697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.624391418 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:370.45, Y:34.03, Z:7.38 [[ 9.99358796e-01 3.31973499e-02 1.34139419e-02 3.70450413e+02] [-3.31990814e-02 9.99448754e-01 -9.36371583e-05 3.40337512e+01] [-1.34096560e-02 -3.51753432e-04 9.99910025e-01 7.38049371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.654391418 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:370.48, Y:34.03, Z:7.38 [[ 9.99270810e-01 3.56264383e-02 1.37333357e-02 3.70479218e+02] [-3.56285009e-02 9.99365099e-01 -9.45180767e-05 3.40332318e+01] [-1.37279837e-02 -3.94849008e-04 9.99905689e-01 7.37992443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.684391418 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:370.51, Y:34.03, Z:7.38 [[ 9.99101224e-01 4.01492606e-02 1.35934540e-02 3.70507343e+02] [-4.01517172e-02 9.99193590e-01 -9.22559531e-05 3.40320319e+01] [-1.35861961e-02 -4.53627485e-04 9.99907600e-01 7.37860339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.714391418 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:370.53, Y:34.03, Z:7.38 [[ 9.99036077e-01 4.20063698e-02 1.27428753e-02 3.70534813e+02] [-4.20086969e-02 9.99117241e-01 -8.51118086e-05 3.40313404e+01] [-1.27352017e-02 -4.50281819e-04 9.99918803e-01 7.37783519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.744391418 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:370.56, Y:34.03, Z:7.38 [[ 9.98883008e-01 4.50775554e-02 1.41686714e-02 3.70562212e+02] [-4.50807648e-02 9.98983341e-01 -9.29491284e-05 3.40308891e+01] [-1.41584566e-02 -5.45889239e-04 9.99899615e-01 7.37695386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.774391418 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:370.59, Y:34.03, Z:7.38 [[ 9.98802244e-01 4.67190100e-02 1.45399988e-02 3.70591463e+02] [-4.67225839e-02 9.98907899e-01 -9.39821857e-05 3.40306969e+01] [-1.45285104e-02 -5.85476697e-04 9.99894284e-01 7.37647358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.804391418 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:370.62, Y:34.03, Z:7.38 [[ 9.98647291e-01 4.96211227e-02 1.55348884e-02 3.70619953e+02] [-4.96255738e-02 9.98767887e-01 -9.90694798e-05 3.40301056e+01] [-1.55206636e-02 -6.71992283e-04 9.99879321e-01 7.37560082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.834391418 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:370.65, Y:34.03, Z:7.38 [[ 9.98590710e-01 5.07715386e-02 1.54545750e-02 3.70648185e+02] [-5.07761037e-02 9.98710057e-01 -9.71075703e-05 3.40300349e+01] [-1.54395698e-02 -6.87752386e-04 9.99880566e-01 7.37510556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.864391418 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:370.68, Y:34.03, Z:7.37 [[ 9.98523603e-01 5.18728401e-02 1.61190483e-02 3.70676369e+02] [-5.18779798e-02 9.98653426e-01 -9.94040030e-05 3.40296797e+01] [-1.61024992e-02 -7.36966421e-04 9.99870075e-01 7.37427034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.894391418 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:370.70, Y:34.03, Z:7.37 [[ 9.98490258e-01 5.23800958e-02 1.65387687e-02 3.70703971e+02] [-5.23856111e-02 9.98626926e-01 -9.98693744e-05 3.40289932e+01] [-1.65212909e-02 -7.66674908e-04 9.99863220e-01 7.37294005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92439141799997 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:370.73, Y:34.03, Z:7.37 [[ 9.98486692e-01 5.24140414e-02 1.66461686e-02 3.70731195e+02] [-5.24196723e-02 9.98625139e-01 -9.81717934e-05 3.40284738e+01] [-1.66284280e-02 -7.74563471e-04 9.99861438e-01 7.37231841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.954391418 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:370.76, Y:34.03, Z:7.37 [[ 9.98491852e-01 5.22508676e-02 1.68483766e-02 3.70758809e+02] [-5.22566522e-02 9.98633683e-01 -9.70329723e-05 3.40283473e+01] [-1.68304265e-02 -7.83553126e-04 9.99858051e-01 7.37204114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984391418 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:370.79, Y:34.03, Z:7.37 [[ 9.98572717e-01 5.08080346e-02 1.64642679e-02 3.70787240e+02] [-5.08133967e-02 9.98708161e-01 -9.27569885e-05 3.40282322e+01] [-1.64477116e-02 -7.43980780e-04 9.99864450e-01 7.37103622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.014391418 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:370.81, Y:34.03, Z:7.37 [[ 9.98620994e-01 4.99462113e-02 1.61705602e-02 3.70814871e+02] [-4.99513005e-02 9.98751651e-01 -8.92710101e-05 3.40282245e+01] [-1.61548325e-02 -7.18592609e-04 9.99869244e-01 7.37038117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044391418 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:370.84, Y:34.03, Z:7.37 [[ 9.98688473e-01 4.87768512e-02 1.55612523e-02 3.70843312e+02] [-4.87814447e-02 9.98809473e-01 -8.44742554e-05 3.40283973e+01] [-1.55468465e-02 -6.74736901e-04 9.99878913e-01 7.36978137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.074391418 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:370.87, Y:34.03, Z:7.37 [[ 9.98774790e-01 4.67552863e-02 1.62130334e-02 3.70871652e+02] [-4.67600298e-02 9.98906148e-01 -8.65962306e-05 3.40286697e+01] [-1.61993476e-02 -6.71631793e-04 9.99868556e-01 7.36820140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104391418 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:370.90, Y:34.03, Z:7.37 [[ 9.98804656e-01 4.57970049e-02 1.70849051e-02 3.70899570e+02] [-4.58021617e-02 9.98950526e-01 -8.95405907e-05 3.40288155e+01] [-1.70710756e-02 -6.93092027e-04 9.99854038e-01 7.36729580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.134391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:370.93, Y:34.03, Z:7.37 [[ 9.98825694e-01 4.49890861e-02 1.79781632e-02 3.70928632e+02] [-4.49946975e-02 9.98987221e-01 -9.24489506e-05 3.40291755e+01] [-1.79641145e-02 -7.16581626e-04 9.99838375e-01 7.36671991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164391418 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:370.96, Y:34.03, Z:7.37 [[ 9.98903933e-01 4.30001170e-02 1.84911312e-02 3.70956951e+02] [-4.30057434e-02 9.99074821e-01 -9.34465179e-05 3.40306868e+01] [-1.84780418e-02 -7.01880752e-04 9.99829020e-01 7.36586006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.194391418 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:370.99, Y:34.03, Z:7.36 [[ 9.98941403e-01 4.20631133e-02 1.86216949e-02 3.70985187e+02] [-4.20686914e-02 9.99114716e-01 -9.22494824e-05 3.40313026e+01] [-1.86090897e-02 -6.91238510e-04 9.99826597e-01 7.36473972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224391418 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:371.01, Y:34.03, Z:7.36 [[ 9.99037020e-01 4.00018735e-02 1.80245140e-02 3.71014163e+02] [-4.00067958e-02 9.99199404e-01 -8.75538673e-05 3.40325958e+01] [-1.80135860e-02 -6.33633497e-04 9.99837541e-01 7.36319118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.254391418 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:371.04, Y:34.03, Z:7.36 [[ 9.99079980e-01 3.90609842e-02 1.77040344e-02 3.71042143e+02] [-3.90656174e-02 9.99236644e-01 -8.41898918e-05 3.40332977e+01] [-1.76938085e-02 -6.07506601e-04 9.99843268e-01 7.36260027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.284391418 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:371.07, Y:34.03, Z:7.36 [[ 9.99087441e-01 3.89278592e-02 1.75757363e-02 3.71071167e+02] [-3.89324352e-02 9.99241842e-01 -8.18517108e-05 3.40335832e+01] [-1.75655974e-02 -6.02489198e-04 9.99845531e-01 7.36181191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.314391418 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:371.10, Y:34.04, Z:7.36 [[ 9.99117447e-01 3.79270309e-02 1.80517959e-02 3.71100440e+02] [-3.79317245e-02 9.99280330e-01 -8.24361728e-05 3.40350393e+01] [-1.80419311e-02 -6.02372331e-04 9.99837050e-01 7.36193016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.344391418 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:371.13, Y:34.04, Z:7.36 [[ 9.99088509e-01 3.86198092e-02 1.81841096e-02 3.71128879e+02] [-3.86247164e-02 9.99253784e-01 -8.13995358e-05 3.40380541e+01] [-1.81736840e-02 -6.21030736e-04 9.99834652e-01 7.36199718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.374391418 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:371.16, Y:34.04, Z:7.36 [[ 9.99057334e-01 3.95295385e-02 1.79404197e-02 3.71157824e+02] [-3.95344901e-02 9.99218203e-01 -7.87156251e-05 3.40397116e+01] [-1.79295055e-02 -6.30623921e-04 9.99839055e-01 7.36204616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.404391418 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:371.19, Y:34.04, Z:7.36 [[ 9.99005328e-01 4.07040848e-02 1.82080213e-02 3.71186491e+02] [-4.07094095e-02 9.99171025e-01 -7.82682997e-05 3.40412537e+01] [-1.81961132e-02 -6.63047349e-04 9.99834217e-01 7.36196573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.434391418 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:371.21, Y:34.05, Z:7.36 [[ 9.98876625e-01 4.34547898e-02 1.88989177e-02 3.71214529e+02] [-4.34610546e-02 9.99055119e-01 -7.92994040e-05 3.40450523e+01] [-1.88845064e-02 -7.42156571e-04 9.99821396e-01 7.36097252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.464391418 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:371.24, Y:34.05, Z:7.36 [[ 9.98806978e-01 4.48940003e-02 1.92132862e-02 3.71243617e+02] [-4.49007754e-02 9.98991449e-01 -7.88325389e-05 3.40470254e+01] [-1.91974477e-02 -7.83952959e-04 9.99815405e-01 7.36060935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.494391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:371.27, Y:34.05, Z:7.36 [[ 9.98669067e-01 4.79008426e-02 1.91207842e-02 3.71271355e+02] [-4.79081362e-02 9.98851743e-01 -7.66932018e-05 3.40516532e+01] [-1.91025023e-02 -8.39450005e-04 9.99817178e-01 7.35997289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.524391418 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:371.30, Y:34.05, Z:7.36 [[ 9.98608839e-01 4.89605453e-02 1.95767949e-02 3.71299106e+02] [-4.89684322e-02 9.98800324e-01 -7.65803171e-05 3.40541080e+01] [-1.95570585e-02 -8.82171174e-04 9.99808353e-01 7.35960355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.554391418 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:371.33, Y:34.06, Z:7.36 [[ 9.98515537e-01 5.09418424e-02 1.92782317e-02 3.71328174e+02] [-5.09498910e-02 9.98701208e-01 -7.37480108e-05 3.40582185e+01] [-1.92569501e-02 -9.08585268e-04 9.99814155e-01 7.35862531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.584391418 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:371.36, Y:34.06, Z:7.36 [[ 9.98485063e-01 5.15787414e-02 1.91627841e-02 3.71356459e+02] [-5.15868494e-02 9.98668510e-01 -7.12963461e-05 3.40601218e+01] [-1.91409464e-02 -9.17359320e-04 9.99816374e-01 7.35804992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.614391418 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:371.38, Y:34.06, Z:7.36 [[ 9.98476284e-01 5.17364427e-02 1.91950645e-02 3.71384896e+02] [-5.17446515e-02 9.98660346e-01 -6.91044687e-05 3.40619198e+01] [-1.91729250e-02 -9.24242751e-04 9.99815755e-01 7.35706819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.644391418 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:371.41, Y:34.06, Z:7.36 [[ 9.98488375e-01 5.15447052e-02 1.90816231e-02 3.71412679e+02] [-5.15528256e-02 9.98670267e-01 -6.64197101e-05 3.40636609e+01] [-1.90596732e-02 -9.17392281e-04 9.99817927e-01 7.35668074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67439141799997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:371.44, Y:34.07, Z:7.36 [[ 9.98554641e-01 5.01098034e-02 1.94328615e-02 3.71440961e+02] [-5.01179998e-02 9.98743301e-01 -6.53070766e-05 3.40671552e+01] [-1.94117127e-02 -9.08723462e-04 9.99811162e-01 7.35631873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.704391418 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:371.47, Y:34.07, Z:7.36 [[ 9.98602051e-01 4.90262044e-02 1.97579035e-02 3.71469342e+02] [-4.90345129e-02 9.98797083e-01 -6.40104857e-05 3.40684952e+01] [-1.97372746e-02 -9.04898173e-04 9.99804792e-01 7.35582812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.734391418 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:371.50, Y:34.07, Z:7.36 [[ 9.98664925e-01 4.78248657e-02 1.95230662e-02 3.71498315e+02] [-4.78327856e-02 9.98855355e-01 -6.13652015e-05 3.40695182e+01] [-1.95036540e-02 -8.72559364e-04 9.99809405e-01 7.35540838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.764391418 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:371.53, Y:34.07, Z:7.35 [[ 9.98831438e-01 4.43601405e-02 1.91816609e-02 3.71525774e+02] [-4.43671823e-02 9.99015290e-01 -5.85020655e-05 3.40710360e+01] [-1.91653677e-02 -7.92602543e-04 9.99816013e-01 7.35417498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.794391418 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:371.55, Y:34.07, Z:7.35 [[ 9.98919688e-01 4.25863841e-02 1.85972076e-02 3.71554837e+02] [-4.25927270e-02 9.99092517e-01 -5.50666844e-05 3.40721586e+01] [-1.85826760e-02 -7.37098590e-04 9.99827055e-01 7.35366132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.824391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:371.58, Y:34.07, Z:7.35 [[ 9.98993141e-01 4.07817981e-02 1.86962407e-02 3.71583048e+02] [-4.07879261e-02 9.99167825e-01 -5.36026719e-05 3.40734031e+01] [-1.86828682e-02 -7.09032182e-04 9.99825209e-01 7.35356206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.854391418 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:371.61, Y:34.07, Z:7.35 [[ 9.98998164e-01 4.06585743e-02 1.86962467e-02 3.71612336e+02] [-4.06647207e-02 9.99172847e-01 -5.14606519e-05 3.40733987e+01] [-1.86828743e-02 -7.08868551e-04 9.99825209e-01 7.35333931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.884391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:371.64, Y:34.08, Z:7.35 [[ 9.99114484e-01 3.72629177e-02 1.95377405e-02 3.71641127e+02] [-3.72690195e-02 9.99305267e-01 -5.18380416e-05 3.40755694e+01] [-1.95260986e-02 -6.76360291e-04 9.99809119e-01 7.35231223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.914391418 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:371.67, Y:34.08, Z:7.35 [[ 9.99172554e-01 3.56447692e-02 1.95871913e-02 3.71669273e+02] [-3.56506267e-02 9.99364313e-01 -5.01626784e-05 3.40762387e+01] [-1.95765280e-02 -6.48174472e-04 9.99808151e-01 7.35200835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.944391418 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:371.70, Y:34.08, Z:7.35 [[ 9.99299462e-01 3.18697142e-02 1.96190294e-02 3.71697920e+02] [-3.18748975e-02 9.99491865e-01 -4.85315843e-05 3.40779035e+01] [-1.96106069e-02 -5.76856963e-04 9.99807527e-01 7.35178562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.974391418 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:371.73, Y:34.08, Z:7.35 [[ 9.99358018e-01 2.99721894e-02 1.96270194e-02 3.71726697e+02] [-2.99770419e-02 9.99550586e-01 -4.69887761e-05 3.40789326e+01] [-1.96196071e-02 -5.41401375e-04 9.99807370e-01 7.35147066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.004391418 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:371.76, Y:34.08, Z:7.35 [[ 9.99420721e-01 2.80605918e-02 1.92568291e-02 3.71755460e+02] [-2.80649332e-02 9.99606101e-01 -4.48160298e-05 3.40800392e+01] [-1.92505014e-02 -4.95651554e-04 9.99814569e-01 7.35086727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.034391418 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:371.79, Y:34.08, Z:7.35 [[ 9.99524985e-01 2.48381408e-02 1.82447607e-02 3.71785514e+02] [-2.48415168e-02 9.99691401e-01 -4.16041457e-05 3.40823418e+01] [-1.82401637e-02 -4.11643146e-04 9.99833550e-01 7.35000711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.064391418 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:371.82, Y:34.08, Z:7.35 [[ 9.99563811e-01 2.33524046e-02 1.80790741e-02 3.71815234e+02] [-2.33554899e-02 9.99727223e-01 -4.04963804e-05 3.40836499e+01] [-1.80750882e-02 -3.81766915e-04 9.99836559e-01 7.34957158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.094391418 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:371.85, Y:34.09, Z:7.35 [[ 9.99591833e-01 2.19355207e-02 1.83029878e-02 3.71845163e+02] [-2.19384552e-02 9.99759322e-01 -4.04690882e-05 3.40851733e+01] [-1.82994704e-02 -3.61086708e-04 9.99832485e-01 7.34865569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.124391418 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:371.87, Y:34.09, Z:7.35 [[ 9.99618027e-01 2.03169501e-02 1.87355461e-02 3.71874788e+02] [-2.03197396e-02 9.99793532e-01 -4.14890153e-05 3.40880463e+01] [-1.87325208e-02 -3.39228251e-04 9.99824473e-01 7.34772654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.154391418 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:371.91, Y:34.09, Z:7.35 [[ 9.99626202e-01 1.94726165e-02 1.91904495e-02 3.71905200e+02] [-1.94753846e-02 9.99810336e-01 -4.26502887e-05 3.40895659e+01] [-1.91876403e-02 -3.31107039e-04 9.99815845e-01 7.34705403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.184391418 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:371.94, Y:34.09, Z:7.35 [[ 9.99625871e-01 1.93212439e-02 1.93599395e-02 3.71936277e+02] [-1.93240240e-02 9.99813273e-01 -4.34822516e-05 3.40909758e+01] [-1.93571646e-02 -3.30645951e-04 9.99812578e-01 7.34680751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.214391418 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:371.97, Y:34.09, Z:7.35 [[ 9.99647165e-01 1.74759060e-02 2.00034694e-02 3.71967868e+02] [-1.74784887e-02 9.99847239e-01 -4.57252678e-05 3.40947642e+01] [-2.00012127e-02 -3.03921280e-04 9.99799910e-01 7.34676236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.244391418 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:372.00, Y:34.10, Z:7.35 [[ 9.99696668e-01 1.62211370e-02 1.85323174e-02 3.71999223e+02] [-1.61109776e-02 9.99851736e-01 -6.07810408e-03 3.40985927e+01] [-1.86281634e-02 5.77768665e-03 9.99809787e-01 7.34877246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.274391418 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:372.03, Y:34.10, Z:7.35 [[ 9.99740647e-01 1.32457135e-02 1.85253889e-02 3.72031054e+02] [-1.32585227e-02 9.99911940e-01 5.68787199e-04 3.40984234e+01] [-1.85162236e-02 -8.14258972e-04 9.99828228e-01 7.34572277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.304391418 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:372.06, Y:34.10, Z:7.34 [[ 9.99740429e-01 1.11624418e-02 1.98614022e-02 3.72062790e+02] [-1.12720725e-02 9.99921798e-01 5.41642315e-03 3.40973308e+01] [-1.97993885e-02 -5.63889636e-03 9.99788071e-01 7.34365493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.334391418 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:372.10, Y:34.10, Z:7.34 [[ 9.99758962e-01 9.41948789e-03 1.98315842e-02 3.72096052e+02] [-9.42010297e-03 9.99955628e-01 -6.24032330e-05 3.41004254e+01] [-1.98312920e-02 -1.24427374e-04 9.99803333e-01 7.34482200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.364391418 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:372.13, Y:34.10, Z:7.34 [[ 9.99802731e-01 5.97476599e-03 1.89420501e-02 3.72127869e+02] [-5.97462173e-03 9.99982150e-01 -6.42070043e-05 3.41025985e+01] [-1.89420956e-02 -4.89772460e-05 9.99820581e-01 7.34341073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.394391418 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:372.16, Y:34.10, Z:7.34 [[ 9.99812984e-01 5.00836165e-03 1.86791970e-02 3.72161128e+02] [-5.00795755e-03 9.99987458e-01 -6.84106745e-05 3.41038797e+01] [-1.86793054e-02 -2.51467450e-05 9.99825526e-01 7.34256160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42439141799997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:372.19, Y:34.11, Z:7.34 [[ 9.99819234e-01 4.42003469e-03 1.84922198e-02 3.72194400e+02] [-4.41942866e-03 9.99990232e-01 -7.36382678e-05 3.41052851e+01] [-1.84923646e-02 -8.10008949e-06 9.99829002e-01 7.34228216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.454391418 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:372.23, Y:34.11, Z:7.34 [[ 9.99822181e-01 3.24159475e-03 1.85768347e-02 3.72226934e+02] [-3.24067336e-03 9.99994746e-01 -7.97017789e-05 3.41086506e+01] [-1.85769954e-02 1.94861531e-05 9.99827433e-01 7.34192295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484391418 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:372.26, Y:34.11, Z:7.34 [[ 9.99817676e-01 2.70704361e-03 1.89020325e-02 3.72260503e+02] [-2.70588106e-03 9.99996335e-01 -8.70792658e-05 3.41100355e+01] [-1.89021989e-02 3.59167375e-05 9.99821337e-01 7.34167790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.514391418 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:372.29, Y:34.11, Z:7.34 [[ 9.99807971e-01 2.48510212e-03 1.94382671e-02 3.72293802e+02] [-2.48370727e-03 9.99996911e-01 -9.58996627e-05 3.41127466e+01] [-1.94384454e-02 4.76022818e-05 9.99811054e-01 7.34124848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:372.33, Y:34.11, Z:7.34 [[ 9.99802063e-01 3.04579061e-03 1.96610703e-02 3.72327098e+02] [-3.04434645e-03 9.99995361e-01 -1.03383109e-04 3.41138671e+01] [-1.96612940e-02 4.35075366e-05 9.99806697e-01 7.34071641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.574391418 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:372.36, Y:34.12, Z:7.34 [[ 9.99800298e-01 3.27155485e-03 1.97145119e-02 3.72359169e+02] [-3.27002629e-03 9.99994647e-01 -1.09771031e-04 3.41152011e+01] [-1.97147655e-02 4.52821376e-05 9.99805644e-01 7.33982967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604391418 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:372.39, Y:34.12, Z:7.34 [[ 9.99792111e-01 4.44504366e-03 1.98991524e-02 3.72391246e+02] [-4.44360005e-03 9.99990120e-01 -1.16762318e-04 3.41182037e+01] [-1.98994748e-02 2.83141698e-05 9.99801985e-01 7.33880442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.634391418 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:372.42, Y:34.12, Z:7.34 [[ 9.99781186e-01 5.62059198e-03 2.01491718e-02 3.72424761e+02] [-5.61922452e-03 9.99984204e-01 -1.24483990e-04 3.41196933e+01] [-2.01495532e-02 1.12340308e-05 9.99796977e-01 7.33784707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:372.46, Y:34.12, Z:7.34 [[ 9.99763713e-01 7.22179333e-03 2.05027646e-02 3.72456667e+02] [-7.22058657e-03 9.99973922e-01 -1.32887260e-04 3.41209284e+01] [-2.05031896e-02 -1.51861266e-05 9.99789787e-01 7.33726185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.694391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:372.49, Y:34.12, Z:7.34 [[ 9.99725042e-01 1.02644024e-02 2.10827660e-02 3.72490160e+02] [-1.02636647e-02 9.99947317e-01 -1.43195898e-04 3.41238430e+01] [-2.10831251e-02 -7.32299176e-05 9.99777724e-01 7.33540359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:372.52, Y:34.13, Z:7.33 [[ 9.99711912e-01 1.16477226e-02 2.09862809e-02 3.72523616e+02] [-1.16471584e-02 9.99932158e-01 -1.49117310e-04 3.41252162e+01] [-2.09865941e-02 -9.53561869e-05 9.99779753e-01 7.33495261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.754391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:372.56, Y:34.13, Z:7.33 [[ 9.99675115e-01 1.35716587e-02 2.15748789e-02 3.72556008e+02] [-1.35713998e-02 9.99907892e-01 -1.58423164e-04 3.41288498e+01] [-2.15750417e-02 -1.34429613e-04 9.99767223e-01 7.33425904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.784391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:372.59, Y:34.13, Z:7.34 [[ 9.99684382e-01 1.40570436e-02 2.08215104e-02 3.72589701e+02] [-1.39889246e-02 9.99896323e-01 -3.41362138e-03 3.41316230e+01] [-2.08673371e-02 3.12127344e-03 9.99777381e-01 7.33524735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.814391418 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:372.62, Y:34.12, Z:7.32 [[ 9.99548904e-01 1.35375629e-02 2.68089961e-02 3.72621646e+02] [-1.40790334e-02 9.99698586e-01 2.01126460e-02 3.41232760e+01] [-2.65286392e-02 -2.04810180e-02 9.99438222e-01 7.32482625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.844391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.65, Y:34.14, Z:7.34 [[ 9.99638016e-01 1.56632695e-02 2.18746151e-02 3.72652063e+02] [-1.52096952e-02 9.99668999e-01 -2.07498667e-02 3.41402201e+01] [-2.21923853e-02 2.04096494e-02 9.99545369e-01 7.33971607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.68, Y:34.14, Z:7.33 [[ 9.99661702e-01 1.62957168e-02 2.02714288e-02 3.72683830e+02] [-1.61936154e-02 9.99855401e-01 -5.19071865e-03 3.41356731e+01] [-2.03530840e-02 4.86069492e-03 9.99781039e-01 7.33260402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.904391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:372.71, Y:34.13, Z:7.33 [[ 9.99631850e-01 1.51745925e-02 2.24921310e-02 3.72714681e+02] [-1.53643390e-02 9.99847616e-01 8.28745155e-03 3.41312784e+01] [-2.23629448e-02 -8.62997726e-03 9.99712670e-01 7.32634053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.934391418 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:372.75, Y:34.14, Z:7.33 [[ 9.99631568e-01 1.47084964e-02 2.28120209e-02 3.72747852e+02] [-1.47080200e-02 9.99891813e-01 -1.88671478e-04 3.41354702e+01] [-2.28123280e-02 -1.46917695e-04 9.99739754e-01 7.32886680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.964391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:372.78, Y:34.14, Z:7.33 [[ 9.99661480e-01 1.27226301e-02 2.26949428e-02 3.72780640e+02] [-1.27214866e-02 9.99919060e-01 -1.94765087e-04 3.41373403e+01] [-2.26955838e-02 -9.40142565e-05 9.99742418e-01 7.32792370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.994391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:372.81, Y:34.14, Z:7.33 [[ 9.99675980e-01 1.13880009e-02 2.27650933e-02 3.72812582e+02] [-1.13863488e-02 9.99935153e-01 -2.02195166e-04 3.41377598e+01] [-2.27659196e-02 -5.70816424e-05 9.99740821e-01 7.32737604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.024391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:372.84, Y:34.14, Z:7.33 [[ 9.99703656e-01 8.70682102e-03 2.27330270e-02 3.72844253e+02] [-8.70433087e-03 9.99962095e-01 -2.08489145e-04 3.41387791e+01] [-2.27339806e-02 1.05515721e-05 9.99741550e-01 7.32656056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.054391418 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:372.88, Y:34.14, Z:7.33 [[ 9.99720989e-01 7.17159826e-03 2.25058307e-02 3.72876948e+02] [-7.16861834e-03 9.99974282e-01 -2.13082994e-04 3.41389815e+01] [-2.25067801e-02 5.16878303e-05 9.99746689e-01 7.32604015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.084391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:372.91, Y:34.14, Z:7.33 [[ 9.99735743e-01 5.77614147e-03 2.22503841e-02 3.72910433e+02] [-5.77272697e-03 9.99983314e-01 -2.17685980e-04 3.41393798e+01] [-2.22512703e-02 8.91830626e-05 9.99752406e-01 7.32544805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.114391418 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:372.94, Y:34.14, Z:7.32 [[ 9.99752387e-01 4.35655990e-03 2.18216605e-02 3.72942562e+02] [-4.35279121e-03 9.99990502e-01 -2.20199482e-04 3.41399022e+01] [-2.18224125e-02 1.25159826e-04 9.99761855e-01 7.32477457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.144391418 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:372.98, Y:34.14, Z:7.32 [[ 9.99772657e-01 2.01203311e-03 2.12270002e-02 3.72975940e+02] [-2.00780096e-03 9.99997960e-01 -2.20686354e-04 3.41419964e+01] [-2.12274009e-02 1.78016591e-04 9.99774657e-01 7.32382100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17439141799997 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:373.01, Y:34.14, Z:7.32 [[ 9.99782467e-01 1.10542705e-03 2.08277853e-02 3.73009146e+02] [-1.10101872e-03 9.99999369e-01 -2.23122528e-04 3.41427301e+01] [-2.08280188e-02 2.00142210e-04 9.99783053e-01 7.32330472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.204391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:373.04, Y:34.14, Z:7.32 [[ 9.99793672e-01 -7.30475126e-04 2.02997471e-02 3.73041421e+02] [ 7.35141321e-04 9.99999705e-01 -2.22403274e-04 3.41447812e+01] [-2.02995787e-02 2.37280569e-04 9.99793914e-01 7.32232636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.234391418 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:373.07, Y:34.15, Z:7.32 [[ 9.99771396e-01 -3.08139974e-03 2.11580082e-02 3.73072497e+02] [ 3.18279517e-03 9.99983605e-01 -4.76029410e-03 3.41499205e+01] [-2.11429929e-02 4.82654749e-03 9.99764811e-01 7.32198126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.264391418 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:373.10, Y:34.15, Z:7.32 [[ 9.99794357e-01 -1.71009093e-03 2.02069264e-02 3.73103055e+02] [ 1.56476165e-03 9.99972815e-01 7.20567627e-03 3.41455851e+01] [-2.02186995e-02 -7.17257544e-03 9.99769853e-01 7.31872741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.294391418 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:373.14, Y:34.15, Z:7.32 [[ 9.99800162e-01 -2.30749526e-03 1.98572939e-02 3.73136658e+02] [ 2.34502524e-03 9.99995508e-01 -1.86690681e-03 3.41509561e+01] [-1.98528968e-02 1.91309959e-03 9.99801081e-01 7.32227828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.324391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:373.17, Y:34.15, Z:7.32 [[ 9.99805614e-01 -3.70795698e-03 1.93645416e-02 3.73170825e+02] [ 3.73053521e-03 9.99992403e-01 -1.12996411e-03 3.41523267e+01] [-1.93602046e-02 1.20198456e-03 9.99811851e-01 7.32178831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.354391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:373.20, Y:34.16, Z:7.32 [[ 9.99720024e-01 -5.23686798e-03 2.30748417e-02 3.73203946e+02] [ 5.66746205e-03 9.99810289e-01 -1.86350490e-02 3.41637987e+01] [-2.29728749e-02 1.87606074e-02 9.99560047e-01 7.32251701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.24, Y:34.16, Z:7.32 [[ 9.99762120e-01 -6.53024514e-03 2.08100546e-02 3.73237630e+02] [ 6.50222260e-03 9.99977861e-01 1.41396609e-03 3.41568198e+01] [-2.08188275e-02 -1.27831813e-03 9.99782448e-01 7.31538962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.414391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:373.27, Y:34.16, Z:7.32 [[ 9.99766858e-01 -6.75571452e-03 2.05082710e-02 3.73272926e+02] [ 6.97144304e-03 9.99920929e-01 -1.04658931e-02 3.41617117e+01] [-2.04359448e-02 1.06064253e-02 9.99734903e-01 7.31799441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.444391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:373.30, Y:34.15, Z:7.31 [[ 9.99844860e-01 -9.31954121e-03 1.49466216e-02 3.73301146e+02] [ 8.93402200e-03 9.99630917e-01 2.56556677e-02 3.41494603e+01] [-1.51802041e-02 -2.55181540e-02 9.99559095e-01 7.31041398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.33, Y:34.17, Z:7.32 [[ 9.99804449e-01 -1.12325565e-02 1.62755276e-02 3.73333319e+02] [ 1.13423352e-02 9.99913438e-01 -6.66847866e-03 3.41655634e+01] [-1.61992147e-02 6.85177713e-03 9.99845307e-01 7.32168366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.504391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:373.37, Y:34.16, Z:7.32 [[ 9.99816279e-01 -1.29596634e-02 1.41228981e-02 3.73365383e+02] [ 1.28695751e-02 9.99896373e-01 6.45120768e-03 3.41619159e+01] [-1.42050401e-02 -6.26826676e-03 9.99879456e-01 7.31839916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.40, Y:34.17, Z:7.32 [[ 9.99802761e-01 -1.42050633e-02 1.38800396e-02 3.73397933e+02] [ 1.42089342e-02 9.99899032e-01 -1.80307108e-04 3.41654245e+01] [-1.38760769e-02 3.77492114e-04 9.99903651e-01 7.32101488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.43, Y:34.17, Z:7.32 [[ 9.99786108e-01 -1.56882671e-02 1.34765440e-02 3.73431366e+02] [ 1.56920840e-02 9.99876856e-01 -1.77524505e-04 3.41659939e+01] [-1.34720994e-02 3.88961594e-04 9.99909172e-01 7.32049168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.594391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.46, Y:34.17, Z:7.32 [[ 9.99773249e-01 -1.69939284e-02 1.28318702e-02 3.73464258e+02] [ 1.69975156e-02 9.99855517e-01 -1.70539380e-04 3.41666902e+01] [-1.28271180e-02 3.88610624e-04 9.99917654e-01 7.32013264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.624391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.50, Y:34.17, Z:7.32 [[ 9.99725023e-01 -1.99463770e-02 1.23296578e-02 3.73496624e+02] [ 1.99499471e-02 9.99800966e-01 -1.66617778e-04 3.41687461e+01] [-1.23238804e-02 4.12547983e-04 9.99923973e-01 7.31967521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.654391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.53, Y:34.17, Z:7.32 [[ 9.99693664e-01 -2.17598780e-02 1.17934298e-02 3.73528911e+02] [ 2.17633106e-02 9.99763138e-01 -1.62785870e-04 3.41696170e+01] [-1.17870942e-02 4.19400079e-04 9.99930442e-01 7.31958514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.684391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.56, Y:34.17, Z:7.32 [[ 9.99666582e-01 -2.30858256e-02 1.15658932e-02 3.73561593e+02] [ 2.30892413e-02 9.99733395e-01 -1.61864038e-04 3.41701481e+01] [-1.15590730e-02 4.28857769e-04 9.99933100e-01 7.31925522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.714391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.59, Y:34.17, Z:7.32 [[ 9.99632929e-01 -2.49515337e-02 1.05559604e-02 3.73594743e+02] [ 2.49544954e-02 9.99688577e-01 -1.48935947e-04 3.41715065e+01] [-1.05489568e-02 4.12299942e-04 9.99944273e-01 7.31918037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.63, Y:34.17, Z:7.32 [[ 9.99657496e-01 -2.41609945e-02 1.00566898e-02 3.73627582e+02] [ 2.41636546e-02 9.99708006e-01 -1.43072806e-04 3.41710995e+01] [-1.00502965e-02 3.86030181e-04 9.99949420e-01 7.31795176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.66, Y:34.17, Z:7.32 [[ 9.99662785e-01 -2.39411761e-02 1.00566653e-02 3.73661183e+02] [ 2.39438422e-02 9.99713295e-01 -1.44777918e-04 3.41704886e+01] [-1.00503158e-02 3.85524304e-04 9.99949420e-01 7.31778181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.69, Y:34.17, Z:7.32 [[ 9.99691887e-01 -2.30542050e-02 9.19975442e-03 3.73693147e+02] [ 2.30564155e-02 9.99734157e-01 -1.34277510e-04 3.41704656e+01] [-9.19421306e-03 3.46349498e-04 9.99957672e-01 7.31690193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.73, Y:34.17, Z:7.32 [[ 9.99700918e-01 -2.25839616e-02 9.38294296e-03 3.73726435e+02] [ 2.25862548e-02 9.99744888e-01 -1.38495323e-04 3.41699064e+01] [-9.37742149e-03 3.50379442e-04 9.99955970e-01 7.31630020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.76, Y:34.17, Z:7.32 [[ 9.99711739e-01 -2.22387175e-02 9.04861847e-03 3.73759485e+02] [ 2.22408458e-02 9.99752633e-01 -1.34634894e-04 3.41692344e+01] [-9.04338603e-03 3.35845012e-04 9.99959051e-01 7.31608387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.79, Y:34.17, Z:7.32 [[ 9.99711543e-01 -2.21469655e-02 9.29210968e-03 3.73793011e+02] [ 2.21492165e-02 9.99754666e-01 -1.39396375e-04 3.41688140e+01] [-9.28674280e-03 3.45169114e-04 9.99956818e-01 7.31590913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.83, Y:34.17, Z:7.32 [[ 9.99707320e-01 -2.22823244e-02 9.42186945e-03 3.73825550e+02] [ 2.22846627e-02 9.99751656e-01 -1.43255516e-04 3.41677353e+01] [-9.41633752e-03 3.53176771e-04 9.99955603e-01 7.31557101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.86, Y:34.17, Z:7.32 [[ 9.99709575e-01 -2.22494861e-02 9.25880223e-03 3.73859050e+02] [ 2.22517610e-02 9.99752389e-01 -1.42747842e-04 3.41664216e+01] [-9.25333358e-03 3.48731039e-04 9.99957126e-01 7.31536439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.89, Y:34.16, Z:7.31 [[ 9.99700751e-01 -2.26207767e-02 9.31177507e-03 3.73891680e+02] [ 2.26231041e-02 9.99744054e-01 -1.44666415e-04 3.41641407e+01] [-9.30611929e-03 3.55284380e-04 9.99956634e-01 7.31403109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.92, Y:34.16, Z:7.31 [[ 9.99705381e-01 -2.25428780e-02 8.99832823e-03 3.73924369e+02] [ 2.25450576e-02 9.99745818e-01 -1.40846299e-04 3.41628436e+01] [-8.99286594e-03 3.43672631e-04 9.99959504e-01 7.31382888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.96, Y:34.16, Z:7.31 [[ 9.99716005e-01 -2.20295885e-02 9.08885489e-03 3.73957904e+02] [ 2.20318009e-02 9.99757260e-01 -1.43362392e-04 3.41613364e+01] [-9.08349045e-03 3.43565519e-04 9.99958685e-01 7.31341400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.99, Y:34.16, Z:7.31 [[ 9.99738409e-01 -2.11089329e-02 8.80489465e-03 3.73991263e+02] [ 2.11109828e-02 9.99777129e-01 -1.39926796e-04 3.41599729e+01] [-8.79997859e-03 3.25770172e-04 9.99961226e-01 7.31349224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.02, Y:34.16, Z:7.31 [[ 9.99769593e-01 -1.97426056e-02 8.42563131e-03 3.74023865e+02] [ 1.97444425e-02 9.99805050e-01 -1.34883524e-04 3.41584766e+01] [-8.42132579e-03 3.01211839e-04 9.99964495e-01 7.31318768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.134391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.06, Y:34.16, Z:7.31 [[ 9.99797031e-01 -1.81636947e-02 8.71646209e-03 3.74056434e+02] [ 1.81656101e-02 9.99834982e-01 -1.40607903e-04 3.41570593e+01] [-8.71246975e-03 2.98919215e-04 9.99962001e-01 7.31239595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.09, Y:34.15, Z:7.31 [[ 9.99852588e-01 -1.49559310e-02 8.43339777e-03 3.74089793e+02] [ 1.49576183e-02 9.99888119e-01 -1.37043333e-04 3.41546034e+01] [-8.43040462e-03 2.63166676e-04 9.99964429e-01 7.31174227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.194391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.12, Y:34.15, Z:7.31 [[ 9.99868113e-01 -1.39074956e-02 8.38681221e-03 3.74121468e+02] [ 1.39091354e-02 9.99903254e-01 -1.37224932e-04 3.41533553e+01] [-8.38409237e-03 2.53860140e-04 9.99964821e-01 7.31208015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.15, Y:34.15, Z:7.31 [[ 9.99882057e-01 -1.27547338e-02 8.55510348e-03 3.74154432e+02] [ 1.27564059e-02 9.99918624e-01 -1.40914270e-04 3.41519026e+01] [-8.55260998e-03 2.50030023e-04 9.99963395e-01 7.31210258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.254391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.19, Y:34.15, Z:7.31 [[ 9.99915807e-01 -9.77056250e-03 8.53902878e-03 3.74187690e+02] [ 9.77212843e-03 9.99952242e-01 -1.41680577e-04 3.41493149e+01] [-8.53723667e-03 2.25113134e-04 9.99963532e-01 7.31093239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.284391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.22, Y:34.15, Z:7.31 [[ 9.99937557e-01 -7.74043600e-03 8.06032106e-03 3.74219891e+02] [ 7.74177246e-03 9.99970023e-01 -1.34619476e-04 3.41471981e+01] [-8.05903742e-03 1.97012242e-04 9.99967506e-01 7.31029116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.25, Y:34.14, Z:7.31 [[ 9.99954949e-01 -4.10216112e-03 8.55986741e-03 3.74252486e+02] [ 4.10354342e-03 9.99991570e-01 -1.43928088e-04 3.41434012e+01] [-8.55920484e-03 1.79047392e-04 9.99963353e-01 7.30931316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.28, Y:34.14, Z:7.31 [[ 9.99956863e-01 -2.89966454e-03 8.82401847e-03 3.74284850e+02] [ 2.90109561e-03 9.99995781e-01 -1.49383419e-04 3.41416298e+01] [-8.82354808e-03 1.74976297e-04 9.99961056e-01 7.30957379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.374391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:374.32, Y:34.14, Z:7.31 [[ 9.99956445e-01 -1.59946700e-03 9.19511312e-03 3.74317997e+02] [ 1.60097546e-03 9.99998706e-01 -1.56691392e-04 3.41399542e+01] [-9.19485060e-03 1.71405718e-04 9.99957712e-01 7.30961400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.404391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.35, Y:34.14, Z:7.31 [[ 9.99953692e-01 9.41293106e-04 9.57751014e-03 3.74349744e+02] [-9.39763597e-04 9.99999545e-01 -1.64197100e-04 3.41373696e+01] [-9.57766034e-03 1.55188901e-04 9.99954121e-01 7.30900954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.434391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.38, Y:34.14, Z:7.31 [[ 9.99953934e-01 2.51082586e-03 9.26426793e-03 3.74381641e+02] [-2.50945535e-03 9.99996839e-01 -1.59556160e-04 3.41352253e+01] [-9.26463926e-03 1.36300543e-04 9.99957073e-01 7.30835711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.464391418 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:374.41, Y:34.13, Z:7.31 [[ 9.99950928e-01 4.00151696e-03 9.06254354e-03 3.74413905e+02] [-4.00025939e-03 9.99991987e-01 -1.56887399e-04 3.41329345e+01] [-9.06309870e-03 1.20627175e-04 9.99958922e-01 7.30726258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.494391418 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:374.45, Y:34.13, Z:7.31 [[ 9.99942768e-01 6.81140829e-03 8.25023470e-03 3.74445744e+02] [-6.81045578e-03 9.99976798e-01 -1.43541788e-04 3.41287785e+01] [-8.25102100e-03 8.73457140e-05 9.99965956e-01 7.30569206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.524391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.48, Y:34.13, Z:7.31 [[ 9.99930807e-01 8.28019540e-03 8.35582097e-03 3.74476987e+02] [-8.27926517e-03 9.99965716e-01 -1.45911464e-04 3.41269637e+01] [-8.35674267e-03 7.67213103e-05 9.99965079e-01 7.30537851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.554391418 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:374.51, Y:34.12, Z:7.31 [[ 9.99897468e-01 1.19320858e-02 7.91694721e-03 3.74506870e+02] [-1.19313633e-02 9.99928809e-01 -1.38489855e-04 3.41248821e+01] [-7.91803607e-03 4.40156818e-05 9.99968651e-01 7.30510563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.584391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:374.54, Y:34.13, Z:7.31 [[ 9.99868079e-01 1.24125176e-02 1.04763357e-02 3.74535644e+02] [-1.22867039e-02 9.99852634e-01 -1.19894479e-02 3.41306169e+01] [-1.06236111e-02 1.18591466e-02 9.99873242e-01 7.30568346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.614391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:374.57, Y:34.12, Z:7.30 [[ 9.99851191e-01 1.54344876e-02 7.70531816e-03 3.74565312e+02] [-1.55255183e-02 9.99808687e-01 1.18974003e-02 3.41168003e+01] [-7.52021375e-03 -1.20152589e-02 9.99899535e-01 7.29984010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.644391418 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:374.59, Y:34.12, Z:7.30 [[ 9.99833804e-01 1.66517387e-02 7.42189723e-03 3.74593031e+02] [-1.66512383e-02 9.99861350e-01 -1.29209676e-04 3.41202042e+01] [-7.42301975e-03 5.60442275e-06 9.99972449e-01 7.30398512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67439141799997 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:374.62, Y:34.12, Z:7.30 [[ 9.99794937e-01 1.88940226e-02 7.28702335e-03 3.74621631e+02] [-1.88936045e-02 9.99821492e-01 -1.26216666e-04 3.41175547e+01] [-7.28810730e-03 -1.14873539e-05 9.99973441e-01 7.30334416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.704391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:374.65, Y:34.12, Z:7.30 [[ 9.99775904e-01 1.99965337e-02 6.94843330e-03 3.74649450e+02] [-1.99961841e-02 9.99800049e-01 -1.19799189e-04 3.41161211e+01] [-6.94943952e-03 -1.91698092e-05 9.99975852e-01 7.30301089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.734391418 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:374.68, Y:34.11, Z:7.30 [[ 9.99761862e-01 2.09229346e-02 6.20084606e-03 3.74676925e+02] [-2.09226773e-02 9.99781091e-01 -1.06372602e-04 3.41143180e+01] [-6.20171427e-03 -2.33910308e-05 9.99980769e-01 7.30271615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.764391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:374.71, Y:34.11, Z:7.30 [[ 9.99757105e-01 2.12294659e-02 5.91956975e-03 3.74706007e+02] [-2.12292398e-02 9.99774629e-01 -1.01028959e-04 3.41129357e+01] [-5.92038044e-03 -2.46635460e-05 9.99982474e-01 7.30211086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.794391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:374.73, Y:34.11, Z:7.30 [[ 9.99772748e-01 2.03197785e-02 6.44657093e-03 3.74734502e+02] [-2.03194949e-02 9.99793532e-01 -1.09480781e-04 3.41098878e+01] [-6.44746454e-03 -2.15351636e-05 9.99979215e-01 7.30118482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.824391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:374.76, Y:34.11, Z:7.30 [[ 9.99787611e-01 1.94245232e-02 6.88624115e-03 3.74762975e+02] [-1.94303672e-02 9.99810906e-01 7.82756874e-04 3.41075811e+01] [-6.86973433e-03 -9.16392820e-04 9.99975983e-01 7.30037506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.854391418 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:374.79, Y:34.11, Z:7.30 [[ 9.99776015e-01 1.98647695e-02 7.30142471e-03 3.74790447e+02] [-1.98577625e-02 9.99802284e-01 -1.03092800e-03 3.41066257e+01] [-7.32046025e-03 8.85707127e-04 9.99972813e-01 7.30043657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.884391418 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:374.82, Y:34.10, Z:7.30 [[ 9.99775911e-01 1.97960747e-02 7.49953320e-03 3.74818161e+02] [-1.97956822e-02 9.99804038e-01 -1.26570616e-04 3.41047195e+01] [-7.50056918e-03 -2.19161230e-05 9.99971870e-01 7.30001287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.914391418 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:374.85, Y:34.10, Z:7.30 [[ 9.99767553e-01 2.00572364e-02 7.90865312e-03 3.74847351e+02] [-2.00568141e-02 9.99798833e-01 -1.32720810e-04 3.41031230e+01] [-7.90972417e-03 -2.59324257e-05 9.99968717e-01 7.29884030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.944391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:374.88, Y:34.10, Z:7.30 [[ 9.99754936e-01 2.07134142e-02 7.81170401e-03 3.74876607e+02] [-2.07130270e-02 9.99785454e-01 -1.30475770e-04 3.41021058e+01] [-7.81273064e-03 -3.13602405e-05 9.99969480e-01 7.29868144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.974391418 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:374.91, Y:34.10, Z:7.30 [[ 9.99752338e-01 2.08533716e-02 7.77171310e-03 3.74905422e+02] [-2.08529973e-02 9.99782544e-01 -1.29191750e-04 3.41015795e+01] [-7.77271718e-03 -3.29037589e-05 9.99969791e-01 7.29831068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.004391418 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:374.93, Y:34.10, Z:7.30 [[ 9.99732022e-01 2.16287848e-02 8.25099973e-03 3.74933558e+02] [-2.16283958e-02 9.99766070e-01 -1.36386835e-04 3.41007891e+01] [-8.25201945e-03 -4.21056012e-05 9.99965951e-01 7.29758792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.034391418 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:374.96, Y:34.10, Z:7.30 [[ 9.99726093e-01 2.19193716e-02 8.20243527e-03 3.74962059e+02] [-2.19190033e-02 9.99759741e-01 -1.34806343e-04 3.41000570e+01] [-8.20341943e-03 -4.50197876e-05 9.99966350e-01 7.29704401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.064391418 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:374.99, Y:34.10, Z:7.30 [[ 9.99733434e-01 2.15269706e-02 8.34568118e-03 3.74991152e+02] [-2.15265812e-02 9.99768267e-01 -1.36503946e-04 3.40994831e+01] [-8.34668573e-03 -4.31864250e-05 9.99965165e-01 7.29680842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.094391418 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:375.02, Y:34.10, Z:7.30 [[ 9.99741037e-01 2.09077967e-02 8.98458508e-03 3.75019112e+02] [-2.09073275e-02 9.99781407e-01 -1.46149813e-04 3.40989698e+01] [-8.98567678e-03 -4.17316979e-05 9.99959627e-01 7.29572777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.124391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:375.05, Y:34.10, Z:7.30 [[ 9.99752526e-01 2.03094220e-02 9.07820055e-03 3.75048013e+02] [-2.03089255e-02 9.99793742e-01 -1.46875814e-04 3.40986514e+01] [-9.07931106e-03 -3.75290326e-05 9.99958782e-01 7.29575829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.154391418 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:375.08, Y:34.10, Z:7.30 [[ 9.99776950e-01 1.90678034e-02 9.08126198e-03 3.75075823e+02] [-1.90672624e-02 9.99818193e-01 -1.46152203e-04 3.40990675e+01] [-9.08239774e-03 -2.70352015e-05 9.99958754e-01 7.29550282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.184391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:375.10, Y:34.10, Z:7.30 [[ 9.99784377e-01 1.88896101e-02 8.62448812e-03 3.75104776e+02] [-1.88891218e-02 9.99821575e-01 -1.38077155e-04 3.40990238e+01] [-8.62555752e-03 -2.48616240e-05 9.99962799e-01 7.29538370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.214391418 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:375.13, Y:34.10, Z:7.29 [[ 9.99801682e-01 1.83485177e-02 7.74140022e-03 3.75133565e+02] [-1.83481124e-02 9.99831652e-01 -1.23378958e-04 3.40993450e+01] [-7.74236079e-03 -1.86855919e-05 9.99970027e-01 7.29440188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.244391418 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:375.16, Y:34.10, Z:7.29 [[ 9.99812298e-01 1.79313540e-02 7.33727035e-03 3.75161498e+02] [-1.79309831e-02 9.99839220e-01 -1.16327487e-04 3.40994583e+01] [-7.33817657e-03 -1.52588187e-05 9.99973075e-01 7.29408852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.274391418 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:375.19, Y:34.12, Z:7.30 [[ 9.99733239e-01 1.87025912e-02 1.35522712e-02 3.75192393e+02] [-1.81480384e-02 9.99036950e-01 -3.99477286e-02 3.41165340e+01] [-1.42863457e-02 3.96911250e-02 9.99109861e-01 7.29993394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.304391418 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:375.22, Y:34.08, Z:7.28 [[ 9.99835114e-01 1.68621313e-02 6.73899505e-03 3.75219844e+02] [-1.71188422e-02 9.99051066e-01 4.00488862e-02 3.40843942e+01] [-6.05729061e-03 -4.01576465e-02 9.99174996e-01 7.27953283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.334391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:375.25, Y:34.10, Z:7.29 [[ 9.99837661e-01 1.68114819e-02 6.48273977e-03 3.75249219e+02] [-1.68111845e-02 9.99858677e-01 -1.00360052e-04 3.41023304e+01] [-6.48351081e-03 -8.63877471e-06 9.99978982e-01 7.29459779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.364391418 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:375.28, Y:34.10, Z:7.29 [[ 9.99850466e-01 1.61507264e-02 6.18053080e-03 3.75278087e+02] [-1.61504464e-02 9.99869569e-01 -9.52112995e-05 3.41030090e+01] [-6.18126240e-03 -4.62126910e-06 9.99980896e-01 7.29462199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.394391418 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:375.31, Y:34.10, Z:7.29 [[ 9.99855114e-01 1.57666680e-02 6.41593247e-03 3.75307399e+02] [-1.57663618e-02 9.99875698e-01 -9.83072605e-05 3.41043318e+01] [-6.41668493e-03 -2.86289527e-06 9.99979413e-01 7.29454355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42439141799997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:375.34, Y:34.11, Z:7.29 [[ 9.99863474e-01 1.51757790e-02 6.53670707e-03 3.75335879e+02] [-1.51754520e-02 9.99884841e-01 -9.96284128e-05 3.41050352e+01] [-6.53746625e-03 4.17326878e-07 9.99978631e-01 7.29444281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.454391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:375.36, Y:34.11, Z:7.29 [[ 9.99871183e-01 1.47746568e-02 6.27118844e-03 3.75363596e+02] [-1.47743513e-02 9.99890849e-01 -9.50393446e-05 3.41071031e+01] [-6.27190811e-03 2.37436060e-06 9.99980331e-01 7.29481605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:375.39, Y:34.11, Z:7.30 [[ 9.99863262e-01 1.61695487e-02 3.46454000e-03 3.75391389e+02] [-1.61403171e-02 9.99835241e-01 -8.30542498e-03 3.41112189e+01] [-3.59826416e-03 8.24837054e-03 9.99959508e-01 7.29860481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.514391418 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:375.42, Y:34.11, Z:7.29 [[ 9.99865943e-01 1.55009214e-02 5.27431095e-03 3.75420723e+02] [-1.55431131e-02 9.99846754e-01 8.05479856e-03 3.41054326e+01] [-5.14864589e-03 -8.13569797e-03 9.99953650e-01 7.29179942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.45, Y:34.11, Z:7.30 [[ 9.99842822e-01 1.71227868e-02 4.59795980e-03 3.75448186e+02] [-1.71226513e-02 9.99853394e-01 -6.88480811e-05 3.41115769e+01] [-4.59846458e-03 -9.89200235e-06 9.99989427e-01 7.29506663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.574391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.48, Y:34.11, Z:7.29 [[ 9.99821632e-01 1.81750749e-02 5.13524217e-03 3.75477326e+02] [-1.81749225e-02 9.99834820e-01 -7.63563468e-05 3.41128566e+01] [-5.13578171e-03 -1.69899009e-05 9.99986812e-01 7.29488031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604391418 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:375.51, Y:34.11, Z:7.30 [[ 9.99804879e-01 1.91093721e-02 5.00360741e-03 3.75505840e+02] [-1.91092410e-02 9.99817399e-01 -7.40222149e-05 3.41140287e+01] [-5.00410826e-03 -2.16073681e-05 9.99987479e-01 7.29507266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.634391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:375.53, Y:34.12, Z:7.29 [[ 9.99785425e-01 2.00108072e-02 5.35460005e-03 3.75533666e+02] [-2.00106724e-02 9.99799763e-01 -7.87622281e-05 3.41153447e+01] [-5.35510396e-03 -2.84038197e-05 9.99985661e-01 7.29495119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:375.56, Y:34.12, Z:7.29 [[ 9.99789172e-01 1.98226893e-02 5.35460886e-03 3.75562078e+02] [-1.98225550e-02 9.99803511e-01 -7.81590674e-05 3.41150621e+01] [-5.35510606e-03 -2.79994391e-05 9.99985661e-01 7.29482764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.694391418 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:375.59, Y:34.12, Z:7.29 [[ 9.99766853e-01 2.08872562e-02 5.47385748e-03 3.75590841e+02] [-2.08871368e-02 9.99781837e-01 -7.89783405e-05 3.41176814e+01] [-5.47431293e-03 -3.53732832e-05 9.99985015e-01 7.29495435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724391418 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:375.62, Y:34.12, Z:7.29 [[ 9.99763101e-01 2.09996763e-02 5.72328368e-03 3.75619405e+02] [-2.09995503e-02 9.99779482e-01 -8.21271426e-05 3.41186301e+01] [-5.72374623e-03 -3.80786965e-05 9.99983619e-01 7.29465998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.754391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:375.65, Y:34.12, Z:7.29 [[ 9.99753029e-01 2.14196552e-02 5.92270412e-03 3.75647742e+02] [-2.14195303e-02 9.99770572e-01 -8.45275915e-05 3.41211196e+01] [-5.92315583e-03 -4.23548248e-05 9.99982457e-01 7.29456582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.784391418 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:375.68, Y:34.12, Z:7.29 [[ 9.99765361e-01 2.09728777e-02 5.41852506e-03 3.75676085e+02] [-2.09727689e-02 9.99780044e-01 -7.69080535e-05 3.41222597e+01] [-5.41894621e-03 -3.67514658e-05 9.99985317e-01 7.29464406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.814391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.70, Y:34.12, Z:7.29 [[ 9.99775019e-01 2.05461314e-02 5.26956951e-03 3.75703637e+02] [-2.05460257e-02 9.99788905e-01 -7.41989828e-05 3.41233144e+01] [-5.26998163e-03 -3.40864208e-05 9.99986113e-01 7.29430230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.844391418 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:375.73, Y:34.13, Z:7.29 [[ 9.99797493e-01 1.96286744e-02 4.43710835e-03 3.75731917e+02] [-1.96285924e-02 9.99807339e-01 -6.20270395e-05 3.41255268e+01] [-4.43747100e-03 -2.50797127e-05 9.99990154e-01 7.29381611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.874391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.76, Y:34.13, Z:7.29 [[ 9.99815016e-01 1.87448562e-02 4.30857461e-03 3.75759627e+02] [-1.87447725e-02 9.99824300e-01 -5.98141250e-05 3.41262146e+01] [-4.30893880e-03 -2.09601905e-05 9.99990716e-01 7.29353565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.904391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.79, Y:34.13, Z:7.29 [[ 9.99833671e-01 1.77510291e-02 4.18715954e-03 3.75787573e+02] [-1.77509434e-02 9.99842438e-01 -5.76445631e-05 3.41265749e+01] [-4.18752305e-03 -1.66910567e-05 9.99991232e-01 7.29333604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.934391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.82, Y:34.13, Z:7.29 [[ 9.99852987e-01 1.66533205e-02 4.08296205e-03 3.75816189e+02] [-1.66532314e-02 9.99861324e-01 -5.58159178e-05 3.41269921e+01] [-4.08332536e-03 -1.21867998e-05 9.99991663e-01 7.29327458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.964391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.84, Y:34.13, Z:7.29 [[ 9.99878264e-01 1.49620613e-02 4.42652472e-03 3.75844899e+02] [-1.49619417e-02 9.99888062e-01 -6.01413651e-05 3.41282108e+01] [-4.42692906e-03 -6.09536111e-06 9.99990201e-01 7.29342308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.994391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.87, Y:34.13, Z:7.29 [[ 9.99888354e-01 1.43090123e-02 4.30485321e-03 3.75873678e+02] [-1.43088945e-02 9.99897621e-01 -5.81603304e-05 3.41288135e+01] [-4.30524470e-03 -3.44385354e-06 9.99990732e-01 7.29378335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.024391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.90, Y:34.13, Z:7.29 [[ 9.99904254e-01 1.29240296e-02 4.94491959e-03 3.75902875e+02] [-1.29238595e-02 9.99916481e-01 -6.63698752e-05 3.41304042e+01] [-4.94536436e-03 2.45607475e-06 9.99987772e-01 7.29352774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.054391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.93, Y:34.13, Z:7.29 [[ 9.99904002e-01 1.29775565e-02 4.85494741e-03 3.75930906e+02] [-1.29804348e-02 9.99915593e-01 5.61824320e-04 3.41304511e+01] [-4.84724651e-03 -6.24789715e-04 9.99988057e-01 7.29316278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.084391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.96, Y:34.13, Z:7.29 [[ 9.99921750e-01 1.15049211e-02 4.91237781e-03 3.75959509e+02] [-1.15017450e-02 9.99933625e-01 -6.74313716e-04 3.41315502e+01] [-4.91980968e-03 6.17760033e-04 9.99987707e-01 7.29301016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.114391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.99, Y:34.13, Z:7.29 [[ 9.99945086e-01 9.73690248e-03 3.87527687e-03 3.75986897e+02] [-9.73677391e-03 9.99952595e-01 -5.20430746e-05 3.41319712e+01] [-3.87559990e-03 1.43075220e-05 9.99992490e-01 7.29227075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.144391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.02, Y:34.13, Z:7.29 [[ 9.99958575e-01 8.44970651e-03 3.38404550e-03 3.76015683e+02] [-8.44960209e-03 9.99964300e-01 -4.51514844e-05 3.41323711e+01] [-3.38430620e-03 1.65557760e-05 9.99994273e-01 7.29213855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.04, Y:34.13, Z:7.29 [[ 9.99973843e-01 6.66005957e-03 2.82065190e-03 3.76044066e+02] [-6.65998036e-03 9.99977821e-01 -3.74739936e-05 3.41334541e+01] [-2.82083892e-03 1.86875271e-05 9.99996021e-01 7.29183025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.204391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.07, Y:34.13, Z:7.29 [[ 9.99981367e-01 5.42080811e-03 2.80728309e-03 3.76072372e+02] [-5.42072537e-03 9.99985307e-01 -3.70823756e-05 3.41337440e+01] [-2.80744286e-03 2.18641740e-05 9.99996059e-01 7.29152753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.234391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.10, Y:34.13, Z:7.29 [[ 9.99989075e-01 3.50720598e-03 3.09014924e-03 3.76102348e+02] [-3.50709760e-03 9.99993849e-01 -4.04911309e-05 3.41329429e+01] [-3.09027224e-03 2.96532335e-05 9.99995225e-01 7.29160312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.264391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.13, Y:34.13, Z:7.29 [[ 9.99991389e-01 1.78319670e-03 3.74731601e-03 3.76131937e+02] [-1.78302596e-03 9.99998409e-01 -4.89048113e-05 3.41322929e+01] [-3.74739726e-03 4.22228285e-05 9.99992978e-01 7.29074837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.294391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.16, Y:34.13, Z:7.29 [[ 9.99992201e-01 -4.33157598e-04 3.92571904e-03 3.76162842e+02] [ 4.33361645e-04 9.99999905e-01 -5.11264818e-05 3.41313885e+01] [-3.92569652e-03 5.28273391e-05 9.99992293e-01 7.29040672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.324391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.19, Y:34.13, Z:7.29 [[ 9.99993413e-01 -4.50651289e-04 3.60156042e-03 3.76194193e+02] [ 4.50823555e-04 9.99999897e-01 -4.70189716e-05 3.41300561e+01] [-3.60153886e-03 4.86423302e-05 9.99993513e-01 7.28951024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.354391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.23, Y:34.13, Z:7.29 [[ 9.99994320e-01 -1.42479333e-04 3.36742531e-03 3.76226315e+02] [ 1.42628728e-04 9.99999989e-01 -4.41245742e-05 3.41290204e+01] [-3.36741898e-03 4.46046151e-05 9.99994329e-01 7.28951299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.384391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.26, Y:34.13, Z:7.29 [[ 9.99993498e-01 4.70414810e-05 3.60571083e-03 3.76257329e+02] [-4.68702312e-05 9.99999998e-01 -4.75784949e-05 3.41286912e+01] [-3.60571306e-03 4.74091850e-05 9.99993498e-01 7.28936396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.414391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.29, Y:34.13, Z:7.29 [[ 9.99991610e-01 3.58401356e-04 4.08060225e-03 3.76289113e+02] [-3.58183496e-04 9.99999934e-01 -5.41199543e-05 3.41280852e+01] [-4.08062138e-03 5.26578958e-05 9.99991673e-01 7.28930411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.444391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.32, Y:34.13, Z:7.29 [[ 9.99990547e-01 4.09710799e-04 4.32876206e-03 3.76321610e+02] [-4.09464584e-04 9.99999915e-01 -5.77648892e-05 3.41272150e+01] [-4.32878535e-03 5.59918684e-05 9.99990629e-01 7.28940534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.474391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.35, Y:34.13, Z:7.29 [[ 9.99987861e-01 2.09878837e-04 4.92277901e-03 3.76352524e+02] [-2.09550535e-04 9.99999976e-01 -6.72060646e-05 3.41261927e+01] [-4.92279300e-03 6.61736779e-05 9.99987881e-01 7.28870172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.504391418 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:376.38, Y:34.13, Z:7.29 [[ 9.99985939e-01 -7.88635318e-04 5.24412097e-03 3.76384700e+02] [ 7.89029056e-04 9.99999686e-01 -7.30134121e-05 3.41251622e+01] [-5.24406174e-03 7.71501493e-05 9.99986247e-01 7.28812952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.534391418 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:376.42, Y:34.12, Z:7.29 [[ 9.99979303e-01 -3.40023055e-03 5.46195978e-03 3.76417887e+02] [ 3.40070519e-03 9.99994215e-01 -7.76140820e-05 3.41225292e+01] [-5.46166427e-03 9.61869906e-05 9.99985080e-01 7.28674555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.564391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.45, Y:34.12, Z:7.29 [[ 9.99979624e-01 -4.22982551e-03 4.78115673e-03 3.76450869e+02] [ 4.23020465e-03 9.99991050e-01 -6.91882687e-05 3.41209901e+01] [-4.78082128e-03 8.94121303e-05 9.99988568e-01 7.28636413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.594391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.48, Y:34.12, Z:7.29 [[ 9.99974240e-01 -5.50329754e-03 4.60794036e-03 3.76484172e+02] [ 5.50366565e-03 9.99984852e-01 -6.72096940e-05 3.41186180e+01] [-4.60750069e-03 9.25685258e-05 9.99989381e-01 7.28537226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.624391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.52, Y:34.12, Z:7.29 [[ 9.99970850e-01 -6.02850404e-03 4.68582379e-03 3.76516617e+02] [ 6.02889306e-03 9.99981824e-01 -6.88987498e-05 3.41172822e+01] [-4.68532326e-03 9.71470719e-05 9.99989019e-01 7.28516839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.654391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.55, Y:34.12, Z:7.29 [[ 9.99968622e-01 -6.39102687e-03 4.68072753e-03 3.76549226e+02] [ 6.39142079e-03 9.99979572e-01 -6.92040692e-05 3.41158649e+01] [-4.68018963e-03 9.91183970e-05 9.99989043e-01 7.28500785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.684391418 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:376.58, Y:34.12, Z:7.29 [[ 9.99977987e-01 -5.71441969e-03 3.37215375e-03 3.76580926e+02] [ 5.73256257e-03 9.99969014e-01 -5.39529484e-03 3.41168508e+01] [-3.34121828e-03 5.41450715e-03 9.99979759e-01 7.28692320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.714391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.61, Y:34.11, Z:7.28 [[ 9.99962095e-01 -6.01760407e-03 6.29266804e-03 3.76614442e+02] [ 5.98484927e-03 9.99968512e-01 5.21117234e-03 3.41110330e+01] [-6.32382867e-03 -5.17331413e-03 9.99966622e-01 7.28272119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.744391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.65, Y:34.11, Z:7.28 [[ 9.99964674e-01 -4.89031158e-03 6.83635015e-03 3.76646994e+02] [ 4.89112631e-03 9.99988033e-01 -1.02462687e-04 3.41125244e+01] [-6.83576726e-03 1.35896519e-04 9.99976627e-01 7.28494092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.774391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.68, Y:34.11, Z:7.28 [[ 9.99967812e-01 -3.53129193e-03 7.20447959e-03 3.76679402e+02] [ 3.53216643e-03 9.99993756e-01 -1.08663092e-04 3.41118834e+01] [-7.20405088e-03 1.34107016e-04 9.99974041e-01 7.28492015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.804391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.71, Y:34.11, Z:7.28 [[ 9.99966793e-01 -4.40790109e-04 8.13746296e-03 3.76710182e+02] [ 4.41810724e-04 9.99999895e-01 -1.23624510e-04 3.41108499e+01] [-8.13740761e-03 1.27215624e-04 9.99966883e-01 7.28398396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.834391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.74, Y:34.11, Z:7.28 [[ 9.99965615e-01 1.29707100e-03 8.19064179e-03 3.76741553e+02] [-1.29608888e-03 9.99999152e-01 -1.25213795e-04 3.41097929e+01] [-8.19079726e-03 1.14593689e-04 9.99966448e-01 7.28355798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.864391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.77, Y:34.11, Z:7.28 [[ 9.99957144e-01 5.35494892e-03 7.55212963e-03 3.76773761e+02] [-5.35422595e-03 9.99985659e-01 -1.15944878e-04 3.41085106e+01] [-7.55264221e-03 7.55041002e-05 9.99971476e-01 7.28228737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.894391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.80, Y:34.11, Z:7.28 [[ 9.99944511e-01 7.85172613e-03 7.02323476e-03 3.76804794e+02] [-7.85115952e-03 9.99969173e-01 -1.08243520e-04 3.41078102e+01] [-7.02386815e-03 5.30969774e-05 9.99975331e-01 7.28166381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92439141799997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:376.83, Y:34.11, Z:7.28 [[ 9.99919095e-01 1.09244082e-02 6.51624326e-03 3.76834681e+02] [-1.09239850e-02 9.99940326e-01 -1.00539258e-04 3.41073818e+01] [-6.51695274e-03 2.93477805e-05 9.99978764e-01 7.28109520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.954391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.86, Y:34.11, Z:7.28 [[ 9.99814617e-01 1.81096529e-02 6.54005673e-03 3.76863047e+02] [-1.81093851e-02 9.99836007e-01 -1.00178436e-04 3.41076387e+01] [-6.54079840e-03 -1.82765417e-05 9.99978609e-01 7.28068598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.89, Y:34.11, Z:7.28 [[ 9.99732756e-01 2.21403516e-02 6.64992081e-03 3.76890560e+02] [-2.21401733e-02 9.99754871e-01 -1.00438650e-04 3.41076393e+01] [-6.65051447e-03 -4.68185906e-05 9.99977884e-01 7.28080204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.014391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.92, Y:34.11, Z:7.28 [[ 9.99625131e-01 2.63975799e-02 7.26395456e-03 3.76918452e+02] [-2.63974854e-02 9.99651520e-01 -1.08903553e-04 3.41075474e+01] [-7.26429801e-03 -8.28874056e-05 9.99973611e-01 7.28051744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044391418 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:376.95, Y:34.11, Z:7.28 [[ 9.99393644e-01 3.39493727e-02 7.73202142e-03 3.76946824e+02] [-3.39494988e-02 9.99423543e-01 -1.14980006e-04 3.41077293e+01] [-7.73146774e-03 -1.47587965e-04 9.99970101e-01 7.27981252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.074391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.97, Y:34.11, Z:7.28 [[ 9.99265862e-01 3.74742402e-02 7.96359205e-03 3.76974677e+02] [-3.74744934e-02 9.99297578e-01 -1.17473504e-04 3.41070496e+01] [-7.96240047e-03 -1.81044315e-04 9.99968283e-01 7.27965566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104391418 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:377.00, Y:34.11, Z:7.28 [[ 9.99159687e-01 4.01520650e-02 8.22995232e-03 3.77001351e+02] [-4.01524350e-02 9.99193559e-01 -1.20343660e-04 3.41065620e+01] [-8.22814739e-03 -2.10210092e-04 9.99966126e-01 7.27903606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.134391418 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:377.03, Y:34.10, Z:7.28 [[ 9.98971478e-01 4.44530969e-02 8.93916044e-03 3.77028848e+02] [-4.44537158e-02 9.99011437e-01 -1.29546382e-04 3.41049080e+01] [-8.93608225e-03 -2.67965757e-04 9.99960037e-01 7.27771698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164391418 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:377.06, Y:34.10, Z:7.28 [[ 9.98909158e-01 4.57982950e-02 9.11097246e-03 3.77056631e+02] [-4.57990034e-02 9.98950667e-01 -1.30975625e-04 3.41037397e+01] [-9.10741047e-03 -2.86440708e-04 9.99958486e-01 7.27705616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.194391418 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:377.08, Y:34.10, Z:7.28 [[ 9.98877874e-01 4.65828009e-02 8.54602622e-03 3.77084551e+02] [-4.65834612e-02 9.98914394e-01 -1.21891219e-04 3.41019835e+01] [-8.54242664e-03 -2.76349039e-04 9.99963475e-01 7.27670630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224391418 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:377.11, Y:34.10, Z:7.28 [[ 9.98890489e-01 4.63561709e-02 8.30033410e-03 3.77112037e+02] [-4.63567938e-02 9.98924939e-01 -1.17430980e-04 3.41007382e+01] [-8.29685439e-03 -2.67476187e-04 9.99965545e-01 7.27592429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.254391418 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:377.14, Y:34.10, Z:7.28 [[ 9.98926706e-01 4.56581284e-02 7.79565123e-03 3.77140262e+02] [-4.56586635e-02 9.98957093e-01 -1.09412400e-04 3.40993886e+01] [-7.79251666e-03 -2.46644048e-04 9.99969607e-01 7.27524798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.284391418 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:377.17, Y:34.10, Z:7.27 [[ 9.98966669e-01 4.48052550e-02 7.62123760e-03 3.77167772e+02] [-4.48057482e-02 9.98995713e-01 -1.06092186e-04 3.40980271e+01] [-7.61833717e-03 -2.35492696e-04 9.99970952e-01 7.27459208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.314391418 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:377.20, Y:34.10, Z:7.27 [[ 9.99090159e-01 4.20255910e-02 7.25969465e-03 3.77195245e+02] [-4.20259712e-02 9.99116514e-01 -1.00232469e-04 3.40955980e+01] [-7.25749314e-03 -2.04954445e-04 9.99973643e-01 7.27461592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.344391418 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:377.22, Y:34.09, Z:7.27 [[ 9.99161104e-01 4.01942609e-02 7.84286376e-03 3.77222009e+02] [-4.01946565e-02 9.99191863e-01 -1.07239007e-04 3.40941836e+01] [-7.84083604e-03 -2.08092170e-04 9.99969239e-01 7.27470305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.374391418 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:377.25, Y:34.09, Z:7.27 [[ 9.99325023e-01 3.56732587e-02 8.77028637e-03 3.77249378e+02] [-3.56735904e-02 9.99363488e-01 -1.18655993e-04 3.40919043e+01] [-8.76893682e-03 -1.94291701e-04 9.99961533e-01 7.27462005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.404391418 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:377.28, Y:34.09, Z:7.27 [[ 9.99413551e-01 3.30291983e-02 9.03470634e-03 3.77277590e+02] [-3.30294529e-02 9.99454371e-01 -1.21071627e-04 3.40906148e+01] [-9.03377564e-03 -1.77410783e-04 9.99959179e-01 7.27427470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.434391418 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:377.30, Y:34.09, Z:7.27 [[ 9.99495037e-01 3.04651680e-02 9.03023401e-03 3.77304113e+02] [-3.04653299e-02 9.99535817e-01 -1.19660305e-04 3.40890728e+01] [-9.02968780e-03 -1.55509177e-04 9.99959219e-01 7.27388568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.464391418 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:377.33, Y:34.09, Z:7.27 [[ 9.99638783e-01 2.54278736e-02 8.70213534e-03 3.77331813e+02] [-2.54278438e-02 9.99676654e-01 -1.14075988e-04 3.40862703e+01] [-8.70222225e-03 -1.07241757e-04 9.99962129e-01 7.27308856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.494391418 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:377.36, Y:34.09, Z:7.27 [[ 9.99706015e-01 2.26709329e-02 8.59728109e-03 3.77360051e+02] [-2.26708105e-02 9.99742978e-01 -1.11704504e-04 3.40852732e+01] [-8.59760385e-03 -8.32356653e-05 9.99963036e-01 7.27249386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.524391418 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:377.39, Y:34.08, Z:7.27 [[ 9.99758309e-01 2.03219964e-02 8.38690428e-03 3.77388853e+02] [-2.03218040e-02 9.99793485e-01 -1.08166319e-04 3.40842913e+01] [-8.38737041e-03 -6.22968492e-05 9.99964823e-01 7.27253508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.554391418 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:377.42, Y:34.08, Z:7.27 [[ 9.99800687e-01 1.81728319e-02 8.26641678e-03 3.77417218e+02] [-1.81725768e-02 9.99834859e-01 -1.05974101e-04 3.40835868e+01] [-8.26697751e-03 -4.42691149e-05 9.99965827e-01 7.27254074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.584391418 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:377.45, Y:34.08, Z:7.27 [[ 9.99801743e-01 1.81146801e-02 8.26642397e-03 3.77446523e+02] [-1.81144277e-02 9.99835915e-01 -1.05411677e-04 3.40832870e+01] [-8.26697707e-03 -4.43507606e-05 9.99965827e-01 7.27241726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.614391418 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:377.48, Y:34.08, Z:7.27 [[ 9.99855407e-01 1.46974347e-02 8.55275706e-03 3.77475249e+02] [-1.46970446e-02 9.99891987e-01 -1.08469164e-04 3.40827381e+01] [-8.55342747e-03 -1.72467713e-05 9.99963419e-01 7.27254954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.644391418 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:377.50, Y:34.08, Z:7.27 [[ 9.99881101e-01 1.28961747e-02 8.45413877e-03 3.77504267e+02] [-1.28957347e-02 9.99916841e-01 -1.06561941e-04 3.40826986e+01] [-8.45480997e-03 -2.47305973e-06 9.99964257e-01 7.27247401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67439141799997 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:377.53, Y:34.08, Z:7.27 [[ 9.99926890e-01 9.50090755e-03 7.47977416e-03 3.77532996e+02] [-9.50047129e-03 9.99954865e-01 -9.38555202e-05 3.40827497e+01] [-7.48032827e-03 2.27872788e-05 9.99972022e-01 7.27242210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.704391418 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:377.56, Y:34.08, Z:7.27 [[ 9.99948317e-01 7.56592517e-03 6.79119490e-03 3.77562432e+02] [-7.56552265e-03 9.99971377e-01 -8.49584507e-05 3.40826949e+01] [-6.79164331e-03 3.35751209e-05 9.99976936e-01 7.27228822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.734391418 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:377.59, Y:34.08, Z:7.27 [[ 9.99964813e-01 5.66920513e-03 6.18328069e-03 3.77593212e+02] [-5.66883610e-03 9.99983929e-01 -7.72062967e-05 3.40828607e+01] [-6.18361902e-03 4.21515753e-05 9.99980880e-01 7.27202449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.764391418 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:377.62, Y:34.08, Z:7.27 [[ 9.99985898e-01 1.74556862e-03 5.01573092e-03 3.77623256e+02] [-1.74527637e-03 9.99998475e-01 -6.26433987e-05 3.40835372e+01] [-5.01583262e-03 5.38886786e-05 9.99987419e-01 7.27079084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.794391418 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:377.65, Y:34.08, Z:7.27 [[ 9.99989608e-01 1.41945962e-04 4.55671715e-03 3.77654913e+02] [-1.41687382e-04 9.99999988e-01 -5.70698213e-05 3.40837496e+01] [-4.55672519e-03 5.64235989e-05 9.99989616e-01 7.27020932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.824391418 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:377.69, Y:34.09, Z:7.27 [[ 9.99990243e-01 -1.98894088e-03 3.94436042e-03 3.77687583e+02] [ 1.98915446e-03 9.99998020e-01 -5.02261089e-05 3.40852481e+01] [-3.94425271e-03 5.80715610e-05 9.99992220e-01 7.26979831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.854391418 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:377.72, Y:34.09, Z:7.27 [[ 9.99989126e-01 -2.34473031e-03 4.03106923e-03 3.77719709e+02] [ 2.34496104e-03 9.99997249e-01 -5.25121930e-05 3.40862186e+01] [-4.03093502e-03 6.19643223e-05 9.99991874e-01 7.26992066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.884391418 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:377.75, Y:34.09, Z:7.27 [[ 9.99988166e-01 -2.81137543e-03 3.97042063e-03 3.77751465e+02] [ 2.81160418e-03 9.99996046e-01 -5.20316973e-05 3.40877144e+01] [-3.97025865e-03 6.31943328e-05 9.99992116e-01 7.27033259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.914391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:377.78, Y:34.09, Z:7.27 [[ 9.99983992e-01 -3.23166881e-03 4.64458361e-03 3.77783976e+02] [ 3.23198837e-03 9.99994775e-01 -6.12995903e-05 3.40912253e+01] [-4.64436125e-03 7.63098492e-05 9.99989212e-01 7.27098581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.944391418 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:377.82, Y:34.09, Z:7.27 [[ 9.99977692e-01 -3.84093070e-03 5.46470596e-03 3.77816495e+02] [ 3.84138509e-03 9.99992619e-01 -7.26560384e-05 3.40923184e+01] [-5.46438656e-03 9.36464576e-05 9.99985066e-01 7.27064965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.974391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:377.85, Y:34.09, Z:7.27 [[ 9.99965744e-01 -5.55939943e-03 6.13220437e-03 3.77849641e+02] [ 5.56000825e-03 9.99984540e-01 -8.22380485e-05 3.40939503e+01] [-6.13165237e-03 1.16330338e-04 9.99981194e-01 7.27037603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.004391418 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:377.88, Y:34.09, Z:7.27 [[ 9.99974136e-01 -4.86252186e-03 5.29932804e-03 3.77881936e+02] [ 4.86296947e-03 9.99988173e-01 -7.15821810e-05 3.40939017e+01] [-5.29891729e-03 9.73508001e-05 9.99985956e-01 7.26947019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.034391418 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:377.91, Y:34.09, Z:7.27 [[ 9.99978284e-01 -4.53885039e-03 4.77803737e-03 3.77913642e+02] [ 4.53921222e-03 9.99989696e-01 -6.48863686e-05 3.40929041e+01] [-4.77769363e-03 8.65734852e-05 9.99988583e-01 7.26859907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.064391418 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:377.95, Y:34.09, Z:7.27 [[ 9.99976467e-01 -4.32734448e-03 5.32343698e-03 3.77946154e+02] [ 4.32779310e-03 9.99990632e-01 -7.27550103e-05 3.40922827e+01] [-5.32307228e-03 9.57920320e-05 9.99985828e-01 7.26807194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.094391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:377.98, Y:34.09, Z:7.27 [[ 9.99975735e-01 -3.94359454e-03 5.74258559e-03 3.77978546e+02] [ 3.94411326e-03 9.99992219e-01 -7.90061515e-05 3.40909442e+01] [-5.74222934e-03 1.01653642e-04 9.99983508e-01 7.26788319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.124391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:378.01, Y:34.09, Z:7.27 [[ 9.99974383e-01 -4.09034575e-03 5.87389394e-03 3.78010475e+02] [ 4.09089434e-03 9.99991629e-01 -8.13824068e-05 3.40897704e+01] [-5.87351189e-03 1.05409801e-04 9.99982745e-01 7.26787546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.154391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:378.04, Y:34.09, Z:7.27 [[ 9.99955920e-01 -4.26138858e-03 8.36648519e-03 3.78043140e+02] [ 4.33874563e-03 9.99947807e-01 -9.24978779e-03 3.40927658e+01] [-8.32663157e-03 9.28568011e-03 9.99922219e-01 7.26838082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.184391418 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:378.07, Y:34.08, Z:7.26 [[ 9.99959781e-01 -6.47133783e-03 6.20947253e-03 3.78074236e+02] [ 6.41367993e-03 9.99936548e-01 9.26088825e-03 3.40821927e+01] [-6.26900887e-03 -9.22069022e-03 9.99937837e-01 7.26393142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.214391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:378.11, Y:34.08, Z:7.27 [[ 9.99950136e-01 -8.05494325e-03 5.90288937e-03 3.78107714e+02] [ 8.05557983e-03 9.99967550e-01 -8.40737014e-05 3.40845842e+01] [-5.90202061e-03 1.31620706e-04 9.99982574e-01 7.26711593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.244391418 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:378.14, Y:34.08, Z:7.27 [[ 9.99932589e-01 -1.04752743e-02 5.00865786e-03 3.78139433e+02] [ 1.04757690e-02 9.99945125e-01 -7.25320604e-05 3.40818270e+01] [-5.00762322e-03 1.24996714e-04 9.99987454e-01 7.26588518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.274391418 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:378.17, Y:34.08, Z:7.27 [[ 9.99922929e-01 -1.15547239e-02 4.54140092e-03 3.78171158e+02] [ 1.15551436e-02 9.99933235e-01 -6.61809078e-05 3.40806247e+01] [-4.54033301e-03 1.18652347e-04 9.99989686e-01 7.26547492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.304391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.20, Y:34.08, Z:7.27 [[ 9.99914618e-01 -1.23407391e-02 4.29691569e-03 3.78203744e+02] [ 1.23411238e-02 9.99923843e-01 -6.30257118e-05 3.40792172e+01] [-4.29581067e-03 1.16049099e-04 9.99990766e-01 7.26503247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.334391418 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:378.24, Y:34.08, Z:7.27 [[ 9.99905895e-01 -1.32127530e-02 3.69112550e-03 3.78236358e+02] [ 1.32130442e-02 9.99912702e-01 -5.45058311e-05 3.40778392e+01] [-3.69008311e-03 1.03271706e-04 9.99993186e-01 7.26521874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.364391418 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:378.27, Y:34.08, Z:7.26 [[ 9.99884167e-01 -1.44005110e-02 4.92720567e-03 3.78269161e+02] [ 1.44010479e-02 9.99896297e-01 -7.35039426e-05 3.40757078e+01] [-4.92563621e-03 1.44452354e-04 9.99987859e-01 7.26481649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.394391418 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:378.30, Y:34.07, Z:7.27 [[ 9.99873834e-01 -1.48828617e-02 5.55131198e-03 3.78302127e+02] [ 1.48835547e-02 9.99889230e-01 -8.35375769e-05 3.40744310e+01] [-5.54945378e-03 1.66150293e-04 9.99984588e-01 7.26500057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42439141799997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:378.34, Y:34.07, Z:7.26 [[ 9.99865192e-01 -1.53755860e-02 5.76108682e-03 3.78335612e+02] [ 1.53763446e-02 9.99881773e-01 -8.74027949e-05 3.40719751e+01] [-5.75906183e-03 1.75975468e-04 9.99983401e-01 7.26482728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.454391418 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:378.37, Y:34.07, Z:7.26 [[ 9.99861107e-01 -1.56739493e-02 5.66524396e-03 3.78368357e+02] [ 1.56746914e-02 9.99877141e-01 -8.66213974e-05 3.40703178e+01] [-5.66319023e-03 1.75410317e-04 9.99983949e-01 7.26469205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:378.40, Y:34.07, Z:7.26 [[ 9.99848882e-01 -1.64183824e-02 5.71401219e-03 3.78401652e+02] [ 1.64191535e-02 9.99865193e-01 -8.80592804e-05 3.40689658e+01] [-5.71179611e-03 1.81865216e-04 9.99983671e-01 7.26428524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.514391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:378.43, Y:34.07, Z:7.27 [[ 9.99845861e-01 -1.70980355e-02 3.98880814e-03 3.78433320e+02] [ 1.71145819e-02 9.99844916e-01 -4.15162051e-03 3.40676817e+01] [-3.91720499e-03 4.21924737e-03 9.99983427e-01 7.26500735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:378.47, Y:34.06, Z:7.26 [[ 9.99805176e-01 -1.92174243e-02 4.50555571e-03 3.78465827e+02] [ 1.91991223e-02 9.99807393e-01 4.07075169e-03 3.40618866e+01] [-4.58291727e-03 -3.98345590e-03 9.99981564e-01 7.26101843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.574391418 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:378.50, Y:34.06, Z:7.26 [[ 9.99780594e-01 -2.05241596e-02 4.18605721e-03 3.78498036e+02] [ 2.05246144e-02 9.99789346e-01 -6.57159263e-05 3.40616050e+01] [-4.18382664e-03 1.51618718e-04 9.99991236e-01 7.26191861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:378.53, Y:34.06, Z:7.26 [[ 9.99752602e-01 -2.19352645e-02 3.68507932e-03 3.78531157e+02] [ 2.19356277e-02 9.99759383e-01 -5.81585524e-05 3.40577323e+01] [-3.68291690e-03 1.38978692e-04 9.99993208e-01 7.26115094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.634391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:378.56, Y:34.06, Z:7.26 [[ 9.99733292e-01 -2.27290693e-02 4.09070525e-03 3.78564578e+02] [ 2.27295256e-02 9.99741649e-01 -6.50918548e-05 3.40558585e+01] [-4.08816894e-03 1.58054284e-04 9.99991631e-01 7.26112797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.60, Y:34.05, Z:7.26 [[ 9.99715809e-01 -2.34020237e-02 4.54391382e-03 3.78597325e+02] [ 2.34025963e-02 9.99726119e-01 -7.28854937e-05 3.40541715e+01] [-4.54096366e-03 1.79204161e-04 9.99989674e-01 7.26156448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.694391418 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:378.63, Y:34.05, Z:7.26 [[ 9.99681549e-01 -2.46901022e-02 5.21532084e-03 3.78630079e+02] [ 2.46908777e-02 9.99695130e-01 -8.43477754e-05 3.40518623e+01] [-5.21164829e-03 2.13091764e-04 9.99986397e-01 7.26205376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:378.66, Y:34.05, Z:7.26 [[ 9.99676127e-01 -2.48182972e-02 5.62960435e-03 3.78663570e+02] [ 2.48192068e-02 9.99691952e-01 -9.17615116e-05 3.40498571e+01] [-5.62559279e-03 2.31454107e-04 9.99984149e-01 7.26173861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.754391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:378.70, Y:34.05, Z:7.26 [[ 9.99675499e-01 -2.47592065e-02 5.98977738e-03 3.78695298e+02] [ 2.47602395e-02 9.99693413e-01 -9.83567623e-05 3.40477054e+01] [-5.98550576e-03 2.46633168e-04 9.99982056e-01 7.26144664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.784391418 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:378.73, Y:34.04, Z:7.26 [[ 9.99677953e-01 -2.46277103e-02 6.12093870e-03 3.78727817e+02] [ 2.46287907e-02 9.99696660e-01 -1.01179708e-04 3.40447043e+01] [-6.11659015e-03 2.51898441e-04 9.99981262e-01 7.26078379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.814391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:378.76, Y:34.04, Z:7.26 [[ 9.99677028e-01 -2.46744692e-02 6.08355665e-03 3.78760754e+02] [ 2.46755417e-02 9.99695507e-01 -1.01287781e-04 3.40429328e+01] [-6.07920503e-03 2.51370124e-04 9.99981490e-01 7.26049347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.844391418 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:378.79, Y:34.04, Z:7.26 [[ 9.99686318e-01 -2.42657931e-02 6.19982095e-03 3.78793300e+02] [ 2.42669038e-02 9.99705510e-01 -1.03970378e-04 3.40401350e+01] [-6.19547224e-03 2.54388222e-04 9.99980776e-01 7.26026600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.874391418 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:378.83, Y:34.04, Z:7.26 [[ 9.99695266e-01 -2.38135681e-02 6.50298798e-03 3.78826456e+02] [ 2.38147857e-02 9.99716382e-01 -1.09845906e-04 3.40384934e+01] [-6.49852779e-03 2.64679698e-04 9.99978849e-01 7.25966653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.904391418 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:378.86, Y:34.04, Z:7.26 [[ 9.99703490e-01 -2.35238746e-02 6.28957860e-03 3.78859290e+02] [ 2.35250123e-02 9.99723243e-01 -1.06966134e-04 3.40368486e+01] [-6.28532165e-03 2.54896831e-04 9.99980215e-01 7.25929777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.934391418 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:378.89, Y:34.03, Z:7.26 [[ 9.99710410e-01 -2.32671980e-02 6.14279897e-03 3.78892223e+02] [ 2.32682829e-02 9.99729251e-01 -1.05187327e-04 3.40340166e+01] [-6.13868840e-03 2.48089250e-04 9.99981127e-01 7.25886321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.964391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:378.93, Y:34.03, Z:7.26 [[ 9.99720593e-01 -2.28446564e-02 6.07101980e-03 3.78925006e+02] [ 2.28457126e-02 9.99738997e-01 -1.04679841e-04 3.40319424e+01] [-6.06704387e-03 2.43347366e-04 9.99981566e-01 7.25843258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.994391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:378.96, Y:34.03, Z:7.26 [[ 9.99724019e-01 -2.27373782e-02 5.90733959e-03 3.78958247e+02] [ 2.27383804e-02 9.99741444e-01 -1.02551595e-04 3.40304822e+01] [-5.90348046e-03 2.36846628e-04 9.99982546e-01 7.25814893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.024391418 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:378.99, Y:34.03, Z:7.26 [[ 9.99733374e-01 -2.24104662e-02 5.56348330e-03 3.78989931e+02] [ 2.24113535e-02 9.99748829e-01 -9.71908378e-05 3.40288977e+01] [-5.55990782e-03 2.21850115e-04 9.99984519e-01 7.25759334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.054391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:379.02, Y:34.03, Z:7.26 [[ 9.99740125e-01 -2.22225667e-02 5.08332747e-03 3.79022552e+02] [ 2.22233076e-02 9.99753028e-01 -8.92941275e-05 3.40262735e+01] [-5.08008769e-03 2.02239272e-04 9.99987076e-01 7.25650987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.084391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:379.05, Y:34.02, Z:7.26 [[ 9.99741537e-01 -2.22565567e-02 4.63740181e-03 3.79054121e+02] [ 2.22571759e-02 9.99752275e-01 -8.19578589e-05 3.40245494e+01] [-4.63442891e-03 1.85152144e-04 9.99989244e-01 7.25615648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.114391418 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:379.09, Y:34.02, Z:7.26 [[ 9.99750658e-01 -2.19123762e-02 4.29770803e-03 3.79087542e+02] [ 2.19129066e-02 9.99759881e-01 -7.63540380e-05 3.40223797e+01] [-4.29500297e-03 1.70510274e-04 9.99990762e-01 7.25540315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.144391418 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:379.12, Y:34.02, Z:7.26 [[ 9.99755951e-01 -2.16125920e-02 4.57547890e-03 3.79120549e+02] [ 2.16131926e-02 9.99766404e-01 -8.18627034e-05 3.40209195e+01] [-4.57264082e-03 1.80733432e-04 9.99989529e-01 7.25511225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17439141799997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:379.15, Y:34.02, Z:7.25 [[ 9.99755075e-01 -2.15419641e-02 5.07279475e-03 3.79153180e+02] [ 2.15427049e-02 9.99767925e-01 -9.14257363e-05 3.40193618e+01] [-5.06964799e-03 2.00685064e-04 9.99987129e-01 7.25465628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.204391418 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:379.19, Y:34.02, Z:7.25 [[ 9.99750929e-01 -2.16215113e-02 5.53091042e-03 3.79185759e+02] [ 2.16223971e-02 9.99766204e-01 -1.00388652e-04 3.40174423e+01] [-5.52744676e-03 2.19955190e-04 9.99984699e-01 7.25403803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.234391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:379.22, Y:34.02, Z:7.25 [[ 9.99753429e-01 -2.15209791e-02 5.47062655e-03 3.79218856e+02] [ 2.15218477e-02 9.99768373e-01 -9.99429726e-05 3.40163189e+01] [-5.46720854e-03 2.17656321e-04 9.99985031e-01 7.25359263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.264391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:379.25, Y:34.02, Z:7.25 [[ 9.99759618e-01 -2.12258305e-02 5.49275385e-03 3.79250578e+02] [ 2.12267051e-02 9.99774683e-01 -1.00977969e-04 3.40151708e+01] [-5.48937289e-03 2.17546762e-04 9.99984910e-01 7.25292248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.294391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:379.28, Y:34.01, Z:7.25 [[ 9.99764766e-01 -2.11355577e-02 4.86829145e-03 3.79283462e+02] [ 2.11362459e-02 9.99776601e-01 -8.99511725e-05 3.40138000e+01] [-4.86530271e-03 1.92827418e-04 9.99988146e-01 7.25236647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.324391418 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:379.32, Y:34.01, Z:7.25 [[ 9.99771802e-01 -2.07286566e-02 5.16405594e-03 3.79316798e+02] [ 2.07294289e-02 9.99785118e-01 -9.60513285e-05 3.40125320e+01] [-5.16095526e-03 2.03077340e-04 9.99986662e-01 7.25175894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.354391418 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:379.35, Y:34.01, Z:7.25 [[ 9.99785465e-01 -2.00189919e-02 5.31636628e-03 3.79350312e+02] [ 2.00198037e-02 9.99799579e-01 -9.95183002e-05 3.40113070e+01] [-5.31330851e-03 2.05929559e-04 9.99985863e-01 7.25170238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.384391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:379.38, Y:34.01, Z:7.25 [[ 9.99825652e-01 -1.78303020e-02 5.54494501e-03 3.79383394e+02] [ 1.78311552e-02 9.99841007e-01 -1.04463468e-04 3.40105254e+01] [-5.54220078e-03 2.03318030e-04 9.99984621e-01 7.25163950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.414391418 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:379.42, Y:34.01, Z:7.25 [[ 9.99850960e-01 -1.64405844e-02 5.26926709e-03 3.79415954e+02] [ 1.64413388e-02 9.99864827e-01 -9.98695410e-05 3.40101979e+01] [-5.26691291e-03 1.86488462e-04 9.99986112e-01 7.25182231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.444391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:379.45, Y:34.01, Z:7.25 [[ 9.99899566e-01 -1.33188028e-02 4.84427098e-03 3.79449513e+02] [ 1.33194064e-02 9.99911289e-01 -9.23570069e-05 3.40107372e+01] [-4.84261115e-03 1.56870545e-04 9.99988262e-01 7.25229382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.474391418 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:379.48, Y:34.01, Z:7.25 [[ 9.99900898e-01 -1.32184797e-02 4.84426006e-03 3.79482213e+02] [ 1.32190848e-02 9.99912620e-01 -9.29264047e-05 3.40100308e+01] [-4.84260843e-03 1.56953880e-04 9.99988262e-01 7.25216229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.504391418 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:379.51, Y:34.01, Z:7.25 [[ 9.99923158e-01 -1.14139899e-02 4.83733550e-03 3.79514650e+02] [ 1.14145746e-02 9.99934847e-01 -9.32783460e-05 3.40098624e+01] [-4.83595566e-03 1.48487305e-04 9.99988296e-01 7.25238245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.534391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.55, Y:34.01, Z:7.25 [[ 9.99941774e-01 -9.68365914e-03 4.76176482e-03 3.79548123e+02] [ 9.68420842e-03 9.99953103e-01 -9.23071193e-05 3.40097001e+01] [-4.76064763e-03 1.38415668e-04 9.99988658e-01 7.25252644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.564391418 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:379.58, Y:34.01, Z:7.25 [[ 9.99957870e-01 -7.76517041e-03 4.89488074e-03 3.79580971e+02] [ 7.76573083e-03 9.99969842e-01 -9.54933535e-05 3.40096194e+01] [-4.89399160e-03 1.33501657e-04 9.99988015e-01 7.25255042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.594391418 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:379.61, Y:34.01, Z:7.25 [[ 9.99984261e-01 -3.34855293e-03 4.50160930e-03 3.79612709e+02] [ 3.34898437e-03 9.99994388e-01 -8.83059990e-05 3.40103050e+01] [-4.50128835e-03 1.03380428e-04 9.99989864e-01 7.25262980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.624391418 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:379.64, Y:34.01, Z:7.25 [[ 9.99990212e-01 -1.30673548e-03 4.22715715e-03 3.79644608e+02] [ 1.30709902e-03 9.99999142e-01 -8.32394942e-05 3.40104021e+01] [-4.22704475e-03 8.87639925e-05 9.99991062e-01 7.25274415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.654391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.68, Y:34.01, Z:7.25 [[ 9.99988068e-01 3.18723080e-03 3.70215503e-03 3.79676033e+02] [-3.18698177e-03 9.99994919e-01 -7.31625930e-05 3.40114603e+01] [-3.70236941e-03 6.13630195e-05 9.99993144e-01 7.25232606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.684391418 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:379.71, Y:34.01, Z:7.26 [[ 9.99976705e-01 6.79074867e-03 6.88927027e-04 3.79705589e+02] [-6.78569994e-03 9.99951887e-01 -7.08359656e-03 3.40148238e+01] [-7.36996805e-04 7.07875670e-03 9.99974674e-01 7.25525874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.714391418 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:379.73, Y:34.01, Z:7.25 [[ 9.99961669e-01 8.70803347e-03 9.11703449e-04 3.79734769e+02] [-8.70894246e-03 9.99961579e-01 9.97850506e-04 3.40115563e+01] [-9.02979104e-04 -1.00575223e-03 9.99999087e-01 7.25216480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.744391418 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:379.76, Y:34.01, Z:7.25 [[ 9.99918513e-01 1.25484619e-02 2.34592829e-03 3.79764573e+02] [-1.25617437e-02 9.99904650e-01 5.73531259e-03 3.40107071e+01] [-2.27373525e-03 -5.76431419e-03 9.99980801e-01 7.25003292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.774391418 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:379.79, Y:34.01, Z:7.25 [[ 9.99875959e-01 1.55604623e-02 2.43712057e-03 3.79792836e+02] [-1.55603901e-02 9.99878929e-01 -4.86071201e-05 3.40135555e+01] [-2.43758185e-03 1.06785442e-05 9.99997029e-01 7.25195580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.804391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:379.82, Y:34.01, Z:7.25 [[ 9.99823572e-01 1.86529704e-02 2.21183918e-03 3.79821962e+02] [-1.86529189e-02 9.99826018e-01 -4.39010341e-05 3.40139215e+01] [-2.21227324e-03 2.63603191e-06 9.99997553e-01 7.25206478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.834391418 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:379.85, Y:34.01, Z:7.25 [[ 9.99767662e-01 2.14138255e-02 2.46369283e-03 3.79849992e+02] [-2.14137704e-02 9.99770698e-01 -4.87249166e-05 3.40144610e+01] [-2.46417129e-03 -4.04335668e-06 9.99996964e-01 7.25178371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.864391418 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:379.88, Y:34.02, Z:7.25 [[ 9.99643130e-01 2.64795630e-02 3.52791625e-03 3.79878053e+02] [-2.64794838e-02 9.99649355e-01 -6.91870867e-05 3.40160715e+01] [-3.52851124e-03 -2.42550051e-05 9.99993774e-01 7.25159610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.894391418 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:379.91, Y:34.02, Z:7.25 [[ 9.99575503e-01 2.89132542e-02 3.58296207e-03 3.79906475e+02] [-2.89131897e-02 9.99581924e-01 -6.98285950e-05 3.40164371e+01] [-3.58348309e-03 -3.37959090e-05 9.99993579e-01 7.25162217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92439141799997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:379.93, Y:34.02, Z:7.25 [[ 9.99446876e-01 3.29848782e-02 4.23545832e-03 3.79934598e+02] [-3.29848271e-02 9.99455849e-01 -8.19537055e-05 3.40165520e+01] [-4.23585682e-03 -5.77974852e-05 9.99991027e-01 7.25115672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.954391418 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:379.96, Y:34.02, Z:7.25 [[ 9.99389933e-01 3.46814751e-02 4.11789733e-03 3.79961422e+02] [-3.46814431e-02 9.99398415e-01 -7.91849714e-05 3.40159028e+01] [-4.11816632e-03 -6.36779589e-05 9.99991518e-01 7.25046786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984391418 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:379.99, Y:34.02, Z:7.25 [[ 9.99292704e-01 3.73861556e-02 4.04566883e-03 3.79989547e+02] [-3.73861492e-02 9.99300891e-01 -7.72461763e-05 3.40154328e+01] [-4.04572840e-03 -7.40604379e-05 9.99991813e-01 7.25002548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.014391418 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:380.02, Y:34.02, Z:7.25 [[ 9.99269937e-01 3.79827097e-02 4.11186870e-03 3.80016811e+02] [-3.79827101e-02 9.99278393e-01 -7.80063080e-05 3.40150874e+01] [-4.11186444e-03 -7.82305586e-05 9.99991543e-01 7.25007622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044391418 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:380.05, Y:34.01, Z:7.25 [[ 9.99250987e-01 3.84579446e-02 4.29551946e-03 3.80045214e+02] [-3.84579521e-02 9.99260216e-01 -8.08896045e-05 3.40149315e+01] [-4.29545256e-03 -8.43678647e-05 9.99990771e-01 7.24983310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.074391418 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:380.07, Y:34.01, Z:7.25 [[ 9.99217351e-01 3.93143663e-02 4.36652726e-03 3.80071706e+02] [-3.93143845e-02 9.99226887e-01 -8.16987281e-05 3.40145198e+01] [-4.36636337e-03 -9.00325447e-05 9.99990463e-01 7.24957786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104391418 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:380.10, Y:34.01, Z:7.25 [[ 9.99209947e-01 3.94998917e-02 4.38644265e-03 3.80099364e+02] [-3.94999143e-02 9.99219571e-01 -8.14916180e-05 3.40140695e+01] [-4.38623825e-03 -9.18368735e-05 9.99990376e-01 7.24929980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.134391418 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:380.13, Y:34.01, Z:7.25 [[ 9.99222268e-01 3.92241066e-02 4.04075045e-03 3.80126394e+02] [-3.92241253e-02 9.99230435e-01 -7.46325692e-05 3.40137802e+01] [-4.04056822e-03 -8.39203769e-05 9.99991833e-01 7.24893200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164391418 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:380.15, Y:34.01, Z:7.25 [[ 9.99233027e-01 3.89440274e-02 4.08914363e-03 3.80154262e+02] [-3.89440465e-02 9.99241390e-01 -7.49827101e-05 3.40133189e+01] [-4.08896169e-03 -8.43225992e-05 9.99991637e-01 7.24815560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.194391418 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:380.18, Y:34.01, Z:7.25 [[ 9.99278297e-01 3.78164359e-02 3.57795700e-03 3.80181437e+02] [-3.78164446e-02 9.99284700e-01 -6.52435423e-05 3.40129531e+01] [-3.57786497e-03 -7.01091568e-05 9.99993597e-01 7.24705023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:380.21, Y:34.01, Z:7.25 [[ 9.99307425e-01 3.69896843e-02 4.05383236e-03 3.80209457e+02] [-3.69896912e-02 9.99315645e-01 -7.33073202e-05 3.40130363e+01] [-4.05376971e-03 -7.66934577e-05 9.99991781e-01 7.24674806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.254391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:380.24, Y:34.01, Z:7.25 [[ 9.99368791e-01 3.51759993e-02 4.96669579e-03 3.80236547e+02] [-3.51759911e-02 9.99381129e-01 -8.90409728e-05 3.40137268e+01] [-4.96675416e-03 -8.57236775e-05 9.99987662e-01 7.24699200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.284391418 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:380.26, Y:34.01, Z:7.25 [[ 9.99409786e-01 3.38394342e-02 5.91368974e-03 3.80264438e+02] [-3.38394058e-02 9.99427278e-01 -1.04894937e-04 3.40136502e+01] [-5.91385242e-03 -9.52827204e-05 9.99982508e-01 7.24683728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.314391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.29, Y:34.01, Z:7.25 [[ 9.99448829e-01 3.25628326e-02 6.45750859e-03 3.80292830e+02] [-3.25627771e-02 9.99469686e-01 -1.13761503e-04 3.40131484e+01] [-6.45778848e-03 -9.65756116e-05 9.99979144e-01 7.24664179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.344391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.32, Y:34.01, Z:7.25 [[ 9.99551609e-01 2.89632165e-02 7.59696550e-03 3.80319904e+02] [-2.89630447e-02 9.99580474e-01 -1.32655900e-04 3.40126338e+01] [-7.59762052e-03 -8.74348332e-05 9.99971134e-01 7.24523370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.374391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.35, Y:34.01, Z:7.25 [[ 9.99615618e-01 2.67368208e-02 7.33201115e-03 3.80348261e+02] [-2.67366084e-02 9.99642505e-01 -1.26999187e-04 3.40126853e+01] [-7.33278555e-03 -6.90827401e-05 9.99973112e-01 7.24519405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.404391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.38, Y:34.01, Z:7.24 [[ 9.99676433e-01 2.43573349e-02 7.33136213e-03 3.80376204e+02] [-2.43570648e-02 9.99703315e-01 -1.26135387e-04 3.40126654e+01] [-7.33225934e-03 -5.24758892e-05 9.99973117e-01 7.24451174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.434391418 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:380.40, Y:34.01, Z:7.24 [[ 9.99769692e-01 2.02574589e-02 7.08509597e-03 3.80404997e+02] [-2.02571086e-02 9.99794796e-01 -1.21204345e-04 3.40132196e+01] [-7.08609737e-03 -2.23471279e-05 9.99974893e-01 7.24365441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.464391418 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:380.43, Y:34.01, Z:7.24 [[ 9.99803277e-01 1.85752261e-02 6.95467447e-03 3.80432825e+02] [-1.85748522e-02 9.99827466e-01 -1.18355962e-04 3.40133539e+01] [-6.95567304e-03 -1.08493716e-05 9.99975809e-01 7.24308759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.494391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.46, Y:34.01, Z:7.24 [[ 9.99820163e-01 1.75579965e-02 7.16654121e-03 3.80461203e+02] [-1.75575781e-02 9.99845846e-01 -1.21302367e-04 3.40132447e+01] [-7.16756629e-03 -4.54655516e-06 9.99974313e-01 7.24289366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.524391418 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:380.49, Y:34.01, Z:7.24 [[ 9.99826377e-01 1.69242847e-02 7.79639706e-03 3.80489250e+02] [-1.69237760e-02 9.99856774e-01 -1.31231897e-04 3.40140812e+01] [-7.79750142e-03 -7.35365058e-07 9.99969599e-01 7.24163298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.554391418 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:380.52, Y:34.01, Z:7.24 [[ 9.99814755e-01 1.74151348e-02 8.19570050e-03 3.80518246e+02] [-1.74145952e-02 9.99848345e-01 -1.37209944e-04 3.40147989e+01] [-8.19684712e-03 -5.54028021e-06 9.99966405e-01 7.24131567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.584391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.55, Y:34.02, Z:7.24 [[ 9.99791583e-01 1.85263062e-02 8.57711896e-03 3.80547167e+02] [-1.85257619e-02 9.99828373e-01 -1.42906439e-04 3.40158405e+01] [-8.57829443e-03 -1.60210086e-05 9.99963206e-01 7.24110384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.614391418 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:380.58, Y:34.02, Z:7.24 [[ 9.99732982e-01 2.15874417e-02 8.24301183e-03 3.80575443e+02] [-2.15870490e-02 9.99766963e-01 -1.36619069e-04 3.40192515e+01] [-8.24404016e-03 -4.13597103e-05 9.99966016e-01 7.24099561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.644391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.60, Y:34.02, Z:7.24 [[ 9.99687388e-01 2.36561068e-02 8.09411751e-03 3.80603847e+02] [-2.36558016e-02 9.99720153e-01 -1.33458447e-04 3.40206759e+01] [-8.09500950e-03 -5.80561118e-05 9.99967233e-01 7.24067910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67439141799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.63, Y:34.02, Z:7.24 [[ 9.99639873e-01 2.57084286e-02 7.69419715e-03 3.80631723e+02] [-2.57082186e-02 9.99669481e-01 -1.26210347e-04 3.40225288e+01] [-7.69489874e-03 -7.16392066e-05 9.99970391e-01 7.24038432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.704391418 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:380.66, Y:34.03, Z:7.24 [[ 9.99506143e-01 3.06933920e-02 6.73686383e-03 3.80659176e+02] [-3.06933498e-02 9.99528842e-01 -1.09687862e-04 3.40264631e+01] [-6.73705640e-03 -9.71432258e-05 9.99977301e-01 7.23931467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.734391418 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:380.69, Y:34.03, Z:7.24 [[ 9.99444038e-01 3.26971721e-02 6.51997129e-03 3.80686996e+02] [-3.26971811e-02 9.99465299e-01 -1.05237749e-04 3.40275076e+01] [-6.51992603e-03 -1.08005442e-04 9.99978739e-01 7.23858775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.764391418 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:380.72, Y:34.03, Z:7.24 [[ 9.99435512e-01 3.27362803e-02 7.54945298e-03 3.80715286e+02] [-3.27363004e-02 9.99464016e-01 -1.20940834e-04 3.40268536e+01] [-7.54936575e-03 -1.26268596e-04 9.99971495e-01 7.23841633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.794391418 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:380.74, Y:34.03, Z:7.24 [[ 9.99415373e-01 3.32530039e-02 7.94664377e-03 3.80741978e+02] [-3.32530504e-02 9.99446956e-01 -1.26317863e-04 3.40272639e+01] [-7.94644938e-03 -1.38006131e-04 9.99968417e-01 7.23822972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.824391418 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:380.77, Y:34.03, Z:7.24 [[ 9.99446982e-01 3.21137584e-02 8.62764249e-03 3.80769573e+02] [-3.21137801e-02 9.99484210e-01 -1.36058787e-04 3.40266024e+01] [-8.62756180e-03 -1.41082669e-04 9.99962772e-01 7.23891986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.854391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.80, Y:34.03, Z:7.24 [[ 9.99450159e-01 3.21920352e-02 7.94052857e-03 3.80796873e+02] [-3.21920636e-02 9.99481693e-01 -1.24272174e-04 3.40271240e+01] [-7.94041352e-03 -1.31418157e-04 9.99968466e-01 7.23859000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.884391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.83, Y:34.03, Z:7.24 [[ 9.99478912e-01 3.13952242e-02 7.49957315e-03 3.80825199e+02] [-3.13952339e-02 9.99507041e-01 -1.16460103e-04 3.40257904e+01] [-7.49953246e-03 -1.19051437e-04 9.99971871e-01 7.23865649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.914391418 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:380.85, Y:34.03, Z:7.24 [[ 9.99469077e-01 3.18006218e-02 7.09113064e-03 3.80853492e+02] [-3.18006464e-02 9.99494226e-01 -1.09305306e-04 3.40253064e+01] [-7.09102010e-03 -1.16255265e-04 9.99974852e-01 7.23776454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.944391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:380.88, Y:34.02, Z:7.24 [[ 9.99435964e-01 3.29294221e-02 6.58844732e-03 3.80881444e+02] [-3.29294728e-02 9.99457673e-01 -1.00813793e-04 3.40244555e+01] [-6.58819397e-03 -1.16197166e-04 9.99978291e-01 7.23680087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.974391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.91, Y:34.02, Z:7.24 [[ 9.99227409e-01 3.88514737e-02 5.92855519e-03 3.80909697e+02] [-3.88516227e-02 9.99244987e-01 -9.00668943e-05 3.40229972e+01] [-5.92757829e-03 -1.40336680e-04 9.99982422e-01 7.23603310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.004391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.94, Y:34.02, Z:7.24 [[ 9.99076592e-01 4.24758186e-02 6.46288683e-03 3.80937348e+02] [-4.24760766e-02 9.99097479e-01 -9.73875549e-05 3.40226493e+01] [-6.46119056e-03 -1.77220450e-04 9.99979111e-01 7.23579046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.034391418 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:380.97, Y:34.02, Z:7.24 [[ 9.98645602e-01 5.13596117e-02 8.31581569e-03 3.80965026e+02] [-5.13603558e-02 9.98680178e-01 -1.24194826e-04 3.40228152e+01] [-8.31121889e-03 -3.03076635e-04 9.99965415e-01 7.23689345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.064391418 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:380.99, Y:34.02, Z:7.24 [[ 9.98416785e-01 5.54307092e-02 9.55819976e-03 3.80992663e+02] [-5.54318900e-02 9.98462461e-01 -1.41545846e-04 3.40225853e+01] [-9.55134964e-03 -3.88507329e-04 9.99954309e-01 7.23629490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.094391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.02, Y:34.02, Z:7.24 [[ 9.98189620e-01 5.93301399e-02 9.86996266e-03 3.81020188e+02] [-5.93316008e-02 9.98238318e-01 -1.44979308e-04 3.40218902e+01] [-9.86117657e-03 -4.40883844e-04 9.99951280e-01 7.23667503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.124391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.05, Y:34.02, Z:7.24 [[ 9.97982137e-01 6.26878527e-02 1.00939664e-02 3.81048344e+02] [-6.26895643e-02 9.98033064e-01 -1.47053340e-04 3.40212038e+01] [-1.00833307e-02 -4.86029751e-04 9.99949044e-01 7.23630439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.154391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.08, Y:34.02, Z:7.24 [[ 9.97819622e-01 6.53126064e-02 9.50086197e-03 3.81075336e+02] [-6.53142531e-02 9.97864735e-01 -1.37188676e-04 3.40205692e+01] [-9.48953527e-03 -4.83652151e-04 9.99954856e-01 7.23560673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.184391418 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:381.10, Y:34.02, Z:7.23 [[ 9.97568565e-01 6.91743157e-02 8.47776213e-03 3.81103458e+02] [-6.91757824e-02 9.97604479e-01 -1.20450537e-04 3.40191595e+01] [-8.46578555e-03 -4.66298159e-04 9.99964056e-01 7.23403585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.214391418 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.13, Y:34.02, Z:7.23 [[ 9.97517002e-01 6.99414962e-02 8.24735436e-03 3.81130862e+02] [-6.99429315e-02 9.97550988e-01 -1.14617545e-04 3.40184782e+01] [-8.23517301e-03 -4.62511191e-04 9.99965983e-01 7.23373203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6748.45 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%| | 0/12601 [00:00